Obstacle-crossing type load carrying robot

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By designing a load-load handling robot with rotation, swing and telescopic functions, the problem that equipment cannot be effectively transported in complex sites during the installation of petrochemical equipment is solved, and the effect of stable transportation of heavy equipment in complex sites is achieved.

CN223031125UActive Publication Date: 2025-06-27RICH HIGH TECH CO LTD +1

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Patent Information

Application Number: CN202422423220.7
Authority / Receiving Office: CN · China
Patent Type: Utility models(China)
Current Assignee / Owner
Filing Date: 2024-10-09
Publication Date: 2025-06-27
Estimated Expiration: 2034-10-09

AI Technical Summary

Technical Problem

In the installation of petrochemical equipment, the on-site process pipelines are staggered, and multiple equipment platforms are staggered, and large lifting and handling equipment cannot be operated, resulting in the traditional construction plan being moved multiple times, which is time-consuming and labor-intensive and has great safety risks.

Method used

A cross-obstacle load handling robot is designed. Multiple legs with the same structure are arranged at the bottom of the load platform. The legs are composed of rotational joints, swing joints and telescopic joints. The rotation, swing and telescopic joints are achieved through hydraulic drive. They are equipped with infrared ranging sensors, inclination angle measurement sensors and horizontal rotation angle measurement sensors, and automated control is achieved using cameras and control units.

Benefits of technology

It realizes the stable transportation of heavy equipment in complex sites, can adjust the load surface height and easily overcome obstacles, overcomes the limitations of traditional equipment in complex spaces, and improves construction efficiency and safety.

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Abstract

The utility model discloses an obstacle crossing type load carrying robot which comprises a load carrying platform, a plurality of supporting legs of the same structure are arranged at the bottom of the load carrying platform, the supporting legs are arranged in pairs and are arranged in multiple sets from front to back along the load carrying platform, and each supporting leg comprises a rotating joint, a swing joint and a telescopic joint which are sequentially connected. The rotating joint is rotationally connected with the load-carrying platform, the swinging joint is connected with the rotating joint through a horizontal rotating shaft, the telescopic joint is arranged at the tail end of the swinging joint, and the walking wheel is arranged at the tail end of the telescopic joint. The heavy equipment carrying vehicle is stable in structure and large in carrying capacity, the height of a bearing surface can be adjusted, the walking direction can be conveniently changed, obstacles can be easily crossed through the multiple sets of matched rotatable, offset and telescopic supporting legs, the limitation that large equipment cannot work in a limited space and complex site is overcome, and heavy equipment can be easily carried.

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Description

Technical Field

[0001] The utility model relates to the technical field of transport robots, in particular to an obstacle-crossing load-carrying robot. Background Art

[0002] During the installation of petrochemical equipment, especially during the construction of renovation and expansion projects, on-site process pipelines are crisscrossed and various equipment platforms are staggered in height, making it impossible for large-scale lifting and handling equipment to operate. When traditional construction solutions such as land cows, land tanks, and homemade simple lifting frames are used, multiple moves are required to avoid obstacles and keep the load-bearing surface level, which is time-consuming, labor-intensive, and poses a major safety hazard. Summary of the invention

[0003] In order to solve the above problems, the utility model provides an obstacle-crossing load-carrying robot, which can specifically adopt the following technical solutions:

[0004] The obstacle-crossing load-carrying robot described in the utility model includes a load-carrying platform, and a plurality of legs with the same structure are arranged at the bottom of the load-carrying platform. The legs are arranged in pairs and multiple groups are arranged along the load-carrying platform from front to back. Each leg includes a rotating joint, a swinging joint and a telescopic joint connected in sequence. The rotating joint is rotatably connected to the load-carrying platform, the swinging joint is connected to the rotating joint by a horizontal rotating shaft, the telescopic joint is arranged at the end of the swinging joint, and a walking wheel is arranged at the end of the telescopic joint.

[0005] The swivel joint is driven by a swivel cylinder, and the swivel cylinder is arranged on a load-bearing platform.

[0006] The horizontal rotating shaft is fixedly connected to the swing joint and is rotationally connected to the rotating joint; the horizontal rotating shaft is connected to the output end of the spiral swing cylinder arranged on the load-bearing platform, or a gear is sleeved on the horizontal rotating shaft, and the gear is meshed with a rack driven by the first single-piston hydraulic cylinder arranged on the load-bearing platform.

[0007] The telescopic joint is a second single-piston hydraulic cylinder arranged at the end of the swing joint, and the movable end of the second single-piston hydraulic cylinder is provided with the walking wheel driven by a hydraulic motor.

