CN114906036B - Crawler walking type heavy-load robot - Google Patents
Crawler walking type heavy-load robot Download PDFInfo
- Publication number
- CN114906036B CN114906036B CN202110175334.2A CN202110175334A CN114906036B CN 114906036 B CN114906036 B CN 114906036B CN 202110175334 A CN202110175334 A CN 202110175334A CN 114906036 B CN114906036 B CN 114906036B
- Authority
- CN
- China
- Prior art keywords
- lifting
- folding
- hydraulic cylinder
- crawler
- lifting appliance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/062—Especially adapted for carrying tracked vehicles, e.g. public works machinery, battle tanks, snowmobiles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/54—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading
- B60P1/5438—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading with a moveable base
- B60P1/5457—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading with a moveable base attached to the loading platform or similar
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of robots, in particular to a crawler traveling type heavy-load robot which comprises a portal frame, folding frames, folding driving mechanisms, a lifting appliance driving mechanism, crawler assemblies and an unfolding mechanism, wherein the folding frames and the folding driving mechanisms are arranged on two sides of the portal frame, the upper ends of the folding frames are hinged to corresponding end portions of the portal frame and driven to swing through the folding driving mechanisms on the corresponding sides, telescopic hydraulic cylinders are arranged in the folding frames and connected with the crawler assemblies on the corresponding sides, the lifting appliance driving mechanism is arranged in the middle of the upper side of the portal frame, a lifting appliance is installed on the lifting appliance driving mechanism, and the portal frame and the crawler assemblies are driven to unfold and move through the unfolding mechanism. The invention can realize automatic unfolding landing and automatic folding loading, and after butt joint and landing, can hoist large heavy-duty equipment to automatically, coordinately and stably walk for transshipment, and can realize transshipment operation under the conditions of long and narrow roads, complicated severe weather and the like.
Description
Technical Field
The invention relates to the field of robots, in particular to a crawler walking type heavy-load robot.
Background
At present, field mobile motor-driven transshipment operation of large-scale heavy-load equipment or fault equipment is mostly in a mode of manually operating a transshipment running automobile crane, the operation range of the traditional automobile crane is fixed, the automobile crane cannot walk with load, the hoisting control precision is not high, and the transshipment operation of the large-scale heavy-load equipment on a double-lane road is difficult to implement under the conditions of a long and narrow road and complicated severe weather.
Disclosure of Invention
The invention aims to provide a crawler traveling type heavy-load robot which can realize automatic unfolding landing and automatic folding loading, can hoist large heavy-load equipment to automatically, coordinately and stably travel for transshipment after being butted to the ground, and can realize transshipment operation under the conditions of long and narrow roads, complicated severe weather and the like.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a track walking heavy load robot, includes portal frame, folding leg, folding actuating mechanism, hoist actuating mechanism, track subassembly and deployment mechanism, wherein the portal frame both sides all are equipped with folding leg and folding actuating mechanism, just the folding leg upper end articulates in the folding actuating mechanism drive swing through corresponding side in the corresponding tip of portal frame, be equipped with flexible pneumatic cylinder in the folding leg and be connected with the track subassembly that corresponds the side, hoist actuating mechanism locates portal frame upside middle part, and the hoist install in on the hoist actuating mechanism, portal frame and track subassembly pass through the deployment mechanism drive expandes the removal.
The folding driving mechanism comprises a folding hydraulic cylinder, a first connecting rod and a second connecting rod, the rear end of the folding hydraulic cylinder is hinged to the portal frame, the front end of the folding hydraulic cylinder is coaxially hinged to the rear end of the first connecting rod and the rear end of the second connecting rod, the front end of the first connecting rod is hinged to the portal frame, and the front end of the second connecting rod is hinged to the folding frame.
The end part of a cylinder rod of the telescopic hydraulic cylinder is provided with a connecting plate fixedly connected with a crawler belt assembly on the corresponding side, the folding frame is provided with a guide cylinder, a guide post is inserted into the guide cylinder, the lower end of the guide post is fixedly connected with the connecting plate, and in addition, the outer side of the lower end of the folding frame is provided with a foldable supporting bolt.
