CN113977548B - Multifunctional environment-friendly dismantling robot - Google Patents
Multifunctional environment-friendly dismantling robot Download PDFInfo
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- CN113977548B CN113977548B CN202111251017.0A CN202111251017A CN113977548B CN 113977548 B CN113977548 B CN 113977548B CN 202111251017 A CN202111251017 A CN 202111251017A CN 113977548 B CN113977548 B CN 113977548B
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- hammer core
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/56—Reuse, recycling or recovery technologies of vehicles
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Working Measures On Existing Buildindgs (AREA)
Abstract
The invention discloses a multifunctional environment-friendly dismantling robot, which comprises a rotating platform integrating power output of a hydraulic station, a traveling mechanism used for moving and provided with four supporting legs, and a mechanical arm group used for installing the direction of front-end working accessories and adjusting the angles of the working accessories; the hydraulic lifting device is characterized in that the rotating platform is arranged above the travelling mechanism, the mechanical arm group is arranged on the rotating platform, the front end of the mechanical arm group is provided with the integrated arm, the integrated arm is provided with the damping hydraulic hammer and the mechanical claw, the cavity is formed in the integrated arm, the telescopic assembly is arranged in the cavity, the telescopic assembly is connected with the damping hydraulic hammer, the mechanical claw is arranged at the lower end of the outer side of the integrated arm, and the water tank is arranged in the rotating platform. The invention has the advantages that: the hydraulic hammer hydraulic station oil tank water cooling device adopts the synergistic design of the damping component, the linkage dust removal device and the hydraulic station oil tank water cooling device to realize timely water spraying and dust removal when the hydraulic hammer works, and to cool the oil temperature in the oil tank and simultaneously eliminate the high-frequency impact of the hydraulic hammer, thereby preventing site dust emission and affecting the construction environment.
Description
Technical Field
The invention relates to an engineering robot, in particular to a multifunctional environment-friendly dismantling robot.
Background
The industrial robot can replace manual work to perform high-risk operation in sites with severe environments, especially in industries such as metallurgy, mines, capital construction and the like. CN201320526351.7 discloses a wheeled multifunctional working robot, which comprises working tools, three working arms, a rotary platform, supporting legs, an electric and hydraulic system and a vehicle body, and further comprises a travelling device, wherein the travelling device comprises a front travelling unit and a rear travelling unit, each travelling unit comprises a left travelling motor, a right travelling motor, a left wheel hub and a right wheel hub, the left wheel hub and the right wheel hub are respectively sleeved on the output shafts of the left travelling motor and the right travelling motor and are connected on the vehicle body through fasteners, the left travelling motor and the right travelling motor extend into concave surfaces on the vehicle body, and the left wheel hubs and the right wheel hubs are respectively sleeved on the left wheel hubs and the right wheel hubs. The invention discloses a multifunctional remote control demolition robot, which is a rotary mechanism formed by a rotary motor, a rotary support and a control unit by utilizing a plane amplitude variation mechanism formed by an operation accessory, an accessory oil cylinder, a forearm oil cylinder, a middle arm oil cylinder, a hydraulic unit, a big arm and a big arm oil cylinder, so that the robot is a multi-degree-of-freedom operation mechanism, and can rapidly catch broken objects, hammering points and hammering directions in a three-dimensional space. The dismantling robot in the prior art disclosed above has no dust removing device when working by adopting a hydraulic hammer, and a large amount of dust can be generated when working, so that the environment is polluted, and the health of on-site workers is influenced. The front end accessory is single, and the hydraulic tongs need to be continuously replaced when the hydraulic tongs need to be replaced, so that the working efficiency is affected. CN202021696251.5 discloses a spray dust-fall cooling device for demolishing crushing machinery, wherein a water tank is arranged at the rear side of a vehicle body and is connected with a spray head at the front end through a hose. The front end accessory can not be linked by manual control.
Disclosure of Invention
Aiming at the defects of the existing products, the invention provides a multifunctional environment-friendly dismantling robot. The technical problems to be solved by the invention are as follows: and the dust generated when the hydraulic hammer of the dismantling robot works is eliminated.
