CN100361791C - Robot for disassembling work - Google Patents
Robot for disassembling work Download PDFInfo
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- CN100361791C CN100361791C CNB2005100225025A CN200510022502A CN100361791C CN 100361791 C CN100361791 C CN 100361791C CN B2005100225025 A CNB2005100225025 A CN B2005100225025A CN 200510022502 A CN200510022502 A CN 200510022502A CN 100361791 C CN100361791 C CN 100361791C
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Abstract
The present invention provides a robot for detaching work, which belongs to the robotics. The present invention relates to a work device composed of three arms, four hydraulic oil cylinders and a hydraulic detaching head is installed on an angling frame of a base plate of a hydraulic excavator driven by electric power, namely, the large arm is hinged with the angling frame, the second arm is hinged with the large arm, the third arm is hinged with the second arm and the hydraulic detaching head is hinged with the third arm. The large arm oil cylinder, the second arm oil cylinder, the third arm oil cylinder and the oil cylinder of a detaching head corner are correspondingly hinged with the angling frame, the large arm, the second arm, the third arm and the hydraulic detaching head respectively, and four hydraulic supporting legs which are provided with the hydraulic oil cylinders independently are fixedly and symmetrically arranged in the four corners of a frame. In addition, a portable remote controller and a wireless remote control system comprising the portable remote controller are arranged, and a remote control camera, an electric control system and a remote camera monitor system are installed on the third arm. When the robot for detaching work works in high risk and high danger fields, operators are positioned in safe regions to operate the hydraulic detaching head to complete detaching and danger removing work through remote control, so that the operation is safe and reliable.
Description
Technical field
The invention belongs to the robot engineering technology, especially relate to a kind of robot for disassembling work of remote control.
Background technology
The dismounting transformation of the dismounting of current metallurgy and the various stoves of cement industry, the dilapidated house of building trade, its dismounting work is adopted mostly and is manually carried out with simple tools, inefficiency, labor strength is big, the also very abominable danger of dust, noise, condition of work, often accident takes place frequently, and potential safety hazard is big; Especially in anti-dangerous rescue work, it is on-the-spot under the pressure of situation to sue and labour, and speedily carry out rescue work personnel and equipment have to be in the very dangerous scene of suing and labouring, particularly run into severe toxicity, chemical substance is leaked or radioactive substance leaks, and the scene of suing and labouring is very dangerous especially, often will pay heavy cost; Point out in " the scientific and technological novelty assessment report " submitted to according to the 2005.10.17 of Anhui Province's scientific information research institute: domestic still do not have unit at present and develop robot for disassembling work, only there are a few studies mechanisms such as Shanghai Communications University to develop danger removal robot, " danger removal robot " of Shanghai Communications University, Chinese invention patent, application number: 03115561.8, mainly comprise car body, swing arm, scraper bowl, the swing arm platform, front and back wheel, escapement, the transmission of escapement chain, swing arm motor reducer group, its mobile vehicle adopts wheel front swing arm structure, manipulator is arranged on the swing arm platform, but this invention only possesses the function of getting rid of the danger, function singleness, the scope of application is restricted.
Summary of the invention
The purpose of this invention is to provide a kind of robot for disassembling work, adopt remote shoot and monitor, the remote operation operation, possess multiple functions such as on-the-spot dismounting, rescue, fundamentally eliminate in metallurgy, cement, the building industry, dismounting and rescue are removed workman's onerous toil to the security incident hidden danger and the harm of personnel, equipment, increase work efficiency effectively.
