Crawler-type water hose laying robot

Abstract

The utility model relates to the technical field of rescue and disaster relief equipment, in particular to a crawler-type water hose laying robot which comprises a crawler-type walking robot body, a reel pipe clamp is installed on the robot body, and the reel pipe clamp comprises a fixed clamping arm, a clamping clamping arm, a clamping element, an installation frame and a clamp. The installation frame is installed at one end of the robot body, the fixed clamping arm and the clamping arm are installed on the installation frame in parallel, a clamping element is installed between the fixed clamping arm and the clamping arm, a sliding groove for the clamping arm to slide is formed in the installation frame, and the clamping arm is driven by the clamping element to be close to or away from the fixed clamping arm. The two clamps are rotatably installed at the outer end of the fixed clamping arm and the outer end of the clamping arm respectively, and a clamp rotation driving device is arranged on the fixed clamping arm. According to the robot, the water hose can be rapidly and accurately clamped and released; the operation process is simplified, and the laying and recycling speed of the water hose is remarkably increased, so that the operation efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a rescue equipment technical field, concretely relates to a caterpillar band type water hose laying robot. BACKGROUND

[0002] In the application scenarios such as fire fighting, agricultural irrigation and urban drainage, the laying and recycling of water hoses are very important. The traditional manual operation mode not only consumes time and effort, but also has great safety hazards and efficiency bottlenecks when facing complex or difficult-to-reach terrains. In order to improve the operation efficiency and safety, automated or semi-automated water hose laying equipment has gradually appeared in the market.

[0003] Among these devices, caterpillar walking robots are widely used due to their excellent terrain adaptability and stability. However, although the caterpillar walking technology has been relatively mature, the existing caterpillar water hose laying equipment still has many deficiencies in the design and operation efficiency of the pipe winding mechanism. For example, the pipe winding mechanism of some devices is complex in structure and cumbersome to operate, which not only increases the maintenance cost but also reduces the operation efficiency. In addition, some devices lack effective protection measures during the winding process, which easily leads to water hose damage.

[0004] In view of this, the utility model provides a brand-new caterpillar water hose laying robot, aiming at improving the deficiencies of the prior art. CONTENT OF THE UTILITY MODEL

[0005] In order to solve the above problems, the utility model provides a caterpillar water hose laying robot, which optimizes the design of the pipe winding clamp, including the precise cooperation of components such as fixed clamping arms, clamping arms, clamping elements and clamps, realizes the rapid and accurate clamping and release of the water hose, simplifies the operation process, significantly improves the laying and recycling speed of the water hose, and greatly improves the operation efficiency.

[0006] The technical scheme of the utility model is as follows:

[0007] A caterpillar water hose laying robot, comprising a caterpillar walking robot body, a pipe winding clamp is installed on the robot body, the pipe winding clamp comprises fixed clamping arms, clamping arms, clamping elements, a mounting bracket and clamps, the mounting bracket is installed at one end of the robot body, the fixed clamping arms and the clamping arms are installed in parallel on the mounting bracket, the clamping elements are installed between the fixed clamping arms and the clamping arms, a sliding groove is provided on the mounting bracket for the clamping arms to slide, the clamping arms are driven by the clamping elements to approach or move away from the fixed clamping arms, two clamps are rotatably installed at the outer ends of the fixed clamping arms and the clamping arms, and a clamp rotating driving device is provided on the fixed clamping arms.

[0008] A hydraulic pump set is provided on the robot body to provide hydraulic power.

[0009] The clamping element is a clamping oil cylinder, and a hydraulic pump set on the robot body provides hydraulic power for the clamping oil cylinder.

[0010] The clamp rotary driving device is a hydraulic motor, an input end of the hydraulic motor is connected with the hydraulic pump set on the robot body, and an output end of the hydraulic motor is fixedly connected with one end of the clamp.

[0011] A hand wheel is fixedly connected on the outside of the clamp on the side of the clamping clamp arm.

[0012] The mounting frame is mounted on the robot body through the pitching oil cylinder.

[0013] Water hose limiting rollers are arranged on the inner sides of the fixed clamp arm and the clamping clamp arm respectively.

[0014] The hydraulic pump set comprises a hydraulic pump, the hydraulic pump is driven by an engine, the hydraulic pump and the engine are fixedly mounted on the robot body, and a fuel tank for supplying oil to the engine is also arranged on the robot body.

[0015] An outer decoration shield is mounted on the robot body, and the hydraulic pump, the engine and the fuel tank are arranged in the outer decoration shield.