The invention relates to a multifunctional environment-friendly dismantling robot, which comprises a rotating platform integrating power output of a hydraulic station, a traveling mechanism used for moving and provided with four supporting legs, and a mechanical arm group used for installing the direction of front-end working accessories and adjusting the angles of the working accessories; the hydraulic hammer comprises a rotary platform, a hydraulic hammer core, a hydraulic drill rod, a hydraulic hammer core, a hydraulic claw, a cavity, a telescopic component, a hydraulic tank, a hydraulic hammer core, a hammer core inner side plate, a drill rod and a hammer core outer side plate, wherein the rotary platform is arranged above a travelling mechanism; the hydraulic shock absorption hammer is provided with a linkage dust removing device, the linkage dust removing device is connected with the shock absorption component, and the linkage dust removing device is connected with a water outlet joint of the water tank through a hose.
Further, the damping component comprises an inner plate connecting seat, a lower damping plate, a sliding block, an upper limiting plate, a lower limiting plate, an upper damping plate, a damping guide rod, a damping spring and a damping fixing nut; the inner plate connecting seat is fixedly connected with the inner side plate of the hammer core through bolts, a lower shock absorption plate is arranged in the middle of the inner plate connecting seat, a sliding block is arranged at the end part of the lower shock absorption plate, the sliding block is connected with the inner wall of the outer side plate of the hammer core in a sliding fit manner, the inner wall of the outer side plate of the hammer core is fixedly connected with an upper limit plate and a lower limit plate, a shock absorption guide rod is arranged between the upper limit plate and the lower limit plate, a shock absorption spring is arranged at the middle section of the shock absorption guide rod, and two end parts of the shock absorption guide rod are respectively fixedly connected with the upper limit plate and the lower limit plate through shock absorption fixing nuts.
Further, the linkage dust removing device comprises a piston and a water storage cylinder body; a water storage cylinder body is fixedly arranged below the outer side plate of the hammer core, a second unidirectional water inlet valve is arranged below the water storage cylinder body, the second unidirectional water inlet valve is connected with a water sprinkling joint and a water spraying pipe, a first unidirectional water inlet valve is arranged on the side surface of the water storage cylinder body, and the first unidirectional water inlet valve is connected with an external water pipe; the water storage cylinder body is internally provided with a piston, the upper end of the piston is connected with a piston fixing rod, and the piston fixing rod is fixedly connected with a lower damping plate; when the hydraulic hammer core works, the hydraulic hammer core can vibrate in an up-down high-frequency impact manner, the piston is driven by the piston fixing rod to rapidly move up and down in the water storage cylinder body, and when the piston moves upwards, the first one-way water inlet valve is opened, the second one-way water inlet valve is closed, and the water storage cylinder body absorbs water; when the piston moves downwards, the first one-way water inlet valve is closed, and the second one-way water inlet valve is opened.
Further, flexible subassembly includes flexible hydraulic motor, screw rod fixing base, flange, telescopic screw rod, flexible hydraulic motor fixed mounting is in No. two arm cavity inner wall upper ends, install telescopic screw rod on the output shaft of flexible hydraulic motor, telescopic screw rod and screw rod fixing base pass through the screw rod cover to be connected, screw rod fixing base both sides and No. two arm cavity both sides inner wall welded fastening, and telescopic screw rod's lower tip is provided with flange, flange and hydraulic hammer pass through bolt fixed connection.
The beneficial effects of the invention are as follows: the dismantling robot adopts the cooperative design of the damping component, the linkage dust removing device and the hydraulic station oil tank water cooling device to realize that the hydraulic hammer can spray water in time to remove dust and cool the oil temperature in the oil tank and simultaneously eliminate the high-frequency impact of the hydraulic hammer when the hydraulic hammer works, thereby preventing site dust emission and influencing the construction environment.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the telescopic assembly of the present invention.
Fig. 3 is a schematic structural view of the shock-absorbing hydraulic hammer of the present invention.
Fig. 4 is an enlarged view of a portion of fig. 3B in accordance with the present invention.