The lifting appliance driving mechanism comprises a lifting appliance lifting device, a lodging hydraulic cylinder, a transverse moving seat and a transverse moving hydraulic cylinder, wherein the transverse moving seat is driven to move by the transverse moving hydraulic cylinder, the front end of the lifting appliance lifting device is hinged to the transverse moving seat, the output shaft end of the lifting appliance lifting device is hinged to a lifting appliance, the cylinder body of the lodging hydraulic cylinder is hinged to the transverse moving seat, and the end part of a cylinder rod is hinged to the lifting appliance lifting device.
The lifting appliance lifting device is hinged to the transverse moving seat through a first hinge shaft, the output shaft end of the lifting appliance lifting device is hinged to the lifting appliance through a second hinge shaft, and an opening for the second hinge shaft to move is formed in the transverse moving seat.
The gantry is provided with a two-dimensional laser navigator, and the folding frame is provided with a one-dimensional laser ranging sensor and a visual navigation identifier.
Unfolding mechanism includes lifting mechanism, side exhibition mechanism and rotation mechanism, and wherein lifting mechanism rotationally locates in the side exhibition mechanism, and rotation mechanism locates and inclines exhibition mechanism one side, just lifting mechanism passes through the rotation mechanism drive rotates, side exhibition mechanism both sides are equipped with mobilizable flexible supporting beam, and when expanding lifting mechanism upper end offsets with the portal frame, and the track subassembly supports through the flexible supporting beam that corresponds the side.
The lifting mechanism comprises a lifting hydraulic cylinder and a lifting seat, the lifting seat is driven to lift through the lifting hydraulic cylinder, a rotary support is arranged at the lower end of the lifting mechanism, and the lifting seat is abutted to the portal frame.
The slewing mechanism comprises a slewing hydraulic cylinder, a cylinder body of the slewing hydraulic cylinder is arranged on the side-unfolding mechanism, and the end part of the cylinder rod is hinged with the lifting mechanism.
The side exhibition mechanism both ends all are equipped with flexible pneumatic cylinder, just flexible supporting beam removes through the flexible pneumatic cylinder drive that corresponds the end, side exhibition mechanism both sides are equipped with the uide bushing, flexible supporting beam both sides are equipped with a telescopic cylinder and insert respectively in the uide bushing of corresponding side.
The invention has the advantages and positive effects that:
1. the invention can automatically expand to land when in operation, can automatically fold and load after the operation is finished, can be transported by motor along with the vehicle, and has flexible use.
2. After the lifting appliance is automatically butted and landed, the lifting appliance can lift large heavy-duty equipment to automatically, coordinately and stably travel, the traveling safety can be automatically monitored, the lifting appliance driving mechanism can realize the automatic erection of the lifting appliance lifting device after the lifting appliance is in place, and the position of a lifting point can be automatically aligned according to the field condition.
3. According to the invention, the foldable high-strength column type supporting bolt is arranged on the outer side of the lower end of the folding frame, so that the operation safety of the telescopic hydraulic cylinder in case of single-point failure can be ensured.
4. The robot has the autonomous navigation and positioning functions, and can realize the mobile navigation of a single robot, the coordinated movement of double robots, the autonomous navigation and the automatic positioning of a hoisting position.
5. The invention can complete the transfer operation on four-level roads with double lanes and above or on wide fields with similar scales and in complicated severe weather.
6. The invention has compact integral structure and lighter weight, the self weight of a single robot is less than 14.5 tons, the hoisting rated load is not less than 35 tons, and the invention has higher load-mass ratio.