[0008] The hydraulic pipelines of the rotating cylinder, spiral swing cylinder, first single-piston hydraulic cylinder, second single-piston hydraulic cylinder and hydraulic motor are all connected to the external hydraulic station through quick socket joints, and electromagnetic control valves are provided on the hydraulic branch pipes connected to each rotating cylinder, spiral swing cylinder, first single-piston hydraulic cylinder / second single-piston hydraulic cylinder and hydraulic motor.

[0009] A horizontal detection sensor is provided on the load platform, and an infrared ranging sensor, an inclination measurement sensor, and a horizontal rotation angle measurement sensor are provided on each leg. The signal output ends of the horizontal detection sensor, the infrared ranging sensor, the inclination measurement sensor, the horizontal rotation angle measurement sensor, and the displacement sensor are electrically connected to the signal input end of the control unit, and the control output end of the control unit is connected to the control input end of the electromagnetic control valve.

[0010] The control unit further includes a touch display screen, a camera, and a wireless control handle.

[0011] The cross-obstacle load-carrying and handling robot provided by the present utility model has a stable structure and a large load capacity. It can adjust the height of the bearing surface, easily change the walking direction, and can easily cross obstacles through multiple groups of legs that can rotate, deflect, and extend, overcoming the limitation that large equipment cannot work in complex sites with limited space, and easily realizing the handling of heavy equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic structural diagram of the present utility model.

[0013] Figure 2 is Figure 1 a schematic structural diagram of a single leg in

[0014] Figure 3 is Figure 2 a schematic diagram of the movement mechanism of the leg in

[0015] Figure 4 is Figure 1 the hydraulic control schematic diagram of

[0016] Figure 5 is Figure 1 the control schematic diagram of

[0017] Figure 6 is Figure 1 the control flow block diagram of DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. These embodiments are implemented on the premise of the technical solution of the present utility model, and detailed implementation manners and specific working processes are given, but the protection scope of the present utility model is not limited to the following embodiments.

[0019] As Figure 1-6As shown in the figure, the cross - obstacle load - carrying and handling robot of the present utility model includes a load - carrying platform 1. A plurality of legs 2 with the same structure are installed at the bottom of the load - carrying platform 1 (8 in this embodiment, and can be specifically selected according to actual needs). The above - mentioned legs 2 are arranged in pairs and are divided into multiple groups from front to back along the load - carrying platform 1 (4 groups in this embodiment). Each leg 2 includes a rotating joint 21, a swinging joint 22, and a telescopic joint 23 connected in sequence. Among them, the rotating joint 21 is rotatably connected to the load - carrying platform 1, the swinging joint 22 is connected to the rotating joint 21 through a horizontal rotating shaft 24, the telescopic joint 23 is arranged at the end of the swinging joint 22, and a traveling wheel 25 is arranged at the end of the telescopic joint 23.

[0020] Under normal circumstances, the above - mentioned rotating joint 21 is driven by a rotating oil cylinder 31 arranged on the load - carrying platform 1. The swinging joint 22 is driven by a spiral swinging oil cylinder 32 or a first single - piston hydraulic cylinder. Specifically, ear plates for connecting the horizontal rotating shaft 24 are arranged at the top of the swinging joint 22 and the bottom of the rotating joint 21. Among them, the ear plate of the swinging joint 22 is fixedly connected to the horizontal rotating shaft 24, and the ear plate of the rotating joint 21 is rotatably connected to the horizontal rotating shaft 24; when driven by the spiral swinging oil cylinder 32, the spiral swinging oil cylinder 32 is installed on the load - carrying platform 1, and the output end of the spiral swinging oil cylinder 32 is directly connected to the horizontal rotating shaft 24; if driven by the first single - piston hydraulic cylinder, a rack driven by the first single - piston hydraulic cylinder is installed on the load - carrying platform 1, a gear is fixedly sleeved outside the horizontal rotating shaft 24, and the gear and the rack are meshed and connected; whether starting the spiral swinging oil cylinder 32 or the first single - piston hydraulic cylinder, the swinging joint 22 can swing with the rotation of the horizontal rotating shaft 24. The telescopic joint 23 can be directly composed of a single - piston hydraulic cylinder (i.e., the second single - piston hydraulic cylinder 33). The cylinder barrel of the above - mentioned second single - piston hydraulic cylinder 33 is installed at the end of the swinging joint 22, and the piston rod (i.e., the movable end) of the second single - piston hydraulic cylinder is installed with a traveling wheel 25 driven by a hydraulic motor 34.

