CN109178123B - Tunnel obstacle clearance robot - Google Patents
Tunnel obstacle clearance robot Download PDFInfo
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- CN109178123B CN109178123B CN201811096046.2A CN201811096046A CN109178123B CN 109178123 B CN109178123 B CN 109178123B CN 201811096046 A CN201811096046 A CN 201811096046A CN 109178123 B CN109178123 B CN 109178123B
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- 230000007246 mechanism Effects 0.000 claims abstract description 141
- 210000000078 claw Anatomy 0.000 claims abstract description 72
- 239000002131 composite material Substances 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 claims abstract description 15
- 239000003921 oil Substances 0.000 claims description 91
- 230000004888 barrier function Effects 0.000 claims description 29
- 239000010720 hydraulic oil Substances 0.000 claims description 13
- 150000001875 compounds Chemical class 0.000 claims description 9
- 239000002283 diesel fuel Substances 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 description 14
- 230000009471 action Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000007723 transport mechanism Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/06—Grabs actuated by a single rope or chain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/14—Grabs opened or closed by driving motors thereon
- B66C3/16—Grabs opened or closed by driving motors thereon by fluid motors
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention discloses a tunnel barrier-removing robot which comprises a frame, a mechanical body system, a power system, a hydraulic system, an electric control system, a communication system and a wireless video system, wherein the mechanical body system comprises a composite mechanism I arranged at the rear end of the tunnel barrier-removing robot, the composite mechanism I comprises a pushing shovel mechanism, a grabbing clamp mechanism, a hydraulic rotary motor and a rotary device, and the pushing shovel mechanism is connected with the grabbing clamp mechanism through the rotary device; the pushing shovel mechanism comprises a pushing shovel body and left and right pushing shovel oil cylinders; the hydraulic rotary motor and the rotary device are both fixed on the push shovel body; the grabbing and clamping mechanism comprises two fixing plates and two sets of hydraulic claws, wherein the two fixing plates are symmetrically arranged on the inner ring of the rotating device, and the two sets of hydraulic claws are symmetrically arranged between the fixing plates and form a four-bar mechanism with the fixing plates. The robot provided by the invention can cope with obstacle clearing work after various conditions occur on the road in a tunnel or an environment with limited working space.
Description
Technical Field
The invention relates to a robot, in particular to an obstacle clearance robot used in a tunnel and an environment with limited working space, and belongs to the field of mechanical equipment.
Background
At present, after a traffic accident occurs, road rescue is mainly carried out on road wreckers, and the wreckers are mature in technology, but are only used for rescue on common roads and are not suitable for tunnels.
As patent application CN105540494 a discloses a forklift and wrecker, which needs 2 drivers to closely cooperate to complete road wrecker work with smaller accident; the invention patent CN105751954A discloses a flat type wrecker, the invention patent CN 105691277A discloses a tunnel wrecker, and drivers of the two wreckers cannot conveniently operate and lift the car, so that the requirements on the technical level of the drivers are high, and the tunnel wrecker is also used for clearing the road of the good condition of the car under the condition of small accidents; patent application CN107234999 a discloses a road rescue obstacle clearance robot, and this robot function is single, and the practicality is not strong.
Because the tunnel and the operation space are limited, the common large-sized obstacle-removing vehicle equipment cannot be normally used, and in the environment that the tunnel and the operation space are limited and safety accidents are easy to occur, the operation of personnel driving equipment is very unsafe, so that a special tunnel obstacle-removing robot is designed.
Disclosure of Invention
The invention aims to solve the problem of providing a tunnel obstacle clearing robot which can realize the functions of pushing shovels, holding clamps, forking, automobile traction and the like of road obstacles in the environment of a tunnel or limited working space, so as to cope with the obstacle clearing work after various conditions on the road occur. Meanwhile, the invention can realize remote control, thereby ensuring personal safety of personnel.
The invention discloses a tunnel obstacle clearance robot, which comprises a frame, a mechanical body system, a power system, a hydraulic system, an electric control system, a communication system and a wireless video system, and is characterized in that: the mechanical body system comprises a composite mechanism I arranged at the rear end of the tunnel barrier removing robot, wherein the composite mechanism I comprises a pushing shovel mechanism, a grabbing and clamping mechanism, a hydraulic rotary motor and a rotary device, and the pushing shovel mechanism is connected with the grabbing and clamping mechanism through the rotary device; the pushing shovel mechanism comprises a pushing shovel body, a left pushing shovel oil cylinder and a right pushing shovel oil cylinder, wherein the lower part of the pushing shovel body is hinged with the frame through a connecting rod; the hydraulic rotary motor and the rotary device are both fixed on the push shovel body, and a worm in the hydraulic rotary motor is meshed with a worm wheel in the rotary device; the grabbing and clamping mechanism comprises two fixing plates and two sets of hydraulic claws, wherein the two fixing plates are symmetrically arranged on the inner ring of the rotating device, and the two sets of hydraulic claws are symmetrically arranged between the fixing plates and form a four-bar mechanism with the fixing plates.