[0016] A work lighting lamp is arranged on the outer decoration shield, and a storage battery for supplying power to the work lighting lamp is arranged on the robot body.

[0017] The utility model discloses the beneficial effects lie in:

[0018] 1. The utility model discloses a caterpillar type water hose laying robot, the caterpillar type water hose laying robot passes through the design of optimizing pipe clamp, including fixed clamp arm, clamping clamp arm, clamping element and the precise cooperation of clamp etc. component, realizes the quick, accurate clamping and release of water hose, not only simplifies the operation process, also significantly improves the laying and recovery speed of water hose, thereby greatly improves the operation efficiency.

[0019] 2. The utility model discloses a caterpillar type water hose laying robot, the caterpillar type water hose laying robot caterpillar type walking mechanism endows the robot with excellent terrain adaptability, makes it be able to walk stably in complex or difficult terrain, completes the laying and recovery task of water hose, not only expands the application range of the robot, also improves its operation reliability in various environments.

[0020] 3. The utility model discloses a caterpillar type water hose laying robot, in the pipe winding process, the robot avoids the skew of water hose in the winding process through the setting of water hose limiting roller, and effectively avoids the damage and wear of water hose. BRIEF DESCRIPTION OF DRAWINGS

[0021] The solutions and advantages of the present application will become obvious to those skilled in the art from the following detailed description of the preferred embodiments. The drawings are merely intended to illustrate the preferred embodiments and are not considered as limiting the present application.

[0022] In the drawings:

[0023] Figure 1 A perspective view of a track-type water hose laying robot according to an embodiment of the present application;

[0024] Figure 2 A front view of a track-type water hose laying robot according to an embodiment of the present application;

[0025] Figure 3 A left side view of a track-type water hose laying robot according to an embodiment of the present application;

[0026] Figure 4 A right side view of a track-type water hose laying robot according to an embodiment of the present application;

[0027] Figure 5 A top view of a track-type water hose laying robot according to an embodiment of the present application;

[0028] Figure 6 A bottom view of a track-type water hose laying robot according to an embodiment of the present application;

[0029] Figure 7 An internal perspective view of a track-type water hose laying robot according to an embodiment of the present application with the outer cover shield removed;

[0030] Figure 8 A front view of an internal structure of a track-type water hose laying robot according to an embodiment of the present application with the outer cover shield removed;

[0031] Figure 9 A left side view of an internal structure of a track-type water hose laying robot according to an embodiment of the present application with the outer cover shield removed;

[0032] Figure 10 A right side view of an internal structure of a track-type water hose laying robot according to an embodiment of the present application with the outer cover shield removed;

[0033] Figure 11 A top view of an internal structure of a track-type water hose laying robot according to an embodiment of the present application with the outer cover shield removed;

[0034] Figure 12 A bottom view of an internal structure of a track-type water hose laying robot according to an embodiment of the present application with the outer cover shield removed;

[0035] The components represented by the reference numerals in the drawings are:

[0036] The utility model discloses: 1, robot body, 11, hydraulic pump, 12, engine, 13, fuel tank, 14, outer decoration shield, 15, operation light, 16, battery, 17, rainproof cap, 18, emergency stop switch, 19, electrical control box, 110, muffler, 111, muffler heat shield, 112, track, 113, track chassis, 114, hydraulic oil tank, 115, hydraulic oil filter, 116, power supply master switch, 117, hydraulic valve group, 118, hydraulic oil radiator, 2, pipe clamp, 21, fixed clamping arm, 22, clamping clamping arm, 23, clamping element, 24, mounting bracket, 25, clamp, 26, hydraulic motor, 27, hand wheel, 28, pitch oil cylinder, 29, water hose limiting roller. DETAILED DESCRIPTION

[0037] As Figures 1 to 6 The track type water hose laying robot includes a track type walkable robot body 1, and a pipe clamp 2 is installed on the robot body 1, wherein the track type walkable robot body 1 can adopt any structure form in the prior art, and only needs to be capable of carrying the pipe clamp 2 to walk with the pipe clamp 2, and it needs to be particularly pointed out that the core improvement point of the utility model is the pipe clamp 2, therefore, the structure form of the robot body 1 is not specially limited, and the walking function can be realized; for example, the robot body 1 includes a track chassis 113, and a track 112 is installed on the track chassis 113.