Drawings
Figure 1 is a front view of the invention in a transport position,
figure 2 is a top plan view of the invention of figure 1 in a transport state,
figure 3 is a top view of the spreader drive mechanism of figure 2,
figure 4 is a schematic view of the invention in an expanded state,
figure 5 is a side view of the invention of figure 4 in an expanded state,
figure 6 is a front view of the spreader drive mechanism of figure 4,
FIG. 7 is an enlarged view of the traverse seat of FIG. 6,
figure 8 is a schematic view of the spreader lifting device of figure 7 in an erected state,
figure 9 is a schematic view of the deployment mechanism of the present invention,
figure 10 is a first schematic view of the deployment process of the present invention,
figure 11 is a top view of the vehicle body of figure 10,
figure 12 is a second schematic view of the deployment process of the present invention,
figure 13 is a top view of the vehicle body of figure 12,
figure 14 is a third schematic illustration of the deployment process of the present invention,
figure 15 is a view from direction a of figure 14,
figure 16 is a schematic view of the deployment mechanism of figure 15 retracted,
FIG. 17 is a fourth schematic illustration of the deployment process of the present invention.
The system comprises a gantry 1, a two-dimensional laser navigator 101, a folding frame 2, a visual navigation marker 201, a support bolt 202, a telescopic hydraulic cylinder 203, a one-dimensional laser ranging sensor 204, a connecting plate 205, a folding driving mechanism 3, a folding hydraulic cylinder 301, a first connecting rod 302, a second connecting rod 303, a hanger driving mechanism 4, a traversing hydraulic cylinder 401, a lodging hydraulic cylinder 402, a second hinge shaft 403, a traversing seat 404, a hinging seat 405, a hanger lifting device 406, a first hinge shaft 407, a crawler assembly 5, a hanger 6, a lifting mechanism 7, a lifting seat 701, a side-spreading mechanism 8, a telescopic support beam 801, a telescopic hydraulic cylinder 802, a slewing mechanism 9, a hydraulic cylinder 901 and a mounting seat 902.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 17, the invention comprises a portal frame 1, folding frames 2, folding driving mechanisms 3, a hanger driving mechanism 4, crawler assemblies 5 and an unfolding mechanism, wherein as shown in fig. 1, the portal frame 1 is in an inverted concave shape, the folding frames 2 and the folding driving mechanisms 3 are respectively arranged on two sides inside the portal frame, the folding frames 2 are hinged to corresponding end parts of the portal frame 1 and driven to swing through the folding driving mechanisms 3 on the corresponding sides, the hanger driving mechanism 4 is arranged in the middle of the upper side of the portal frame 1, as shown in fig. 4 and 6, a hanger 6 is arranged on the hanger driving mechanism 4, as shown in fig. 15, after the folding frames 2 are swung and unfolded, two groups of crawler assemblies 5 are driven by the unfolding mechanism to respectively move to the lower ends of the folding frames 2 on the corresponding sides and fixedly connected with the corresponding folding frames 2, and after the installation, the whole body of the invention realizes the movement through the crawler assemblies 5. The track assemblies 5 are well known in the art.
As shown in fig. 1 and 4, the folding driving mechanism 3 includes a folding hydraulic cylinder 301, a first connecting rod 302 and a second connecting rod 303, the rear end of the folding hydraulic cylinder 301 is hinged to the gantry 1, the front end of the folding hydraulic cylinder 301 is coaxially hinged to the rear end of the first connecting rod 302 and the rear end of the second connecting rod 303, the front end of the first connecting rod 302 is hinged to the gantry 1, the front end of the second connecting rod 303 is hinged to the folding leg 2, when the folding hydraulic cylinder 301 extends out, the folding leg 2 and the corresponding side of the gantry 1 are in the same straight line through the transmission of the first connecting rod 302 and the second connecting rod 303, and then the folding leg 2 and a flange at the adjacent end of the gantry 1 are fixedly connected through a bolt, so that the folding leg 2 and the gantry 1 are fixed.