Further, each set of hydraulic claw comprises an outer claw, an inner claw, a chuck and a hydraulic claw oil cylinder, one ends of the outer claw and the inner claw are hinged on the fixed plate, the other ends of the outer claw and the inner claw are hinged with the chuck, the hydraulic claw oil cylinder is positioned between the inner claw and the outer claw, the cylinder end of the hydraulic claw oil cylinder is hinged on the fixed plate, and the rod end is hinged on the inner claw.
Further, the mechanical body system further comprises a composite mechanism II arranged at the front end of the tunnel barrier removing robot, the composite mechanism II comprises a foundation frame, a connecting plate and at least two relevant mechanisms, the lower parts of two vertical plates of the foundation frame are hinged to the frame, the connecting plate is fixed in front of the two vertical plates of the foundation frame and can move up and down along the track of the foundation frame, and the relevant mechanisms are connected with the connecting plate.
Further, the compound mechanism II further comprises a left base frame oil cylinder and a right base frame oil cylinder, the cylinder ends of the left base frame oil cylinder and the right base frame oil cylinder are connected with the frame, and the rod ends of the left base frame oil cylinder and the right base frame oil cylinder are respectively hinged to the outer sides of two vertical plates of the base frame.
Further, one of the related mechanisms in the composite mechanism II is a transfer mechanism and the other is a traction mechanism; the transfer mechanism comprises a left transfer rod and a right transfer rod which are symmetrically arranged, the transfer rod is L-shaped, and vertical rods of the transfer rod are respectively sleeved on two pin shafts at the front part of the connecting plate.
Further, the transfer mechanism in the compound mechanism II further comprises an upper interval adjusting oil cylinder and a lower interval adjusting oil cylinder, the cylinder ends of the interval adjusting oil cylinders are fixed on one transfer rod, the rod ends are matched with holes of the other transfer rod, and the cylinder ends and the rod ends of the upper interval adjusting oil cylinder and the lower interval adjusting oil cylinder are exchanged.
Further, the traction structure in the compound mechanism II comprises a traction frame and an adjusting device; the adjusting device comprises a traction locking oil cylinder and a traction swinging oil cylinder; the traction frame comprises a cross rod and two clamping jaws, the two clamping jaws are symmetrically hinged on the cross rod, and the cylinder end and the rod end of the traction locking cylinder are respectively hinged with the two clamping jaws; the cylinder end of the traction swing cylinder is connected to the connecting plate, and the rod end is connected with the traction frame.
Further, the adjusting device in the traction structure in the compound mechanism II further comprises a traction telescopic oil cylinder, the cylinder end of the traction telescopic oil cylinder is connected with the traction swinging oil cylinder, and the rod end is hinged with the traction frame.
Further, the power system and the hydraulic system are both connected with the frame; the power system comprises an engine and an engine diesel oil tank, and the hydraulic system comprises a plunger pump and a hydraulic oil tank; the engine, the engine diesel oil tank and the hydraulic oil tank are all fixed on the frame, the plunger pump is connected with the engine through the coupler, and the oil suction port of the plunger pump is connected with the hydraulic oil tank.
Further, the hydraulic claw cylinder, the pushing shovel cylinder, the foundation frame cylinder, the interval adjusting cylinder, the traction locking cylinder, the traction telescopic cylinder and the traction swinging cylinder are respectively connected with the plunger pump through pipelines.