Fig. 5 is a schematic structural view of a damping hydraulic hammer according to a second embodiment of the present invention
Fig. 6 is a left side view of the shock absorbing hydraulic hammer of the present invention.
Fig. 7 is a schematic view of the structure of the gripper of the present invention.
Fig. 8 is a schematic view of the structure of the mechanical claw with the housing removed in the present invention.
Fig. 9 is a top view of the gripper of the present invention.
Fig. 10 is a B-B cross-sectional view of fig. 9.
Fig. 11 is a schematic view of a claw pole structure.
Fig. 12 is a schematic view of the structure of the slewing bearing.
In the figure: the hydraulic power generation device comprises a rotating platform 1, a travelling mechanism 2, a mechanical arm group 3, an integrated arm 4, a telescopic assembly 5, a damping hydraulic hammer 6, a mechanical claw 7, a water tank 8 and a hydraulic station assembly 9.
The hydraulic hammer core 61, the hammer core inner side plate 62, the drill rod 63, the hammer core outer side plate 64, the inner plate connecting seat 65, the lower shock absorbing plate 66, the sliding block 67, the upper limiting plate 68, the lower limiting plate 69, the upper shock absorbing plate 610, the shock absorbing guide rod 611, the shock absorbing spring 612 and the shock absorbing fixing nut 613; a piston rod 614, a piston 615, a water storage cylinder 616, a one-way inlet valve 617, and a two-way inlet valve 618.
The upper rotating base 32, the lower rotating base 33, the hydraulic motor 34, the slewing bearing 35, the bearing outer ring 351, the bearing inner ring 352, the drive center shaft 353, the drive gear 354, the transmission gear 355, and the transmission gear mounting bracket 356.
The mechanical claw 7, the mechanical claw mounting seat 71, the mechanical claw motor 72, the rotating seat 73, the mechanical claw screw 74, the first connecting rod 75, the second connecting rod 76, the claw rod 77, the rotating groove 78, the mechanical claw fixing frame 79, the transmission rod 710, the screw sleeve 711, the mechanical claw rotating motor 712 and the housing 713.
Detailed Description
The invention is further described below with reference to examples.
As shown in fig. 1, a multifunctional environment-friendly demolition robot comprises a rotating platform 1 integrating power output of a hydraulic station, a traveling mechanism 2 used for moving and provided with four supporting legs, and a mechanical arm group 3 used for installing the direction of front-end working accessories and adjusting the angles of the working accessories; a hydraulic station assembly 9 for providing driving force for the rotary platform 1, the travelling mechanism 2 and the mechanical arm group 3;
the rotating platform 1 is arranged above the travelling mechanism 2, the hydraulic station assembly 9 is fixedly arranged inside a shell of the rotating platform 1, and the hydraulic station assembly 9 is provided with a hydraulic oil tank with a cooling coil inside;
the mechanical arm group 3 is installed on the rotating platform 1, the integrated arm 4 is installed at the front end of the mechanical arm group 3, the damping hydraulic hammer 6 and the mechanical claw 7 are installed on the integrated arm 4, a cavity is formed in the integrated arm 4, the telescopic component 5 is installed in the cavity, the telescopic component 5 is connected with the damping hydraulic hammer 6, the mechanical claw 7 is arranged at the lower end of the outer side of the integrated arm 4, and the water tank 8 is arranged in the rotating platform 1; the cooling coil pipe of the hydraulic station assembly 9 is connected with the water tank 8 through a water inlet pipe and a water outlet pipe, and the water tank 8 is connected with the linkage dust removing device through a hose; the outlet of the water tank 8 is provided with a switch valve, and the switch valve can be closed at any time when water is not needed.