As shown in fig. 5, a telescopic hydraulic cylinder 203 is arranged in the middle of the folding leg 2, and a connecting plate 205 is arranged at the end of a rod of the telescopic hydraulic cylinder 203, when the gantry crane is unfolded, the telescopic hydraulic cylinder 203 is started to extend, and after the telescopic hydraulic cylinder extends to the proper position, the connecting plate 205 is fixedly connected with the crawler belt assembly 5 on the corresponding side, and in the moving process of the gantry crane, the telescopic hydraulic cylinder 203 supports the total weight of the gantry crane 1 and the hoisted equipment. In addition, as shown in fig. 5, guide cylinders are arranged on two sides of the folding frame 2, the telescopic hydraulic cylinder 203 is arranged between the guide cylinders on the two sides, guide posts are inserted into the guide cylinders, the lower ends of the guide posts are fixedly connected with the connecting plate 205, the guide cylinders and the guide posts are in sliding connection through cylindrical surface oilless bearings, when the telescopic hydraulic cylinder 203 is telescopic, the guide posts are driven by the connecting plate 205 to be telescopic, at the moment, the guide posts play a guiding role, and are arranged between the crawler assembly 5 and the folding frame 2 to bear walking torsion load, and when the telescopic hydraulic cylinder 203 is completely retracted, the guide posts are also completely retracted into the guide cylinders, so that the folding frame 2 is not influenced to be retracted into the portal frame 1.
As shown in fig. 4 to 5, a support bolt 202 made of high-strength steel and in a column shape is disposed on the outer side of the lower end of the folding leg 2, and when the telescopic hydraulic cylinder 203 fails, the support bolt 202 can continue to support the gantry 1 at a certain height, so as to ensure the operation safety when the telescopic hydraulic cylinder 203 fails at a single point. In this embodiment, the upper end of the supporting bolt 202 is hinged to the folding leg 2 and locked to the folding leg 2 through a bolt, as shown in fig. 4, when the robot is unfolded, the bolt is firstly pulled out, then the supporting bolt 202 swings to a state in line with the folding leg 2, and then the bolt is reinserted to lock the supporting bolt 202 to the folding leg 2, as shown in fig. 1, when the robot is retracted, the bolt is firstly pulled out, then the supporting bolt 202 is folded to a state parallel to the folding leg 2, and then the bolt is reinserted to lock the supporting bolt 202 to the folding leg 2, at this time, the supporting bolt 202 does not affect the folding leg 2 to be retracted into the portal frame 1.
As shown in fig. 2 to 3 and fig. 6 to 8, the spreader driving mechanism 4 includes a spreader lifting device 406, a lodging hydraulic cylinder 402, a traverse seat 404 and a traverse hydraulic cylinder 401, wherein the traverse seat 404 and the traverse hydraulic cylinder 401 are both disposed in the gantry 1, the traverse seat 404 is driven by the traverse hydraulic cylinder 401 to move, a cylinder body of the lodging hydraulic cylinder 402 is hinged to one side of the traverse seat 404, a rod end of the lodging hydraulic cylinder 402 is hinged to a front end of the spreader lifting device 406, the spreader lifting device 406 is hinged to the traverse seat 404 by a first hinge shaft 407, an output shaft end of the spreader lifting device 406 is hinged to the spreader 6 by a second hinge shaft 403, as shown in fig. 3, an opening is formed in the traverse holder 404 for the second hinge shaft 403 to move, as shown in fig. 7 to 8, the spreader lifting device 406 is driven by the lodging hydraulic cylinder 402 to rotate around the first hinge shaft 407 and realize state changes of horizontal lodging and vertical standing, while the second hinge shaft 403 freely moves in the opening in the traverse holder 404 without interference, so that the output shaft end of the spreader lifting device 406 is always connected with the spreader 6 no matter in the lodging or standing state, when the spreader lifting device 406 stands up, the traverse hydraulic cylinder 401 drives the traverse holder 404 to move to align the position of a lifting point of the spreader 6, and then the spreader lifting device 406 drives the spreader 6 to realize lifting. In this embodiment, the spreader lifting device 406 is a hydraulic cylinder.
As shown in fig. 7, a hinged support 405 is provided on the traverse support 404, and a cylinder body of the lodging hydraulic cylinder 402 is hinged to the hinged support 405. In addition, limit supporting seats are arranged in the transverse moving seat 404 and the portal frame 1 and are used for supporting the front end and the rear end of the lifting appliance lifting device 406 in a lodging state. The traverse base 404 is slidably connected to the gantry 1, in this embodiment, a slide rail is disposed in the gantry 1, and a slider engaged with the slide rail is disposed at a lower side of the traverse base 404.