[0038] As Figures 7 to 12 The pipe clamp 2 includes a fixed clamping arm 21, a clamping clamping arm 22, a clamping element 23, a mounting bracket 24 and a clamp 25, the mounting bracket 24 is fixedly installed at one end of the robot body 1 in a bolt fastening or the like mode, the fixed clamping arm 21 and the clamping clamping arm 22 are installed in parallel on the mounting bracket 24, the clamping element 23 is installed between the fixed clamping arm 21 and the clamping clamping arm 22, a sliding groove is arranged on the mounting bracket 24 and used for sliding of the clamping clamping arm 22, the clamping clamping arm 22 is driven by the clamping element 23 to be close to or away from the fixed clamping arm 21, and two clamps 25 are rotatably installed at outer end portions of the fixed clamping arm 21 and the clamping clamping arm 22 respectively, and a clamp rotating driving device is arranged on the fixed clamping arm 21.

[0039] Specifically, the clamping element 23 is a clamping oil cylinder, and a hydraulic pump group on the robot body 1 provides hydraulic power for the clamping oil cylinder.

[0040] The specific shape of the clamp 25 is matched with the head of the water hose, and the head of the water hose can be clamped into the clamp 25.

[0041] When the hose needs to be rolled, the operator first clamps the head of the hose on the clamp 25 on the side of the fixed clamp arm 21 of the hose rolling clamp 2, then rotates the clamp 25 on the side of the clamping clamp arm 22 to align it with the hose head, and then clamps the hose head by the clamping element 23 so that the clamping clamp arm 22 clamps the hose head, and then drives the clamp 25 to rotate by the clamp rotating drive device to perform the hose rolling operation.

[0042] Preferably, in order to further improve the application range of the robot, the mounting frame 24 is arranged in a position-adjustable structure on the robot body 1, for example, the mounting frame 24 is mounted on the robot body 1 by the luffing oil cylinder 28. When the hose needs to be rolled, the luffing action of the mounting frame 24 is first completed by the luffing oil cylinder 28 to find a suitable hose clamping position, and then the hose head clamping operation is performed after the suitable position is preliminarily found.

[0043] Further, in order to facilitate manual rotation of the clamping clamp arm 22, a hand wheel 27 is fixedly connected to the outside of the clamp 25 on the side of the clamping clamp arm 22.

[0044] Further, the clamp rotating drive device is a hydraulic motor 26, the input end of the hydraulic motor 26 is connected with the hydraulic pump set on the robot body 1, and the output end of the hydraulic motor 26 is fixedly connected with one end of the clamp 25.

[0045] In order to prevent deviation during hose rolling, hose limiting rollers 29 are arranged on the inner sides of the fixed clamp arm 21 and the clamping clamp arm 22, respectively. The main component of the hose limiting roller 29 is a rotatable pipe. On the one hand, the pipe limits the boundary of the hose, and on the other hand, the pipe itself can rotate to greatly reduce the friction between the hose and the pipe.

[0046] The above-mentioned clamping oil cylinder, hydraulic motor 26 and luffing oil cylinder 28 all need hydraulic oil as power, and therefore, a hydraulic pump set for providing hydraulic power is arranged on the robot body 1.

[0047] Specifically, the hydraulic pump set includes a hydraulic pump 11 driven by an engine 12, the hydraulic pump 11 and the engine 12 are fixedly installed on the robot body 1, and a fuel tank 13 for supplying oil to the engine is also arranged on the robot body 1. An outer decorative cover 14 is installed on the robot body 1, the hydraulic pump 11, the engine 12 and the fuel tank 13 are arranged in the outer decorative cover 14, a work lighting lamp 15 is arranged on the outer decorative cover 14, and a storage battery 16 for supplying power to the work lighting lamp 15 is arranged on the robot body 1.

[0048] A hydraulic oil tank 114, a hydraulic oil filter 115, a hydraulic valve set 117 and a hydraulic oil radiator 118 matched with the hydraulic pump set are also fixedly installed on the robot body 1.

[0049] In addition, the outer cover 14 is also provided with a rainproof cap 17, an emergency stop switch 18, an electrical control box 19, a muffler 110, a muffler heat shield 111, a power supply master switch 116 and other supporting components.

[0050] The tracked water hose laying robot is composed of a tracked chassis, a power assembly, a hydraulic system, an electrical control system, a pipe winding mechanism and an outer cover.

[0051] In another specific embodiment,

[0052] The tracked chassis is driven by a hydraulic motor, which is powered by a hydraulic pump, and the power assembly drives the hydraulic pump. The hydraulic system is composed of a hydraulic pump, a hydraulic valve group, a hydraulic oil tank, a hydraulic oil filter, a hydraulic oil radiator and a work execution mechanism. The work execution mechanism is composed of a pitch cylinder responsible for pitching, a clamping cylinder responsible for complex clamping action, and a pipe winding motor responsible for pipe winding rotation. The power assembly is composed of an engine, a muffler, a fuel tank and a muffler shield. The electrical system is composed of a battery, a work light, a power supply master switch, an emergency stop and an electrical control box. The pipe winding mechanism is composed of a water hose limiting pipe, a water hose pipe winding clamp and a hand wheel.