The object of the present invention is achieved like this: a kind of robot for disassembling work is based on power-actuated hydraulic crawler excavator chassis, form except that head, power set, electric device, hydraulic means, pressure cooler by frame, hydraulic pressure crawler unit, hydraulic permeability reversing gear, hydraulic mechanism, hydraulic detachment, its mid frame is a body structure, the hydraulic pressure crawler unit is made up of crawler belt beam, creeper tread, driving wheel, directive wheel, BOGEY WHEEL, support roller, chain-track tensioner, left and right walking hydraulic motor, on the crawler belt beam, coupling arrangement is set, links with frame; Hydraulic permeability reversing gear is made up of pivoting support, revolving dial, rotary support, electric liquid centre revolving joint and rotary fluid motor, the retainer plate of pivoting support, link with frame by bolt, its turning collar links with revolving dial by bolt, on revolving dial, install rotary support, the hydraulic structure just is packed on the rotary support, and under the driving of rotary fluid motor, each parts that revolving dial drives on it are done 360 ° of gyrations; Power set are made up of distribution box and motor, and motor is contained in the casing of frame, and distribution box is packed in the front end of frame; The main motor of hydraulic means, fuel tank, Variable plunger pump, A group solenoid-operated proportional reversal valve, safety valve, hydraulic oil cooler are installed in the casing of frame, and flow divider, B group solenoid-operated proportional reversal valve are installed on the rotary support; Main motor input power, driving variable piston pump work, walking hydraulic motor work about the high-pressure and hydraulic oil that produces drives, make crawler travel, the high-pressure and hydraulic oil that produces drives rotary fluid motor work through electric liquid centre revolving joint, revolving dial is turned round as required, drive hydraulic detachment and remove head work except that head makes hydraulic detachment; It is characterized in that hydraulic mechanism is three arms, four hydraulic jack structures, hinged big arm on rotary support, hinged big arm oil cylinder on big arm; The external part of this big arm oil cylinder is hinged on the big arm hypomere, and its base end is hinged on the rotary support, hinged two arms in upper end of big arm, on the stage casing of two arms is welded two arm plates, left end section at two arms hinged three arms; The external part of two arm oil cylinders is hinged on the right hole of two arm plates, and its base end is hinged on the epimere of big arm; The upper end section of the three arms three arm plates that are welded, the hinged hydraulic detachment of its lower end section is removed head, and the base end of three arm oil cylinders is hinged on the left hole of two arm plates; Its external part is hinged on the following hole of three arm plates; The base end of removing a corner oil cylinder is hinged on the last hole of three arm plates, and its external part then is hinged with the rocker of hydraulic detachment except that head; Big arm oil cylinder, two arm oil cylinders, three arm oil cylinders and a dismounting corner oil cylinder and rotary motor are connected with Variable plunger pump through electric liquid centre revolving joint through B group solenoid-operated proportional reversal valve earlier more then by pipeline; In addition, be provided with portable remote controller, control the travel position that B group solenoid-operated proportional reversal valve is controlled big arm oil cylinder, two arm oil cylinders, three arm oil cylinders more respectively and removed a corner oil cylinder by portable remote controller, make hydraulic detachment remove head and obtain needed dismounting locus, obtain best effect; In addition, corner location according to frame, on frame, install the hydraulic leg of four free band hydraulic jacks symmetrically, two front leg strut hydraulic cylinders and two rear support leg hydraulic cylinders and about the walking hydraulic motor be connected through A group solenoid-operated proportional reversal valve and Variable plunger pump respectively by pipeline, A group solenoid-operated proportional reversal valve and Variable plunger pump are controlled by bus control unit, each hydraulic leg at ordinary times or the robot for disassembling work walking time regain, stretch out during operation, guarantee stability, this portable remote controller is the double rocking lever wireless signal transmitting device, receive with wireless signal and converter is formed wireless remote-control system (annotate: this wireless remote-control system is intended separate case and applied for a patent, so do not describe in detail in the present patent application.), when using, portable remote controller fastens waist operating personnel, press need of work, and operating personnel send instruction by remote controller, finish relevant action; In addition, on three arm plates, remote control camera is installed,,, is used for the remote control camera illumination for the scene of removing provides illumination on the rotary support and on the three arm plates power lighting lamp being installed; In addition, also be provided with by Programmable Logic Controller, proportional amplifier, electric control system that electrical control cubicles, various reception emission sensor and various instrument, Electronic Control components and parts are formed and the remote shooting monitoring system of forming by remote control camera, image biography commentaries on classics device, picture receiver, developing machine, operating personnel carry out telemonitoring, (electric control system and remote shooting monitoring system are intended separate case and are applied for a patent), send, receive various instructions and remove to handle each parts, finish corresponding work; When robot for disassembling work at high temperature, many dirt, high dangerous situation, when high-amplitude is penetrated the region field operation, operating personnel are away from the scene, be positioned at the safety zone, image by the remote control camera picked-up, handle the associated button on the telecontrol panel, send instruction, handle the action of each parts, make hydraulic detachment remove the head finish dismounting, the work of getting rid of the danger, just realized fundamentally eliminating and removed, get rid of the danger personnel, the security incident hidden danger and the harm of equipment are removed workman's onerous toil, the purpose of increasing work efficiency effectively.