The lifting appliance driving mechanism 4 has a self-adaptive function and can adapt to shaking generated by walking in a slope range, wherein the lifting appliance lifting device 406 is used as a power element for lifting the lifting appliance 6 and mainly bears a lifted spare load, in the embodiment, the second hinge shaft 403 for connecting the lifting appliance lifting device 406 and the lifting appliance 6 is of a universal joint structure and can realize a free swinging function along with the adjusted spare load, and the lifting appliance lifting device 406 is in a hydraulic cylinder form with a mechanical self-locking structure. In this embodiment, the lifting height of the lifting appliance driving mechanism 4 is: relative to the central line of the hoisted equipment, the distance is-1300 mm- +1250mm; hoisting speed: the lifting speed is less than or equal to 3m/min, and the descending speed is less than or equal to 2m/min.
As shown in fig. 4 to 5, a two-dimensional laser navigator 101 is disposed on the gantry 1, and a one-dimensional laser ranging sensor 204 and a visual navigation identifier 201 are disposed on the folding leg 2. After the device is unfolded and off the vehicle, the device walks in a navigation mode through the two-dimensional laser navigator 101 and navigates to a working point position through the visual navigation identifier 201, in the moving process, the position and the posture can be automatically adjusted according to the visual navigation identifier 201 and the one-dimensional laser ranging sensor 204, the large-scale device or the fault device to be transferred can be smoothly guided in, and after the device is hoisted, the device is transported to a specified position under the navigation coordination of the visual navigation identifier 201. The two-dimensional laser navigator 101, the one-dimensional laser ranging sensor 204 and the visual navigation marker 201 are well known in the art and are commercially available products.
As shown in fig. 9, the unfolding mechanism includes a lifting mechanism 7, a side unfolding mechanism 8 and a swing mechanism 9, wherein the lifting mechanism 7 is rotatably disposed in the side unfolding mechanism 8, the swing mechanism 9 is disposed on one side of the side unfolding mechanism 8, the lifting mechanism 7 is driven to rotate by the swing mechanism 9, and two sides of the side unfolding mechanism 8 are provided with movable telescopic supporting beams 801 for supporting the track assembly 5.
As shown in fig. 9, in this embodiment, the lifting mechanism 7 includes a lifting hydraulic cylinder and a lifting seat 701, the lifting seat 701 is driven to lift by the lifting hydraulic cylinder, a rotary support is disposed at a lower end of the lifting mechanism 7 and is rotatably connected to the transportation vehicle body, and the lifting seat 701 abuts against the gantry 1 to realize lifting operation. In this embodiment, the swing mechanism 9 includes a swing hydraulic cylinder 901 and an installation base 902, the installation base 902 is disposed on one side of the side-unfolding mechanism 8, a cylinder body of the swing hydraulic cylinder 901 is installed on the installation base 902, an end of a cylinder rod is hinged to the lifting mechanism 7, and the swing hydraulic cylinder 901 extends and retracts to drive the lifting mechanism 7 to rotate. In this embodiment, both ends of the side-unfolding mechanism 8 are provided with a telescopic hydraulic cylinder 802, and the telescopic supporting beam 801 is driven by the telescopic hydraulic cylinders 802 corresponding to the ends to realize telescopic movement, and in addition, both sides of the side-unfolding mechanism 8 are provided with guide sleeves, and both sides of the telescopic supporting beam 801 are provided with telescopic cylinders which are respectively inserted into the guide sleeves corresponding to the sides, so that telescopic sliding is realized.