The robot has the advantages that: 1. the compound mechanism I is arranged at the rear end of the robot: the pushing shovel mechanism is connected with the frame through a pin shaft, and the pushing shovel oil cylinder controls the swinging and positioning of the pushing shovel mechanism and the hydraulic claw in the vertical direction; the hydraulic claw oil cylinder in the grabbing mechanism controls the opening and closing of the hydraulic claw to different degrees, and grabs obstacles with different sizes; the hydraulic claw is connected with the inner ring of the rotary device, and the rotary device is driven by a hydraulic rotary motor, so that 360-degree rotation of the hydraulic claw is realized; the composite mechanism I greatly improves the working efficiency of the robot, greatly widens the working range of the robot, particularly treats objects in long and narrow positions, and can be rotated to conveniently take out the objects clamped in the gaps, so that obstacle clearance is better carried out; the grabbing and clamping mechanism and the pushing shovel structure are matched to clear obstacles, the hydraulic claw extends out of the pushing shovel and is mainly used for clamping and removing on-site obstacles, the hydraulic claw has a rotating function and can accurately clamp different regular objects, the pushing shovel structure can clear obstacles of various obstacles, and therefore obstacle clearing efficiency is higher; 2. the composite mechanism II is arranged at the rear part of the robot, wherein the lower part of the foundation frame is hinged on the frame, the connecting plate is fixed on the foundation frame and can move up and down along the track of the foundation frame, and the related mechanisms are connected with the connecting plate, so that the whole structure is more compact and reasonable; when the related mechanism is a transfer mechanism and a traction mechanism, the transfer mechanism can realize the fork and shovel carrying function of objects within 2000KG, and when the transfer function is used, the traction mechanism rotates clockwise by 80-100 DEG to stop the original position, and the transfer is in a working position; the realization of the function of the traction structure is completed by the traction swing oil cylinder, the telescopic oil cylinder and the locking oil cylinder together, and the traction structure has three degrees of freedom, and the main function is to realize the traction operation of a fault automobile on a road. (in situ herein refers to the rest position)
The tunnel obstacle clearing robot can realize the functions of pushing shovels, holding clamps, forking, automobile traction and the like of road obstacles in the environment with limited tunnel or operation space, so as to cope with the obstacle clearing work after various conditions on the road occur. Meanwhile, the invention is a remote-control high-power operation robot, which integrates a bionic technology, a communication technology, a control technology, a sensing technology and an electromechanical-hydraulic integrated technology, is the development and crossing of the robot technology from the pure kinematics field to the engineering dynamics field, belongs to the technology integration of the specific field, and ensures the personal safety of personnel by remote control.
Drawings
FIG. 1 is a front view of a tunnel barrier vehicle of the present invention;
FIG. 2 is a right side view of FIG. 1;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a block diagram of a control system according to the present invention;
FIG. 5 is a topology diagram of a wireless video system of the present invention;
FIG. 6 is a perspective view of the tunnel barrier vehicle of the present invention;
FIG. 7 is a second perspective view of the tunnel barrier vehicle of the present invention (the transfer mechanism is in the working position and the traction mechanism is in the non-working position);
fig. 8 is a perspective view of the tunnel barrier vehicle of the present invention (traction mechanism in the working position and transport mechanism in the non-working position).
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings, in which:
example 1
The invention discloses a tunnel obstacle clearance robot, which comprises a frame 1, a mechanical body system, a power system, a hydraulic system, an electric control system, a communication system and a wireless video system, and is characterized in that: the mechanical body system comprises a composite mechanism I arranged at the rear end of the tunnel barrier removing robot, wherein the composite mechanism I comprises a push shovel mechanism 4, a grabbing and clamping mechanism 5, a hydraulic rotary motor 7 and a rotary device 9, and the push shovel mechanism is connected with the grabbing and clamping mechanism through the rotary device 9; the pushing shovel mechanism comprises a pushing shovel body 4-1, a left pushing shovel oil cylinder and a right pushing shovel oil cylinder 4-2, wherein the lower part of the pushing shovel body 4-1 is hinged with the frame 1 through a connecting rod, the left pushing shovel oil cylinder and the right pushing shovel oil cylinder 4-2 are symmetrically arranged, and the cylinder end and the rod end of the pushing shovel mechanism are respectively hinged with a fixed block on the frame 1 and the upper part of the pushing shovel body 4-1; the hydraulic rotary motor 7 and the rotary device 9 are both fixed on the push shovel body 4-1, and a worm in the hydraulic rotary motor is meshed with a worm wheel in the rotary device 9; the grabbing mechanism 5 comprises two fixing plates 5-1 and two sets of hydraulic claws, wherein the two fixing plates 5-1 are symmetrically arranged on the inner ring of the slewing device 9, and the two sets of hydraulic claws are symmetrically arranged between the fixing plates 5-1 and form a four-bar mechanism with the fixing plates 5-1.