The present invention is rational in infrastructure, and is safe and reliable, fundamentally eliminates the security incident hidden danger in dismounting, the rescue, removed workman's onerous toil, and the scope of application is wide, high efficiency.
Now in conjunction with the accompanying drawings and embodiments the robot for disassembling work that the present invention carried is further described.
Description of drawings
Fig. 1 is that the master of the robot for disassembling work carried of the present invention looks schematic diagram.
Fig. 2 is the robot for disassembling work hydraulic system principle schematic that the present invention carries.
Among Fig. 1: 1, hydraulic detachment is removed 2, remote control camera 3, two arm plates 4, hydraulic leg 5, is forced cooler 6, hydraulic pressure crawler unit 7, hydraulic permeability reversing gear, 8, illuminating lamp 9, frame, 10, hydraulic means 11, power set 12, electric device 13, remote controller 14, three arms, 15, removes a corner oil cylinder, 16, three arm plates, 17, two arms, 18, three arm oil cylinders 19, two arm oil cylinders 20, big arm 21, big arm oil cylinder
Among Fig. 2: 22, Variable plunger pump, 23, safety valve, 24, fuel tank, 25, A group solenoid-operated proportional reversal valve 26, left branch leg hydraulic cylinder, 27, right landing leg hydraulic cylinder, 28, left lateral are walked hydraulic motor, 29, right lateral is walked hydraulic motor, 30, rotary fluid motor, 31, flow divider, 32, B group solenoid-operated proportional reversal valve 33, electric liquid centre revolving joint.
Specific implementation method
From Fig. 1, Fig. 2, in as can be seen: a kind of robot for disassembling work, based on power-actuated hydraulic crawler excavator chassis, by frame 9, hydraulic pressure crawler unit 6, hydraulic permeability reversing gear 7, hydraulic mechanism, hydraulic detachment removes 1, power set 11, electric device 12, hydraulic means 10, force cooler 5 to be formed, its mid frame 9 is body structures, hydraulic pressure crawler unit 6 is by the crawler belt beam, creeper tread, driving wheel, directive wheel, BOGEY WHEEL, support roller, chain-track tensioner, a left side, right lateral is walked hydraulic motor 28,29 form, on the crawler belt beam, coupling arrangement is set, links with frame 9; Hydraulic permeability reversing gear 7 is made up of pivoting support, revolving dial, rotary support, electric liquid centre revolving joint 33 and rotary fluid motor 30, the retainer plate of pivoting support, link with frame 9 by bolt, its turning collar links with revolving dial by bolt, on revolving dial, install rotary support, hydraulic mechanism just is packed on the rotary support, and under the driving of rotary fluid motor 30, each parts that revolving dial drives on it are done 360 ° of gyrations; Power set 11 are made up of distribution box and motor, and motor is contained in the casing of frame 9, and distribution box is packed in the front end of frame 9; The main motor of hydraulic means 10, fuel tank 24, Variable plunger pump 22, A group solenoid-operated proportional reversal valve 25, safety valve 23, hydraulic oil cooler are installed in the casing of frame, and flow divider 31, B group solenoid-operated proportional reversal valve 32 are installed on the rotary support; Motor input power, 22 work of driving Variable plunger pump, walking hydraulic motor 28,29 work about the high-pressure and hydraulic oil that produces drives, hydraulic pressure crawler unit 6 is walked as required, the high-pressure and hydraulic oil that produces drives rotary fluid motor 30 work through electric liquid centre revolving joint 33, B group solenoid-operated proportional reversal valve 32, revolving dial is turned round as required, drive hydraulic detachment and remove 1 and make hydraulic detachment remove 1 job; It is characterized in that hydraulic mechanism is three arms, four hydraulic jacks, hinged big arm 20 on rotary support, hinged big arm oil cylinder 21 on big arm 20, the external part of this big arm oil cylinder 21 is hinged on big arm 20 hypomeres, its base end is hinged on the rotary support, the two arm plates 3 that are welded at hinged two arms 17 in upper end of big arm 20, in the stage casing of two arms 17, hinged three arms 14 on the left end