[0021] The hydraulic pipelines of the above - mentioned rotating oil cylinder 31, spiral swinging oil cylinder 32 / first single - piston hydraulic cylinder, second single - piston hydraulic cylinder 33, and hydraulic motor 34 are all supplied with liquid by an external hydraulic station, that is, the hydraulic station and the robot are assembled in a split - type manner, thereby reducing the volume of the robot and adapting to complex working conditions. And the hydraulic pipelines are connected to the external hydraulic station through quick - connect joints, which is convenient for the connection between the two. In this embodiment, the rated output pressure of the hydraulic station is 25 MPa, and the flow rate is 100 L / min. Its output pipelines are divided into branch pipelines (a total of eight) connected to each leg 2. Four three - dimensional four - way electro - hydraulic valve groups 4 (i.e., electromagnetic control valves) are respectively used to control the hydraulic power of the rotating oil cylinder 31, spiral swinging oil cylinder 32 / first single - piston hydraulic cylinder, second single - piston hydraulic cylinder 33, and hydraulic motor 34 on each branch pipeline, so as to enable the rotating joint 21 to rotate, the swinging joint 22 to swing, the telescopic joint 23 to lift, and the traveling wheel 25 to move forward / backward.

[0022] In order to achieve automatic control, a camera and a horizontal detection sensor are installed on the load platform 1, and an infrared ranging sensor, an inclination measurement sensor and a horizontal rotation angle measurement sensor are installed on each leg 2. The signal output ends of the above-mentioned horizontal detection sensor, infrared ranging sensor, inclination measurement sensor, horizontal rotation angle measurement sensor and displacement sensor are electrically connected to the signal input end of the control unit 5, and the control output end of the control unit 5 is respectively connected to the control input end of each electromagnetic control valve.

[0023] The above-mentioned camera is installed on the load platform 1 through a rotation base controlled by an electric servo. It adopts a binocular camera with an image acquisition frame rate of up to 200 frames. When the robot is moving forward, the camera captures the environmental video directly in front of it. The control unit 5 uses the embedded vision software based on the OPENCV open source library to decode the video to obtain the environmental image, and performs image processing and three-dimensional reconstruction after eliminating lens distortion, so as to obtain the height data, width data of the obstacle, and the distance data from the obstacle. The horizontal detection sensor is used to monitor the levelness of the load platform 1. The infrared ranging sensor installed on the leg 2 is used to obtain the distance between the robot and the obstacle, so as to verify the distance data obtained through the camera; the inclination measurement sensor is used to monitor the swing angle of the swing joint 22; the horizontal rotation angle measurement sensor (display range is -10° to 100°) is used to monitor the rotation angle of the rotation joint 21; the displacement sensor is used to monitor the lifting distance of the telescopic joint 23. The above-mentioned detection data is displayed through a touch display screen. At the same time, instructions can also be input to the control unit 5 through the touch display screen. In addition, the control unit 5 can also be communicatively connected to a wireless control handle, and path instructions are sent to the control unit 5 through the control handle.

[0024] When this utility model is working, the control unit 5 makes the walking wheels drive the load-carrying robot to move forward according to the obtained path instructions. When encountering an obstacle, it chooses to walk over the obstacle or turn according to the image information collected by the camera.

[0025] Specifically, the image information collected by the camera is processed by the embedded vision software based on the OPENCV open source library. The control unit 5 extracts the height data and width data of the obstacle and compares them with the set threshold. When it is less than the set threshold, the load-carrying robot continues to move forward along the established route; when it is within the set threshold range, the load-carrying robot chooses to walk over the obstacle; when it is greater than the set threshold, the load-carrying robot turns to walk.

[0026] The realization of walking over the obstacle is carried out according to the following steps:

[0027] First, extend the telescopic sections 23 of the legs 2 other than the first group of legs 2, causing the load platform 1 to be lifted and the road wheels 25 of the first group of legs 2 to be suspended in the air. Then, flip the swing sections 22 of the first group of legs 2 upward, and then shorten the telescopic sections 23 of the other legs 2, causing the load platform 1 to return to its original position. Move the load platform 1 forward through the road wheels of the other legs 2 until the first group of legs 2 crosses the obstacle. At this time, flip the swing sections 22 of the first group of legs 2 downward to return to their original positions, completing the crossing of the obstacle by the first group of legs 2. After that, perform the crossing of the obstacle by other groups of legs 2 from front to back in sequence according to the above steps.