Each set of hydraulic claw comprises an outer claw 5-2, an inner claw 5-3, a chuck 5-4 and a hydraulic claw oil cylinder 5-5, one ends of the outer claw 5-2 and the inner claw 5-3 are hinged on a fixed plate 5-1, the other ends of the outer claw and the inner claw are hinged with the chuck 5-4, the hydraulic claw oil cylinder 5-5 is positioned between the inner claw and the outer claw, the cylinder end of the hydraulic claw oil cylinder is hinged on the fixed plate 5-1, and the rod end is hinged on the inner claw 5-3.
The rear end at the robot is installed to compound mechanism I: the pushing shovel mechanism is connected with the frame through a pin shaft, and the pushing shovel oil cylinder controls the swinging and positioning of the pushing shovel mechanism and the hydraulic claw in the vertical direction y; the hydraulic claw oil cylinder controls the opening and closing of the hydraulic claws to different degrees, namely the distance between the two sets of hydraulic claws in the z-axis direction is changed, and the hydraulic claw oil cylinder grabs obstacles with different sizes; the hydraulic claw is connected with the inner ring of the rotary device, and the rotary device is driven by a hydraulic rotary motor, so that 360-degree rotation (taking the x axis as the center) of the hydraulic claw is realized. Therefore, when the pushing shovel mechanism works, the pushing shovel body is positioned at the horizontal position or the downward position by pushing the rod end of the pushing shovel oil cylinder outwards so as to realize pushing shoveling of an object, then the rod end of the pushing shovel oil cylinder inwards contracts so as to enable the pushing shovel body to rise upwards, and when a robot walks to a proper position, the pushing shovel body is downwards to place the object in a proper position; when the grabbing and clamping mechanism works, the distance between the two hydraulic claws is increased through retraction of the oil cylinder rod ends of the hydraulic claws, when the hydraulic claws basically surround an object, the oil cylinder rod ends of the hydraulic claws outwards extend to enable the distance between the two hydraulic claws to be reduced, so that the hydraulic claws grab and clamp the object, then the hydraulic claws are loosened when the robot walks to a proper position, and the object is placed at a proper position; for objects in different positions, the hydraulic rotary motor works, and the rotary device rotates the grabbing mechanism to a proper position for grabbing. Therefore, the composite mechanism I can independently realize the pushing shovel function and the grabbing and clamping function, can also realize the two functions simultaneously, and simultaneously can also rotate without dead angles. Therefore, the composite mechanism I greatly improves the working efficiency of the robot, greatly widens the working range of the robot, and particularly treats objects in long and narrow positions, and the rotation of the grabbing and clamping mechanism and the opening and closing of the hydraulic claw can be particularly convenient for taking out the objects clamped in the gap, so that obstacle clearance is better carried out.
Example 2
The mechanical body system of the tunnel barrier removing robot further comprises a composite mechanism II arranged at the front end of the tunnel barrier removing robot, wherein the composite mechanism II comprises a foundation frame 11, a connecting plate 13 and at least two relevant mechanisms, the lower parts of two vertical plates of the foundation frame 11 are hinged to the frame 1, the connecting plate 13 is fixed in front of the two vertical plates of the foundation frame 11 and can move up and down along the track of the foundation frame, and the relevant mechanisms are connected with the connecting plate 13.
As an improvement mode of the invention, the tunnel barrier removing robot is provided with the composite mechanism II at the front end, and related mechanisms on the composite mechanism can move up and down along the foundation frame through the connecting plate, so that the working range of the related mechanisms is greatly widened, and barrier removing is better carried out. No positional interference occurs between the associated mechanisms, and when one mechanism is in operation, the other mechanism is in a non-operational state.
Example 3
The composite mechanism II of the tunnel barrier removing robot also comprises a left base frame oil cylinder 12 and a right base frame oil cylinder 12, the cylinder ends of the left base frame oil cylinder 12 and the right base frame oil cylinder 12 are connected with the frame 1, and the rod ends are respectively hinged to the outer sides of two vertical plates of the base frame 11.
In order to further widen the working range of the robot, the composite mechanism II is further provided with two base frame oil cylinders, and when the base frame oil cylinders work, the base frame and related mechanisms on the base frame can swing in the vertical direction y.
Example 4
The related mechanism in the composite mechanism II of the tunnel barrier removing robot is a transfer mechanism 6, and the other mechanism is a traction mechanism 8; the transfer mechanism 6 comprises two transfer rods 6-1 which are symmetrically arranged left and right, the transfer rods 6-1 are L-shaped, and vertical rods of the transfer rods are respectively sleeved on two pin shafts at the front part of the connecting plate 13.