As shown in fig. 3, the damping hydraulic hammer 6 includes a hydraulic hammer core 61, a hammer core inner plate 62, a drill rod 63, and a hammer core outer plate 64, wherein the hydraulic hammer core 61 is fixedly installed between the hammer core inner plates 62 through a screw assembly, the drill rod 63 is installed at the front end of the hydraulic hammer core 61, and a damping component is arranged between the hammer core inner plate 62 and the hammer core outer plate 64; the damping hydraulic hammer 6 is provided with a linkage dust removing device, the linkage dust removing device is connected with the damping component, the linkage dust removing device is connected with a water outlet joint of the water tank 8 through a hose, and the hose is fixedly installed on the mechanical arm through a pipe clamp.
As shown in fig. 3 to 6, the shock absorbing assembly includes an inner plate connecting seat 65, a lower shock absorbing plate 66, a sliding block 67, an upper limit plate 68, a lower limit plate 69, an upper shock absorbing plate 610, a shock absorbing guide rod 611, a shock absorbing spring 612, and a shock absorbing fixing nut 613; the inner plate connecting seat 65 is fixedly connected with the hammer core inner side plate 62 through bolts, a lower shock absorption plate 66 is arranged in the middle of the inner plate connecting seat 65, a sliding block 67 is arranged at the end part of the lower shock absorption plate 66, the sliding block 67 is connected with the inner wall of the hammer core outer side plate 64 in a sliding fit manner, an upper limit plate 68 and a lower limit plate 69 are fixedly connected with the inner wall of the hammer core outer side plate 64, a shock absorption guide rod 611 is arranged between the upper limit plate 68 and the lower limit plate 69, a shock absorption spring 612 is arranged at the middle section of the shock absorption guide rod 611, and two end parts of the shock absorption guide rod 611 are fixedly connected with the upper limit plate 68 and the lower limit plate 69 through shock absorption fixing nuts 613 respectively. The damping component can effectively reduce reverse impact stress generated during the working of the hydraulic hammer, so as to protect the mechanical arm group and prevent cracking.
The lower shock-absorbing plate 66 and the upper shock-absorbing plate 610 have the same structure, the inner wall of the outer side plate 64 of the hammer core is provided with a chute, the sliding block 67 of the lower shock-absorbing plate 66 is arranged in the chute, a ball strip is embedded on the inner wall of the chute, the ball strip can reduce sliding resistance when the sliding block 67 slides in the chute, a pressing plate is arranged above the sliding block 67, and the pressing plate is fixedly connected with the outer side plate 64 of the hammer core through a bolt. The impact stress generated when the hydraulic hammer works can be effectively absorbed by the damping spring 612 when the hydraulic hammer works.
As shown in fig. 3, the linkage dust removing device comprises a piston 615 and a water storage cylinder 616; a water storage cylinder 616 is fixedly arranged below the hammer core outer side plate 64, a second one-way water inlet valve 618 is arranged below the water storage cylinder 616, the second one-way water inlet valve 618 is connected with a water sprinkling joint and a water spraying pipe, a first one-way water inlet valve 617 is arranged on the side surface of the water storage cylinder 616, and the first one-way water inlet valve 617 is connected with an external water pipe; a piston 615 is arranged in the water storage cylinder 616, the upper end of the piston 615 is connected with a piston fixing rod 614, and the piston fixing rod 614 is fixedly connected with a lower shock absorbing plate 66; when the hydraulic hammer core 61 works, high-frequency impact vibration is generated up and down, the piston 615 is driven by the piston fixing rod 614 to rapidly move up and down in the water storage cylinder 616, and when the piston moves upwards, the first one-way water inlet valve 617 is opened, the second one-way water inlet valve 618 is closed, and the water storage cylinder 616 absorbs water; when the piston moves downwards, the first one-way water inlet valve 617 is closed, the second one-way water inlet valve 618 is opened, and water in the water storage cylinder body is quickly pressed and sprayed near the drill rod 63, so that dust generated by the hydraulic hammer during operation can be eliminated. By adjusting the opening pressure value of the No. two unidirectional water inlet valve 618, the piston 615 is operated to provide damping for the hydraulic ram 61.