section of two arms 17; The external part of two arm oil cylinders 19 is hinged on the right hole of two arm plates 3, and its base end is hinged on the epimere of big arm 20; The upper end section of the three arms 14 three arm plates 16 that are welded, the base end that the hinged hydraulic detachment of its lower end section is removed 1, three an arm oil cylinder 18 is hinged on the left hole of two arm plates 3; Its external part is hinged on the following hole of three arm plates 16; The base end of removing a corner oil cylinder 15 is hinged on the last hole of three arm plates 16, and its external part is then hinged except that 1 rocker with hydraulic detachment; Big arm oil cylinder 21, two arm oil cylinders 19, three arm oil cylinders 18 and a dismounting corner oil cylinder 15 and rotary fluid motor 30 are connected with Variable plunger pump 22 through electric liquid centre revolving joint 33 through B group solenoid-operated proportional reversal valve 32 earlier more then by pipeline, in addition, be provided with portable remote controller 13, by portable remote controller 13 and receiver, bus control unit is controlled B group solenoid-operated proportional reversal valve 32, control big arm oil cylinder 21 more respectively, two arm oil cylinders 19, three arm oil cylinders 18 and the travel position of removing a corner oil cylinder 15, make hydraulic detachment remove the needed dismounting of 1 an acquisition locus, obtain best effect; In addition, corner location according to frame 9, a left side on frame 9, the right hydraulic leg 4 that installs four free band hydraulic jacks symmetrically, two left branch leg hydraulic cylinders 26 and two right landing leg hydraulic cylinders 27 and about walking hydraulic motor 28,29 organize solenoid-operated proportional reversal valve 25 through A respectively by pipeline is connected with Variable plunger pump 22, A group solenoid-operated proportional reversal valve 25 and Variable plunger pump 22 are controlled by bus control unit, each hydraulic leg 4 at ordinary times or the robot for disassembling work walking time regain, stretch out during operation, guarantee stability, this portable remote controller 13 is the double rocking lever wireless signal transmitting device, receive with wireless signal and converter is formed wireless remote-control system (annotate: this wireless remote-control system is intended separate case and applied for a patent, so do not describe in detail in the present patent application.), when using, portable remote controller 13 fastens waist operating personnel, press need of work, and operating personnel send instruction by remote controller 13, finish relevant action; In addition, remote control camera 2 is installed on three arm plates 16,,, is used for remote control camera 2 illuminations for the scene of removing provides illumination on the rotary support and on the three arm plates 16 power lighting lamp 8 being installed; In addition, also be provided with by Programmable Logic Controller, proportional amplifier, electric control system that electrical control cubicles, various reception emission sensor and various instrument, Electronic Control components and parts are formed and the remote shooting monitoring system of forming by remote control camera 2, image transmitter, picture receiver, developing machine, operating personnel carry out telemonitoring, (electric control system and remote shooting monitoring system are intended separate case and are applied for a patent), send, receive various instructions and remove to handle each parts, finish corresponding work; When robot for disassembling work at high temperature, many dirt, high dangerous situation, when high-amplitude is penetrated the region field operation, operating personnel are away from the scene, be positioned at the safety zone, image by remote control camera 2 picked-ups, handle the associated button on remote controller 13 panels, send instruction, handle the action of each parts, hydraulic detachment is removed 1 is finished dismounting, the work of getting rid of the danger, just realized fundamentally eliminating and removed, get rid of the danger personnel's security incident hidden danger and harm, remove workman's onerous toil, the purpose of increasing work efficiency effectively.