One of the composite mechanisms II is a transfer mechanism, and a transfer rod in the rotating mechanism can move up and down along the foundation frame through the connecting plate, so that objects can be conveniently forked and then transferred. The traction mechanism can realize the dragging function.
Of course, the mechanism of the present invention is not limited to the transport mechanism and the traction mechanism, and may be another mechanism, and may be a plurality of two or more mechanisms as long as interference does not occur between the mechanisms.
Example 5
The transfer mechanism 6 in the composite mechanism II of the tunnel barrier removing robot also comprises an upper interval adjusting oil cylinder 6-2 and a lower interval adjusting oil cylinder 6-2, wherein the cylinder end of the interval adjusting oil cylinder 6-2 is fixed on one transfer rod, the rod end is matched with a hole of the other transfer rod, and the cylinder ends and the rod ends of the upper interval adjusting oil cylinder 6-2 and the lower interval adjusting oil cylinder 6-2 are exchanged.
In order to further widen the working range of robot, transport mechanism still includes interval adjustment hydro-cylinder, and two interval adjustment hydro-cylinders set up from top to bottom, and its rod end is connected with a transportation pole respectively. Like this, when interval adjustment hydro-cylinder during operation, the distance between two transfer poles is the distance in the z-axis direction can be adjusted, more conveniently fork the object to clear the barrier better.
Example 6
The traction structure 8 in the composite mechanism II of the tunnel barrier removing robot comprises a traction frame and an adjusting device; the adjusting device comprises a traction locking oil cylinder 8-2 and a traction swinging oil cylinder 8-3; the traction frame comprises a cross rod 8-5 and two clamping jaws 8-1, wherein the two clamping jaws 8-1 are symmetrically hinged on the cross rod 8-5, and the cylinder end and the rod end of the traction locking cylinder 8-2 are respectively hinged with the two clamping jaws 8-1; the cylinder end of the traction swing cylinder 8-3 is connected with the connecting plate 13, and the rod end is connected with the traction frame.
The working principle of the traction structure in the composite mechanism II of the tunnel barrier removing robot is as follows: the traction locking oil cylinder can realize the position change of the two clamping jaws in the z-axis direction, so that the distance between the two clamping jaws is controlled; the traction swing cylinder can realize the swing of the whole traction frame in the vertical direction y. Specifically: when the traction swing oil cylinder works to enable the whole traction frame to be lifted upwards to lean against the upper part of the foundation frame 11, the traction frame is at a non-working position of the traction mechanism, and the transfer mechanism works; when the traction swing oil cylinder works to enable the traction frame to be in a horizontal position, the traction mechanism works at the moment: the two clamping jaws are made to approach each other through the outward extension of the rod end of the traction locking cylinder, so that the two clamping jaws can conveniently enter a narrow space, then the rod end of the traction locking cylinder is retracted, the two clamping jaws are separated, the inner concave parts of the two clamping jaws are tightly attached to the outer surface of a similar object such as a tire, and then a robot walks, so that the object is towed, and obstacle clearance is realized.
Example 7
The adjusting device in the traction structure 8 in the composite mechanism II of the tunnel barrier removing robot also comprises a traction telescopic cylinder 8-4, the cylinder end of the traction telescopic cylinder 8-4 is connected with the traction swinging cylinder 8-3, and the rod end is hinged with the traction frame.
In order to further widen the working range of the robot, the adjusting device in the traction mechanism further comprises a traction telescopic oil cylinder, and the traction telescopic oil cylinder can drive the traction frame to move back and forth along the x-axis direction when in operation, so that objects in a narrow space can be drawn, and obstacle clearance is better performed.
That is to say: the traction structure enables the traction frame to be horizontal, namely the traction machine is in a working position through the traction swing oil cylinder 8-3, the traction telescopic oil cylinder 8-4 adjusts the extension length of the traction structure, and the traction locking oil cylinder 8-2 can tightly hold objects such as wheels; when the traction mechanism is in the working position, the transfer mechanism can be manually moved, namely rotated 170-190 degrees clockwise (shown in figure 2), so that the cross rod of the transfer rod faces the vehicle body (the transfer mechanism is in the non-working position), and the robot can perform related obstacle clearing operation by using the traction mechanism.