As shown in fig. 10-17, the deployment mechanism is used for realizing the automatic unfolding, getting-off, and automatic withdrawing, folding, and loading operations of the robot of the present invention, as shown in fig. 1-2, when the robot of the present invention is transported, the track assemblies 5 are arranged on both sides of the portal frame 1, and the folding frame 3 is retracted into the portal frame 1, when the robot of the present invention is deployed, as shown in fig. 10, the lifting mechanism 7 drives the portal frame 1 to rise to a set height, then the folding driving mechanism 3 drives the folding frames 2 on both sides to swing and unfold and fix the portal frame 1 and the folding frames 2 by bolts, as shown in fig. 12-13, the revolving mechanism 9 drives the lifting mechanism 7 to drive the portal frame 1 to rotate 90 degrees, so that the portal frame 1 is perpendicular to the track assemblies 5, then as shown in fig. 14-15, the telescopic support beams 801 on both sides of the side-unfolding mechanism 8 move outwards and drive the corresponding telescopic support beams 5 to move outwards to the lower ends of the corresponding side-folding frames 2, then the telescopic hydraulic cylinder 203 extends to drive the connecting plate 205 to move, and the connecting plate 205 is fixedly connected with the track assemblies 5, then the telescopic hydraulic cylinder 203 retracts to the connecting plate 203 to separate from the portal frame 5, and the ground, and the track assemblies 7 are driven to lift the telescopic hydraulic cylinder 7 to lift the robot to descend, and transport the robot to lift the portal frame 1 and lift the track assemblies 7, as shown in fig. 1. The unfolding mechanism of the invention is arranged on the transportation vehicle body, and the process of folding the robot and loading the robot back to the vehicle body is opposite to the process.
In addition, as shown in fig. 10 to 17, the deployment mechanism of the present invention can be configured with two sets on one transportation vehicle body to realize the loading and unloading of the double robots, but only one robot rotates clockwise by 90 degrees and the other robot rotates counterclockwise by 90 degrees during the rotation to avoid collision interference.
The working principle of the invention is as follows:
the robot operation process comprises the processes of automatic unfolding, unloading, moving to a working point position, completing the lifting transfer of equipment to be transferred, moving back to a vehicle body position, automatically folding and loading and the like, wherein the processes of automatic unfolding, unloading and automatic folding and loading are opposite, the processes are quickly completed mainly through an unfolding mechanism arranged on the vehicle body, the operation efficiency is improved, the two robots are guided to walk through a two-dimensional laser navigator 101 after unloading, and are guided to the working point position through a visual navigation identifier 201 and a visual camera, the pose can be automatically adjusted according to the visual navigation identifier 201 and a one-dimensional laser ranging sensor 204 in the moving process, the equipment point position to be transferred is ensured to be smoothly guided, after the robots are moved in place, a lodging hydraulic cylinder 402 in a hanger driving mechanism 4 drives a hanger lifting device 406 to stand up, and then the robot system calculates the automatic calculated offset according to conditions of a sloping field and the like, and controls the traversing hydraulic cylinder 401 to drive the traversing seat 404 to move so as to align the position of the lifting point, in the embodiment, a vision camera is used for imaging a target marker, image processing, target characteristic recognition and measurement are carried out, relative pose information of the robot and the rescued equipment is obtained through calculation through a vision measurement algorithm and is fed back to a control system to correct the pose deviation of the robot, the robot and the equipment to be transferred are autonomously positioned, the method is a technology known in the art, after the positioning is finished, the lifting appliance lifting device 406 drives the lifting appliance 6 to descend to the right position, the hanging is finished manually, then the lifting appliance 406 starts to lift up the fault equipment and drives the equipment to move to the designated place to put down the fault equipment, after the equipment is transferred, the two robots return to the upper vehicle positions respectively, and folding is finished with the upper vehicle operation.