As shown in fig. 2, the telescopic assembly comprises a telescopic hydraulic motor 51, screw fixing seats 52, connecting flanges 53 and telescopic screws 54, the telescopic hydraulic motor 51 is fixedly installed at the upper end of the inner wall of the cavity of the integrated arm, the telescopic screws 54 are installed on an output shaft of the telescopic hydraulic motor 51, the telescopic screws 54 are connected with the screw fixing seats 52 through screw sleeves, two sides of the screw fixing seats 52 are welded and fixed with the inner walls of two sides of the cavity of the integrated arm, the connecting flanges 53 are arranged at the lower end parts of the telescopic screws 54, and the connecting flanges 53 are fixedly connected with the hydraulic hammer 6 through bolts. When the hydraulic hammer 6 is required to work, the telescopic hydraulic motor 51 is controlled to rotate to drive the telescopic screw 54, so that the hydraulic hammer 7 can be controlled to extend to a proper length, the hydraulic hammer can be contracted into the cavity of the integrated arm without being used, and the working efficiency is improved without changing working accessories.
As shown in fig. 7-11, the upper end of the gripper 7 is provided with a gripper mounting seat 71, the gripper mounting seat 71 and the connecting seat of the integrated arm 4 are fixedly connected through bolts, the gripper motor 72 is fixedly installed inside the gripper mounting seat 71, the output shaft of the gripper motor 72 is provided with a gripper screw 74, the lower end of the gripper screw 74 is provided with a screw sleeve 711, the periphery of the screw sleeve 711 is hinged with a transmission rod 710, the other end of the transmission rod 710 is connected with the middle part of a second connecting rod 76, the upper end of the second connecting rod 76 is hinged with a gripper fixing frame 79, the outer side of the lower end of the gripper fixing frame 79 is provided with a first connecting rod 75, the lower ends of the first connecting rod 75 and the second connecting rod 76 are both hinged with the upper end of the gripper fixing frame 77, the gripper fixing frame 79 and the rotating seat 73 are fixedly connected, and the rotating seat 73 is sleeved on a lower clamping groove of the gripper motor 72. The rotating seat 73 is provided with a driving wheel, the driving wheel is connected with a main driving wheel at the lower end of the mechanical claw rotating motor 712 through a conveying belt, the mechanical claw rotating motor 712 is fixedly arranged on the mechanical claw mounting seat 71, the mechanical claw mounting seat 71 is sleeved on the shell 713, the inner wall of the shell 713 is provided with a rotating groove 78 corresponding to the rotating seat 73, and a rotating bearing is arranged in the rotating groove 78.
When the mechanical claw 7 is used, the mechanical claw motor 72 drives the mechanical claw screw 74 to rotate, the mechanical claw screw 74 drives the screw sleeve 711 to move upwards and downwards, the screw sleeve 711 moves upwards and downwards to drive the transmission rod 710 to move, the transmission rod 710 drives the first connecting rod 75 and the second connecting rod 76, the first connecting rod 75 and the second connecting rod 76 drive the claw rod 77 at the front end to retract, when the mechanical claw needs to adjust an angle, the mechanical claw rotating motor 712 rotates to drive the rotating seat 73 to rotate through the conveying belt, the rotating seat 73 is fixedly connected with the mechanical claw fixing frame 79, so that the mechanical claw fixing frame 79 rotates along with the rotation, and then the lower gripper is driven to rotate to adjust the angle of the gripper. When the mechanical claw 7 needs to longitudinally rotate for adjusting the angle, the mechanical claw oil cylinder pushes and pulls the connecting rod to achieve the purpose.
The claw rod 77 is provided with a front wear-resistant claw 771 and a rear wear-resistant claw 773, the surfaces of which are provided with convex teeth, and a circular arc-shaped concave 772 is arranged between the front wear-resistant claw 771 and the rear wear-resistant claw 773. The front wear-resistant claw 771 and the rear wear-resistant claw 773 are fixed on the claw rod 77 through welding, so that the mechanical claw can grasp an object to be removed.
The lower side of the rotary platform 1 is fixedly connected with an upper rotary seat 32, the upper end of the middle part of the travelling mechanism 2 is fixedly connected with a lower rotary seat 33, a rotary support 35 is arranged between the upper rotary seat 32 and the lower rotary seat 33, and a synchronous multi-gear assembly is arranged in the rotary support 35.