When the cross rod of the transfer rod is horizontally positioned at the horizontal forward working position, the traction mechanism swings the oil cylinder through the traction mechanism to enable the oil cylinder to rotate clockwise by 80-100 degrees (shown in figure 2) from the working position, so that the traction frame is vertically upwards (the traction mechanism is positioned at the non-working position), and the robot can perform related obstacle clearing operation by utilizing the transfer mechanism.
Example 8
The power system and the hydraulic system of the robot are connected with the frame 1; the power system comprises an engine 16 and an engine diesel oil tank 2, and the hydraulic system comprises a plunger pump 3 and a hydraulic oil tank 10; the engine 16, the engine diesel oil tank 2 and the hydraulic oil tank 10 are all fixed on the frame 1, the plunger pump 3 is connected with the engine 16 through a coupler, and an oil suction port of the plunger pump 3 is connected with the hydraulic oil tank 10.
In the robot of the present invention: the engine diesel oil tank 2 provides power for the engine 16, the engine 16 drives the plunger pump 3 to move, and the hydraulic oil tank 10 provides hydraulic oil for the oil cylinder through the plunger pump. That is to say: the plunger pump converts mechanical energy conveyed by the engine into hydraulic energy of hydraulic oil for transmission, and converts the hydraulic energy of the hydraulic oil into various mechanical energy through various executive components such as an oil cylinder, a hydraulic motor and the like, so that various action outputs are realized.
Wherein: the hydraulic claw cylinder 5-5, the pushing shovel cylinder 4-2, the foundation frame cylinder 12, the interval adjusting cylinder 6-2, the traction locking cylinder 8-2, the traction telescopic cylinder 8-4 and the traction swinging cylinder 8-3 are respectively connected with the plunger pump 3 through pipelines.
Example 9
The travelling mechanism of the tunnel barrier-removing robot adopts a crawler belt 15 structure and is respectively driven by two hydraulic travelling motors 14 with brakes.
When the speeds of the two tracks are the same, the robot realizes forward or backward movement; when the speeds of the two tracks are different, the robot achieves steering movement. Under the condition that the robot is not walking or the diesel engine is closed, the brake automatically holds the rotary motor tightly, so that the rotary motor is in a static state, and the walking safety of the robot during ascending and descending is ensured.
The hydraulic system is a driving source of executing mechanisms such as robot walking and working and the like, and mainly comprises a load-sensitive variable plunger pump, a load-sensitive electro-hydraulic proportional multi-way reversing valve, a hydraulic cylinder, a hydraulic rotary motor, a safety valve, a pressure reducing valve, a balance valve and other hydraulic elements, and the whole hydraulic system can be divided into a main hydraulic loop and a load feedback hydraulic loop. The main pump of the robot hydraulic system is an axial variable plunger pump, and a load induction control mode is adopted, so that the output pressure and flow of the main pump are automatically adapted to the load change of an executive component, the output power is approximately equal to the load consumption power, the excess pressure and the excess flow are reduced, the overflow loss is reduced, and the utilization efficiency of the diesel engine is effectively improved. And when the multiple execution elements perform compound actions, the synchronous operation of the multiple execution elements can be realized without mutual influence by the combined control of the multiple execution elements and the load sensing proportional valve, and the system operation performance is better. The pressure and flow change of the system are controlled by the load sensing signal, so that the control sensitivity is higher; meanwhile, because the electrohydraulic proportional valve based on load induction is adopted, when the speed is regulated, the flow through the throttle orifice is only related to the area, the influence of load change is avoided, the speed regulation is stable, accurate and rapid, and when the multi-cylinder compound action is carried out, the synchronous action can be realized without mutual influence, so that the overall operation performance of the robot is better.
The electric control system mainly comprises a diesel engine control loop, a remote control system, a controller, a rectifying power supply, an alarm loop, a lighting loop, an electric cabinet and the like, and the control system is shown in a block diagram in fig. 4. The robot hydraulic system is controlled by adopting an electrohydraulic proportional system based on pulse width modulation, and basic elements forming the electrohydraulic proportional control system comprise a remote control handle, a controller, a Pulse Width Modulation (PWM) driving circuit, an electrohydraulic proportional valve, an executing mechanism and the like, and control signals are generated through the remote control handle to control the output pressure of the electrohydraulic proportional pilot valve, so that the position of a valve core of a main reversing valve is controlled, and the working speed of a working hydraulic cylinder is controlled. The remote control handle mainly comprises a double-remote-rod (universal) wireless/wired signal transmitting system (remote controller) and a wireless/wired signal receiving and converting system. The remote controller is portable and fastened on the waist of an operator, the receiver is arranged in the frame, and the receiving antenna is arranged outside the machine body through the magnetic seat. The electro-hydraulic proportional valve is controlled in a PWM (pulse-width modulation) regulation mode, and the average current flowing through the proportional electromagnet coil is regulated by changing the duty ratio of a PWM signal, so that friction is reduced, hysteresis and dead zone phenomena of the electromagnet are reduced, and the response speed of the electro-hydraulic proportional valve is improved.