Claims (1)
1. robot for disassembling work, remove head (1), power set (11), electric device (12), hydraulic means (10), force cooler (5) to be formed by frame (9), hydraulic pressure crawler unit (6), hydraulic permeability reversing gear (7), hydraulic mechanism, hydraulic detachment, it is characterized in that:
A, hydraulic mechanism are three arms, four hydraulic jacks, hinged big arm (20) on rotary support, go up hinged big arm oil cylinder (21) at big arm (20), the external part of this big arm oil cylinder (21) is hinged on big arm (20) hypomere, its base end is hinged on the rotary support, the two arm plates (3) that are welded at hinged two arms in upper end (17) of big arm (20), in the stage casing of two arms (17), hinged three arms (14) on the left end section of two arms (17); The external part of two arm oil cylinders (19) is hinged on the right hole of two arm plates (3), and its base end is hinged on the epimere of big arm (20); The upper end section of three arms (14) the three arm plates (16) that are welded, the hinged hydraulic detachment of its lower end section is removed head (1), and the base end of three arm oil cylinders (18) is hinged on the left hole of two arm plates (3), and its external part is hinged on the following hole of three arm plates (16); The base end of removing a corner oil cylinder (15) is hinged on the last hole of three arm plates (16), and its external part then is hinged with the rocker of hydraulic detachment except that head (1);
B, big arm oil cylinder (21), two arm oil cylinders (19), three arm oil cylinders (18) and a dismounting corner oil cylinder (15) and rotary fluid motor (30) are connected with Variable plunger pump (22) through electric liquid centre revolving joint (33) through B group solenoid-operated proportional reversal valve (32) earlier more then by pipeline;
C, be provided with portable remote controller (13) and wireless signal receiver and converter;
D, according to the corner location of frame (9), go up the hydraulic leg (4) that left and right symmetrically installs four free band hydraulic jacks in frame (9), two left branch leg hydraulic cylinders (26) and two right landing leg hydraulic cylinders (27) and about the hydraulic motor (28,29) of walking be connected through A group solenoid-operated proportional reversal valve (25) and Variable plunger pump (22) respectively by pipeline;
E, remote control camera (2) go up to be installed at three arm plates (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100225025A CN100361791C (en) | 2005-12-22 | 2005-12-22 | Robot for disassembling work |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100225025A CN100361791C (en) | 2005-12-22 | 2005-12-22 | Robot for disassembling work |
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| Publication Number | Publication Date |
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| CN1792569A CN1792569A (en) | 2006-06-28 |
| CN100361791C true CN100361791C (en) | 2008-01-16 |
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Owner name: GIANT HYDRAULIC TECH CO.,LTD. ANHUI Free format text: FORMER OWNER: JINGTIAN HYDRAULIC MACHINERY MFG. CO., LTD., MA ANSHAN CITY Effective date: 20110211 |
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Free format text: CORRECT: ADDRESS; FROM: 243002 NO.5, HONGQI SOUTH ROAD, ECONOMIC AND TECHNOLOGICAL DEVELOPMENT ZONE, MAANSHAN CITY, ANHUI PROVINCE TO: 243071 NO.5, HONGQI SOUTH ROAD, ECONOMIC AND TECHNOLOGICAL DEVELOPMENT ZONE, MAANSHAN CITY, ANHUI PROVINCE |
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Effective date of registration: 20110211 Address after: 243071 No. 5 Hongqi South Road, Ma'anshan economic and Technological Development Zone, Anhui Patentee after: Giant Hydraulic Tech Co.,Ltd. Anhui Address before: 243002 No. 5 Hongqi South Road, Ma'anshan economic and Technological Development Zone, Anhui Patentee before: Jingtian Hydraulic Machinery Mfg. Co., Ltd., Ma'anshan City |
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Owner name: JINGTIAN INTELLIGENT EQUIPMENT CO., LTD. Free format text: FORMER NAME: GIANT HYDRAULIC TECH CO.,LTD. ANHUI |
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Address after: 243071 No. 5 Hongqi South Road, Ma'anshan economic and Technological Development Zone, Anhui Patentee after: SHAKING INTELLIGENT EQUIPMENT CO., LTD. Address before: 243071 No. 5 Hongqi South Road, Ma'anshan economic and Technological Development Zone, Anhui Patentee before: Giant Hydraulic Tech Co.,Ltd. Anhui |