As shown in fig. 12, the synchronous multi-gear assembly includes a support outer ring 351, a support inner ring 352, a drive center shaft 353, a driving gear 354, and a transmission gear 355; a ball groove is formed between the support outer ring 351 and the support inner ring 352, the support outer ring 351 is fixedly connected with the lower rotating seat 33 through bolts, the support inner ring 352 is fixedly connected with the upper rotating seat 32, the support inner ring 352 is provided with a driving gear, the driving gear is in meshed connection with three transmission gears 355, and the transmission gears 355 are in meshed connection with the driving gear 354; the drive center shaft 353 of the drive gear 354 and the drive shaft of the hydraulic motor 34 are fixedly connected by a coupling. The hardness of the driving gear 354 is smaller than that of the transmission gear and the hardness of the transmission gear 355 is smaller than that of the driving gear for supporting the inner ring, and the driving gear 354 is worn firstly in the long-time engagement process due to the minimum hardness of the driving gear 354, and the hydraulic motor 34 is only required to be disassembled for replacing the driving gear, so that the time required for maintenance is greatly reduced.
A driving gear 354 drives three drive gears 355, and three drive gears 355 respectively with the drive gear interlock of support inner race 352, greatly increased demolish the interlock area between gear and the gear of robot in the rotation process to the condition that leads to broken tooth, the inaccurate positioning of gear wearing and tearing has reduced takes place.
The centers of the three transmission gears 355 are connected with a transmission gear mounting rack 356 through a rotating shaft, and the transmission gear mounting rack 356 is fixedly connected with the lower surface of the upper rotating seat 32; the drive gear mount 356 allows for synchronous rotation of the three drive gears 355. The included angle between the central lines of adjacent driving teeth is 120 degrees, and the distances from the central points of the three driving teeth to the central point of the driving gear are the same.
The synchronous multi-gear assembly is arranged in the rotary support 35, one driving gear drives three driving gears, the three driving gears are respectively meshed with the driving gears supporting the inner ring, the meshing area between the gears in the rotation process of the dismantling robot is greatly increased, the stress of each gear is uniform, and therefore the occurrence of broken teeth caused by abrasion of the gears is reduced.
Second embodiment
As shown in fig. 5, the same as the first embodiment, except that the water storage cylinder 616 is fixedly connected with the lower limiting plate 69, a piston 615 is installed on the water storage cylinder 616, a piston rod at the upper end of the piston 615 is fixedly connected with the lower damping plate 66 through threads, a damping guide rod 611 is disposed between the upper limiting plate 68 and the lower damping plate 66, and a damping spring 612 is installed on the damping guide rod 611. The lower end of the water storage cylinder 616 is provided with a first one-way water inlet valve 617 and a second one-way water inlet valve 618, the first one-way water inlet valve 617 is connected with a water outlet pipe of the water tank, and the second one-way water inlet valve 618 is connected with a spray pipe.
The piston 615 is driven by the lower shock absorbing plate 66 to move up and down in the water storage cylinder 616, when the piston moves up, the first one-way water inlet valve 617 is opened, the second one-way water inlet valve 618 is closed, the water storage cylinder 616 absorbs water to form negative pressure to drive cooling water in the water tank 8 to flow, and after the water in the water tank 8 flows into the water storage cylinder, the water in the cooling coil in the hydraulic oil tank and the cooling water in the water tank 8 form circulation; when the piston moves downwards, the first one-way water inlet valve 617 is closed, the second one-way water inlet valve 618 is opened, the piston 615 provides damping and shock absorption for the hydraulic hammer core 61 during operation by adjusting the opening pressure value of the second one-way water inlet valve 618, and the water spray pipe rapidly presses water in the water storage cylinder body out of the vicinity of the drill rod 63, so that dust generated by the hydraulic hammer during operation can be eliminated.