Communication is one of the indispensable functions of the robot, the robot can transmit external or internal information through a communication system, the robot adopts a wired and wireless combined mode in the selection of a communication mode in consideration of the complexity of an operation environment, a user can select between the wired and wireless communication modes according to specific operation environments and operation tasks, and a 20m control cable is matched randomly. In order to ensure that the robot control system has good response characteristics and module expansibility, a communication system of the robot adopts a CAN bus communication mode, and a remote control technology is utilized to establish the whole communication system integrated with the robot. The communication system comprises a robot communication interface, a CAN bus controller, a remote control transmitter, a remote control receiver and other modules.
The robot wireless video system mainly comprises a spatial position transmission system: panoramic camera system (four fixed cameras), wireless video transmission system and background video display storage system, etc., as shown in fig. 5. The cloud platform camera is arranged at the front end of the robot, can freely turn over and pitch under the action of the cloud platform, and dynamically captures the working condition of the scene. The equipment is provided with a set of special panoramic camera system, the panorama of the working area is displayed at the remote end through the special panoramic camera system, an operator combines video images at the remote end, and a remote controller is controlled to send instructions to the robot so as to realize the required actions.
The invention relates to an obstacle clearance robot, which belongs to a road rescue obstacle clearance robot, and adopts a steel crawler motion chassis as a carrier, and organically fuses a load feedback type electrohydraulic proportional system, a digital bidirectional wireless remote control system based on a CAN bus and a multi-parameter sensing system, so that the robot is mainly used for carrying out quick rescue on other rescue vehicles when fire or dangerous accidents occur in places such as a highway (railway) tunnel, a subway station, underground facilities and a cargo yard, a petrochemical oil depot and a refinery, and the like, CAN also realize grabbing and transferring of dangerous goods, and has the advantages of strong environmental adaptability, wide operation range, flexible and convenient operation, safe and reliable work, and the like. Meanwhile, the tunnel obstacle removing robot is taken as a remote control high-power operation robot, is essentially different from common engineering machinery, integrates a bionic technology, a communication technology, a control technology, a sensing technology and an electromechanical-hydraulic integrated technology, is developed and spanned from the pure kinematics field to the engineering dynamics field, and belongs to the technical integration of the specific field.
Claims (10)
1. The utility model provides a tunnel obstacle clearance robot, includes frame (1), mechanical body system, driving system, hydraulic system, electrical control system, communication system, wireless video system, characterized by: the mechanical body system comprises a composite mechanism I arranged at the rear end of the tunnel barrier removing robot, wherein the composite mechanism I comprises a push shovel mechanism
(4) The pushing shovel mechanism is connected with the grabbing and clamping mechanism through the rotating device (9); the pushing shovel mechanism comprises a pushing shovel body (4-1), a left pushing shovel oil cylinder and a right pushing shovel oil cylinder (4-2), wherein the lower part of the pushing shovel body (4-1) is hinged with the frame (1) through a connecting rod, the left pushing shovel oil cylinder and the right pushing shovel oil cylinder (4-2) are symmetrically arranged, and the cylinder end and the rod end of the pushing shovel mechanism are respectively hinged with a fixed block on the frame (1) and the upper part of the pushing shovel body (4-1); the hydraulic rotary motor (7) and the rotary device (9) are both fixed on the pushing shovel body (4-1), and a worm in the hydraulic rotary motor is meshed with a worm wheel in the rotary device (9); the grabbing and clamping mechanism (5) comprises two fixing plates (5-1) and two sets of hydraulic claws, wherein the two fixing plates (5-1) are symmetrically arranged on the inner ring of the rotary device (9), and the two sets of hydraulic claws are symmetrically arranged between the fixing plates (5-1) and form a four-bar mechanism with the fixing plates (5-1).