[0028] In this embodiment, the obstacles that the robot crosses are generally process pipelines with a diameter not greater than DN500mm and equipment foundation platforms with a height not greater than 400mm.

[0029] The realization of the above-mentioned steering and walking is carried out according to the following steps:

[0030] Divide the grouped legs 2 from front to back into two categories according to odd and even numbers. First, extend the telescopic sections 23 of the odd-numbered legs 2, causing the load platform 1 to be lifted and the road wheels 25 of the even-numbered legs 2 to be suspended in the air. At this time, rotate the rotating sections 21 of the even-numbered legs 2 in the same direction by the same angle. After that, extend the telescopic sections 23 of the even-numbered legs 2, keeping the height of the load platform 1 unchanged. Then, shorten the telescopic sections 23 of the odd-numbered legs 2, and then rotate the rotating sections 21 of the odd-numbered legs 2 in the same direction as the rotating sections 21 of the even-numbered legs 2 by the same angle. Finally, shorten the telescopic sections 23 of the even-numbered legs 2, causing the load platform 1 to return to its original position, and move the load platform 1 forward through the road wheels 25 of all the legs 2.

[0031] In this embodiment, the road wheels 25 are usually adjustable within 0° to 90°. Through multiple adjustments, the robot can move at any angle in the plane.

[0032] In addition, through the adjustment of the telescopic sections 23, the height adjustment of the load platform 1 can be realized. On the one hand, it is used to align with the equipment installation foundation plane during disassembly or installation. On the other hand, it can cooperate with other components to complete the adjustment of the road wheel angles and the curved leg (swing) actions, serving to adjust the unloading of the legs.

[0033] It should be noted that in the description of the present invention, terms indicating orientation or positional relationships such as "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

Claims

1. An obstacle-crossing load-carrying robot, characterized in that: It includes a load-bearing platform, and a plurality of legs with the same structure are arranged at the bottom of the load-bearing platform. The legs are arranged in pairs and multiple groups are arranged along the load-bearing platform from front to back. Each leg includes a rotating joint, a swinging joint and a telescopic joint connected in sequence. The rotating joint is rotatably connected to the load-bearing platform, the swinging joint is connected to the rotating joint through a horizontal rotating shaft, the telescopic joint is arranged at the end of the swinging joint, and a walking wheel is arranged at the end of the telescopic joint.

2. The obstacle-crossing load-carrying robot according to claim 1, characterized in that: The swivel joint is driven by a swivel cylinder, and the swivel cylinder is arranged on a load-bearing platform.

3. The obstacle-crossing load-carrying robot according to claim 2, characterized in that: The horizontal rotating shaft is fixedly connected to the swing joint and is rotationally connected to the rotating joint; the horizontal rotating shaft is connected to the output end of the spiral swing cylinder arranged on the load-bearing platform, or a gear is sleeved on the horizontal rotating shaft, and the gear is meshed with a rack driven by the first single-piston hydraulic cylinder arranged on the load-bearing platform.

4. The obstacle-crossing load-carrying robot according to claim 3, characterized in that: The telescopic joint is a second single-piston hydraulic cylinder arranged at the end of the swing joint, and the movable end of the second single-piston hydraulic cylinder is provided with the walking wheel driven by a hydraulic motor.

5. The obstacle-crossing load-carrying robot according to claim 4, characterized in that: The hydraulic pipelines of the rotating cylinder, spiral swing cylinder, first single-piston hydraulic cylinder, second single-piston hydraulic cylinder and hydraulic motor are all connected to the external hydraulic station through quick socket joints, and electromagnetic control valves are provided on the hydraulic branch pipes connected to each rotating cylinder, spiral swing cylinder, first single-piston hydraulic cylinder / second single-piston hydraulic cylinder and hydraulic motor.

6. The obstacle-crossing load-carrying robot according to claim 5, characterized in that: A horizontal detection sensor is arranged on the load-bearing platform, and an infrared ranging sensor, an inclination measurement sensor, a horizontal rotation angle measurement sensor and a displacement sensor are arranged on each leg. The signal output ends of the horizontal detection sensor, the infrared ranging sensor, the inclination measurement sensor, the horizontal rotation angle measurement sensor and the displacement sensor are electrically connected to the signal input end of the control unit, and the control output end of the control unit is respectively connected to the control input end of the electromagnetic control valve.

7. The obstacle-crossing load-carrying robot according to claim 6, characterized in that: The control unit also includes a touch display screen, a camera and a wireless control handle.