According to the multifunctional environment-friendly demolishing robot, the damping component prevents the demolishing robot hydraulic breaking hammer from reversely transmitting high-frequency impact stress to the mechanical arm, the machinery and the hydraulic part in the process of striking ores for a long time, so that the conditions of cracking of the mechanical arm, damage of parts and the like are avoided. The linkage dust removing device is matched with the damping component, the piston is driven by the piston fixing rod to rapidly move up and down in the water storage cylinder body, when the piston moves upwards, the first one-way water inlet valve is opened, the second one-way water inlet valve is closed, and the water storage cylinder body absorbs water; when the piston moves downwards, the first unidirectional water inlet valve is closed, the second unidirectional water inlet valve is opened, water in the water storage cylinder body is rapidly pressed out to be sprayed near the drill rod, manual intervention is not needed along with the linkage of the hydraulic hammer, and dust generated by the hydraulic hammer during working can be eliminated. The dismantling robot adopts the cooperative design of the damping component, the linkage dust removal device and the hydraulic station oil tank water cooling device to realize that the hydraulic hammer can spray water in time to remove dust and cool the oil temperature in the oil tank and simultaneously eliminate the high-frequency impact of the hydraulic hammer when the hydraulic hammer works, thereby preventing site dust emission and influencing the construction environment
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related arts are included in the scope of the present invention.
Claims (3)
1. The multifunctional environment-friendly dismantling robot is characterized by comprising a rotating platform integrating power output of a hydraulic station, a traveling mechanism used for moving and provided with four supporting legs, and a mechanical arm group used for installing front-end working accessories and adjusting angles of the working accessories; the hydraulic station assembly is used for providing driving force for the rotating platform, the travelling mechanism and the mechanical arm group; the hydraulic station assembly is fixedly arranged in a shell of the rotating platform and is provided with a hydraulic oil tank with a cooling coil inside; the mechanical arm assembly is arranged on the rotating platform, the front end of the mechanical arm assembly is provided with an integrated arm, the integrated arm is provided with a damping hydraulic hammer and a mechanical claw, a cavity is formed in the integrated arm, a telescopic assembly is arranged in the cavity and connected with the damping hydraulic hammer, the mechanical claw is arranged at the lower end of the outer side of the integrated arm, and a water tank is arranged in the rotating platform; the damping hydraulic hammer comprises a hydraulic hammer core, a hammer core inner side plate, a drill rod and a hammer core outer side plate, wherein the hydraulic hammer core is fixedly arranged between the hammer core inner side plates through a screw rod assembly, the drill rod is arranged at the front end of the hydraulic hammer core, and a damping assembly is arranged between the hammer core inner side plate and the hammer core outer side plate; the damping hydraulic hammer is provided with a linkage dust removing device which is connected with the damping component; the damping component comprises an inner plate connecting seat, a lower damping plate, a sliding block, an upper limiting plate, a lower limiting plate, an upper damping plate, a damping guide rod, a damping spring and a damping fixing nut; the inner plate connecting seat is fixedly connected with the inner side plate of the hammer core through bolts, a lower shock absorption plate is arranged in the middle of the inner plate connecting seat, a sliding block is arranged at the end part of the lower shock absorption plate, the sliding block is connected with the inner wall of the outer side plate of the hammer core in a sliding fit manner, the inner wall of the outer side plate of the hammer core is fixedly connected with an upper limit plate and a lower limit plate, a shock absorption guide rod is arranged between the upper limit plate and the lower limit plate, a shock absorption spring is arranged at the middle section of the shock absorption guide rod, and two end parts of the shock absorption guide rod are respectively fixedly connected with the upper limit plate and the lower limit plate through shock absorption fixing nuts; the linkage dust removing device comprises a piston and a water storage cylinder body; a water storage cylinder body is fixedly arranged below the outer side plate of the hammer core, a second unidirectional water inlet valve is arranged below the water storage cylinder body, the second unidirectional water inlet valve is connected with a water sprinkling joint and a water spraying pipe, a first unidirectional water inlet valve is arranged on the side surface of the water storage cylinder body, and the first unidirectional water inlet valve is connected with an external water pipe; the water storage cylinder body is internally provided with a piston, the upper end of the piston is connected with a piston fixing rod, and the piston fixing rod is fixedly connected with a lower damping plate; when the hydraulic hammer core works, the hydraulic hammer core can vibrate in an up-down high-frequency impact manner, the piston is driven by the piston fixing rod to rapidly move up and down in the water storage cylinder body, and when the piston moves upwards, the first one-way water inlet valve is opened, the second one-way water inlet valve is closed, and the water storage cylinder body absorbs water; when the piston moves downwards, the first one-way water inlet valve is closed, and the second one-way water inlet valve is opened; the cooling coil of the hydraulic station assembly is connected with the water tank through the water inlet pipe, the water outlet pipe and the water tank, and the water tank is connected with the linkage dust collector through the hose.