2. The tunnel barrier removal robot of claim 1, wherein: each set of hydraulic claw comprises an outer claw (5-2), an inner claw (5-3), a chuck (5-4) and a hydraulic claw oil cylinder (5-5), one ends of the outer claw (5-2) and the inner claw (5-3) are hinged on a fixed plate (5-1), the other ends of the outer claw and the inner claw are hinged with the chuck (5-4), the hydraulic claw oil cylinder (5-5) is positioned between the inner claw and the outer claw, the cylinder end of the hydraulic claw oil cylinder is hinged on the fixed plate (5-1), and the rod end is hinged on the inner claw (5-3).
3. The tunnel barrier removal robot according to claim 1 or 2, characterized in that: the mechanical body system further comprises a composite mechanism II arranged at the front end of the tunnel barrier removing robot, the composite mechanism II comprises a foundation frame (11), a connecting plate (13) and at least two relevant mechanisms, the lower parts of two vertical plates of the foundation frame (11) are hinged to the frame (1), the connecting plate (13) is fixed in front of the two vertical plates of the foundation frame (11) and can move up and down along the track of the foundation frame, and the relevant mechanisms are all connected with the connecting plate (13).
4. A tunnel barrier removal robot according to claim 3, characterized in that: the composite mechanism II also comprises a left base frame oil cylinder (12) and a right base frame oil cylinder (12), and the cylinder ends and the frame of the left base frame oil cylinder and the right base frame oil cylinder (12)
(1) The rod ends are respectively hinged to the outer sides of two vertical plates of the foundation frame (11).
5. A tunnel barrier removal robot according to claim 3, characterized in that: one of the related mechanisms in the composite mechanism II is a transfer mechanism (6), and the other is a traction mechanism (8); the transfer mechanism (6) comprises two transfer rods (6-1) which are symmetrically arranged left and right, the transfer rods (6-1) are L-shaped, and vertical rods of the transfer rods are respectively sleeved on two pin shafts at the front part of the connecting plate (13).
6. The tunnel barrier removal robot of claim 5, wherein: the transfer mechanism (6) in the composite mechanism II also comprises an upper interval adjusting oil cylinder (6-2) and a lower interval adjusting oil cylinder (6-2)
The cylinder end of the upper and lower interval adjusting cylinders (6-2) are opposite to the cylinder end of the rod end.
7. The tunnel barrier removal robot of claim 5, wherein: the traction mechanism (8) in the composite mechanism II comprises a traction frame and an adjusting device; the adjusting device comprises a traction locking oil cylinder (8-2) and a traction swinging oil cylinder (8-3); the traction frame comprises a cross rod (8-5), two clamping jaws (8-1), and two clamping jaws
The device is characterized in that the device (8-1) is symmetrically hinged on the cross rod (8-5), and the cylinder end and the rod end of the traction locking cylinder (8-2) are respectively hinged with the two clamping jaws (8-1); the cylinder end of the traction swing cylinder (8-3) is connected to the connecting plate (13), and the rod end is connected with the traction frame.
8. The tunnel barrier removal robot of claim 7, wherein: the adjusting device in the traction mechanism (8) in the compound mechanism II also comprises a traction telescopic cylinder (8-4), and the traction telescopic cylinder
The cylinder end of the (8-4) is connected with the traction swing cylinder (8-3), and the rod end is hinged with the traction frame.
9. The tunnel barrier removal robot of claim 1, wherein: the power system and the hydraulic system are connected with the frame (1); the power system comprises an engine (16) and an engine diesel oil tank
(2) The hydraulic system comprises a plunger pump (3) and a hydraulic oil tank (10); the engine (16), the engine diesel oil tank (2) and the hydraulic oil tank (10) are all fixed on the frame (1), the plunger pump (3) is connected with the engine (16) through a coupler, and an oil suction port of the plunger pump (3) is connected with the hydraulic oil tank (10).
10. The tunnel barrier removal robot of claim 9, wherein: the hydraulic claw oil cylinder (5-5), the pushing shovel oil cylinder (4-2), the foundation frame oil cylinder (12), the interval adjusting oil cylinder (6-2), the traction locking oil cylinder (8-2), the traction telescopic oil cylinder (8-4) and the traction swinging oil cylinder (8-3) are respectively connected with the plunger pump (3) through pipelines.
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| CN110931934B (en) * | 2019-12-23 | 2021-07-23 | 湖南友通科技集团有限公司 | Miniaturized antenna applied to 5G mobile communication |
| CN112828910B (en) * | 2021-02-05 | 2022-04-19 | 中铁工程装备集团有限公司 | Tunnel cleaning and obstacle removing robot and construction method thereof |
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