[0053] The engine of the power assembly provides rotary power to drive the hydraulic pump to rotate. When the tracked chassis needs to move, the hydraulic pump provides power to the tracked chassis through the hydraulic pipe to complete the forward, backward and turning actions.

[0054] When the pipe needs to be wound, the pitch action of the pipe winding arm is completed by controlling the hydraulic solenoid valve, and the appropriate pipe clamping position is found. When the appropriate position is found, the operator places the first end of the water hose on the non-hand wheel side of the water hose pipe winding clamp, and rotates the hand wheel side to align with the water hose head, and then controls the clamping action through the system to complete the clamping of the water hose head.

[0055] When winding the pipe, the hydraulic solenoid valve is controlled by the control system to make the pipe winding motor rotate, and the water hose head is rotated by the water hose pipe winding clamp, so as to drive the water hose to retract.

[0056] The height of the arm can be controlled by the pitch cylinder through the control system to find the appropriate height. During the winding of the water hose, the water hose limiting pipe plays a role in protecting the water hose.

[0057] The tracked water hose laying robot optimizes the design of the pipe winding clamp, including the precise cooperation of the fixed clamping arm, the clamping arm, the clamping element and the clamp and other components, to realize the rapid and accurate clamping and releasing of the water hose. Not only simplifies the operation process, but also significantly improves the laying and recovery speed of the water hose, thereby greatly improving the work efficiency.

Claims

1. A tracked hose laying robot, comprising a tracked, walkable robot body (1), characterized in that, A tube-rolling clamp (2) is installed on the robot body (1). The tube-rolling clamp (2) includes a fixed clamping arm (21), a clamping arm (22), a clamping element (23), a mounting frame (24), and a clamp (25). The mounting frame (24) is installed at one end of the robot body (1). The fixed clamping arm (21) and the clamping arm (22) are installed parallel to each other on the mounting frame (24). A clamping element (23) is installed between the fixed clamping arm (21) and the clamping arm (22). A sliding groove is provided on the mounting frame (24) for the clamping arm (22) to slide. The clamping arm (22) moves closer to or away from the fixed clamping arm (21) under the drive of the clamping element (23). Two clamps (25) are rotatably installed on the outer ends of the fixed clamping arm (21) and the clamping arm (22), respectively. A clamp rotation drive device is provided on the fixed clamping arm (21).

2. The tracked hose laying robot according to claim 1, characterized in that, The robot body (1) is equipped with a hydraulic pump group that provides hydraulic power.

3. The tracked hose laying robot according to claim 2, characterized in that, The clamping element (23) is a clamping cylinder, and the hydraulic pump group on the robot body (1) provides hydraulic power to the clamping cylinder.

4. A tracked hose laying robot according to claim 2, characterized in that, The gripper rotation drive device is a hydraulic motor (26). The input end of the hydraulic motor (26) is connected to the hydraulic pump group on the robot body (1), and the output end of the hydraulic motor (26) is fixedly connected to one end of the gripper (25).

5. A tracked hose laying robot according to claim 1, characterized in that, A handwheel (27) is fixedly connected to the outside of the clamp (25) on the side of the clamping arm (22).

6. The tracked hose laying robot according to claim 1, characterized in that, The mounting bracket (24) is mounted on the robot body (1) via the pitch cylinder (28).

7. A tracked hose laying robot according to claim 2, characterized in that, Water belt limiting rollers (29) are respectively provided on the inner side of the fixed clamping arm (21) and the clamping clamping arm (22).

8. A tracked hose laying robot according to claim 2, characterized in that, The hydraulic pump assembly includes a hydraulic pump (11), which is driven by an engine (12). The hydraulic pump (11) and the engine (12) are fixedly mounted on the robot body (1). A fuel tank (13) for supplying fuel to the engine is also provided on the robot body (1).

9. A tracked hose laying robot according to claim 8, characterized in that, An exterior cover (14) is installed on the robot body (1), and a hydraulic pump (11), an engine (12) and a fuel tank (13) are located inside the exterior cover (14).

10. A tracked hose laying robot according to claim 9, characterized in that, A work light (15) is provided on the outer cover (14), and a battery (16) for powering the work light (15) is provided on the robot body (1).

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