2. The multifunctional environment-friendly dismantling robot according to claim 1, wherein an upper rotating seat is fixedly connected to the lower part of the rotating platform, a lower rotating seat is fixedly connected to the upper end of the middle part of the travelling mechanism, a rotary support is arranged between the upper rotating seat and the lower rotating seat, and a synchronous multi-gear assembly is arranged in the rotary support.
3. The multifunctional environment-friendly dismantling robot according to claim 2, wherein the synchronous multi-gear assembly comprises a supporting outer ring, a supporting inner ring, a driving central shaft, a driving gear and a transmission gear; the ball grooves are formed between the support outer ring and the support inner ring, the support outer ring is fixedly connected with the lower rotating seat through bolts, the support inner ring is fixedly connected with the upper rotating seat, the support inner ring is provided with a driving gear, the driving gear is in meshed connection with three transmission gears, and the transmission gears are in meshed connection with the driving gear; the driving central shaft of the driving gear is fixedly connected with the driving shaft of the hydraulic motor through a coupler; the hardness of the driving gear is smaller than that of the transmission gear, and the hardness of the transmission gear is smaller than that of the driving gear supporting the inner ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111251017.0A CN113977548B (en) | 2021-10-27 | 2021-10-27 | Multifunctional environment-friendly dismantling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111251017.0A CN113977548B (en) | 2021-10-27 | 2021-10-27 | Multifunctional environment-friendly dismantling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113977548A CN113977548A (en) | 2022-01-28 |
| CN113977548B true CN113977548B (en) | 2023-07-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100361791C (en) * | 2005-12-22 | 2008-01-16 | 马鞍山市惊天液压机械制造有限公司 | Robot for disassembling work |
| JP6165122B2 (en) * | 2014-10-23 | 2017-07-19 | 岡本 俊仁 | Work machine |
| CN106012787B (en) * | 2016-05-31 | 2017-12-19 | 福州麦辽自动化设备有限公司 | A kind of drill steel based on hydraulic valve control triggers quartering hammer |
| CN106034767B (en) * | 2016-07-01 | 2022-06-10 | 三明学院 | Multifunctional engineering vehicle |
| CN108005138A (en) * | 2017-12-29 | 2018-05-08 | 宣城市安工大工业技术研究院有限公司 | A kind of multifunction remote-control robot for disassembling work |
| CN208167854U (en) * | 2018-02-27 | 2018-11-30 | 江苏力博士机械股份有限公司 | A kind of environment-friendly type hydraulic breaking hammer |
| CN108914936B (en) * | 2018-07-19 | 2020-12-15 | 浙江鼎业基础工程有限公司 | Quick and efficient pile driver for building construction |
| CN110847268A (en) * | 2019-10-12 | 2020-02-28 | 徐州宏嵩机电设备有限公司 | Multifunctional engineering machine |
| CN212248236U (en) * | 2020-05-06 | 2020-12-29 | 马鞍山云林百成机械制造有限公司 | Hydraulic hammer with protective structure |
| CN112276901A (en) * | 2020-10-30 | 2021-01-29 | 北京市安全生产科学技术研究院 | Large-load emergency rescue robot for complex environment |
| CN113294400A (en) * | 2021-04-12 | 2021-08-24 | 刘壮 | Hydraulic bidirectional cooling type heat dissipation hydraulic hammer |
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