Claims (6)
1. The utility model provides a crawler travel formula heavy load robot which characterized in that: the gantry crane comprises a gantry frame (1), folding frames (2), folding driving mechanisms (3), lifting appliance driving mechanisms (4), crawler assemblies (5) and unfolding mechanisms, wherein the folding frames (2) and the folding driving mechanisms (3) are arranged on two sides of the gantry frame (1), the upper ends of the folding frames (2) are hinged to corresponding end portions of the gantry frame (1) and driven to swing through the folding driving mechanisms (3) on corresponding sides, telescopic hydraulic cylinders (203) are arranged in the folding frames (2) and connected with the crawler assemblies (5) on the corresponding sides, the lifting appliance driving mechanisms (4) are arranged in the middle of the upper side of the gantry frame (1), lifting appliances (6) are mounted on the lifting appliance driving mechanisms (4), and the gantry frame (1) and the crawler assemblies (5) are driven to unfold and move through the unfolding mechanisms;
the unfolding mechanism comprises a lifting mechanism (7), a side unfolding mechanism (8) and a rotating mechanism (9), wherein the lifting mechanism (7) is rotatably arranged in the side unfolding mechanism (8), the rotating mechanism (9) is arranged on one side of the side unfolding mechanism (8), the lifting mechanism (7) is driven to rotate through the rotating mechanism (9), movable telescopic supporting beams (801) are arranged on two sides of the side unfolding mechanism (8), the upper end of the lifting mechanism (7) is abutted against the portal frame (1) during unfolding, and the crawler assembly (5) is supported through the telescopic supporting beams (801) on the corresponding sides;
the lifting mechanism (7) comprises a lifting hydraulic cylinder and a lifting seat (701), the lifting seat (701) is driven to lift through the lifting hydraulic cylinder, a rotary support is arranged at the lower end of the lifting mechanism (7), and the lifting seat (701) abuts against the portal frame (1);
the slewing mechanism (9) comprises a slewing hydraulic cylinder (901), the cylinder body of the slewing hydraulic cylinder (901) is arranged on the side-spreading mechanism (8), and the end part of a cylinder rod is hinged with the lifting mechanism (7);
both ends of the side expanding mechanism (8) are provided with telescopic hydraulic cylinders (802), the telescopic supporting beams (801) are driven to move through the telescopic hydraulic cylinders (802) corresponding to the ends, guide sleeves are arranged on both sides of the side expanding mechanism (8), and telescopic cylinders are arranged on both sides of the telescopic supporting beams (801) and are respectively inserted into the guide sleeves corresponding to the sides.
2. The crawler-type heavy-duty robot according to claim 1, characterized in that: folding actuating mechanism (3) are including folding pneumatic cylinder (301), first connecting rod (302) and second connecting rod (303), folding pneumatic cylinder (301) rear end articulate on portal frame (1), the front end with first connecting rod (302) rear end and second connecting rod (303) rear end is coaxial articulated, first connecting rod (302) front end with portal frame (1) is articulated, second connecting rod (303) front end with folding leg (2) are articulated.
3. The crawler-type heavy-duty robot according to claim 1, characterized in that: the end part of a cylinder rod of the telescopic hydraulic cylinder (203) is provided with a connecting plate (205) which is fixedly connected with a crawler belt assembly (5) on the corresponding side, a guide cylinder is arranged on the folding frame (2), a guide post is inserted in the guide cylinder, the lower end of the guide post is fixedly connected with the connecting plate (205), and in addition, the outer side of the lower end of the folding frame (2) is provided with a foldable supporting bolt (202).
4. The crawler-type heavy-duty robot according to claim 1, characterized in that: the lifting appliance driving mechanism (4) comprises a lifting appliance lifting device (406), a lodging hydraulic cylinder (402), a transverse moving seat (404) and a transverse moving hydraulic cylinder (401), wherein the transverse moving seat (404) is driven to move by the transverse moving hydraulic cylinder (401), the front end of the lifting appliance lifting device (406) is hinged to the transverse moving seat (404), the output shaft end of the lifting appliance lifting device (406) is hinged to a lifting appliance (6), the cylinder body of the lodging hydraulic cylinder (402) is hinged to the transverse moving seat (404), and the end part of the cylinder rod is hinged to the lifting appliance lifting device (406).
5. Crawler-track heavy-duty robot according to claim 4, characterized in that: the lifting appliance lifting device (406) is hinged to the transverse moving seat (404) through a first hinge shaft (407), the output shaft end of the lifting appliance lifting device (406) is hinged to the lifting appliance (6) through a second hinge shaft (403), and an opening for the second hinge shaft (403) to move is formed in the transverse moving seat (404).
6. The crawler-type heavy-duty robot according to claim 1, characterized in that: the gantry crane is characterized in that a two-dimensional laser navigator (101) is arranged on the gantry crane (1), and a one-dimensional laser ranging sensor (204) and a visual navigation identifier (201) are arranged on the folding frame (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110175334.2A CN114906036B (en) | 2021-02-09 | 2021-02-09 | Crawler walking type heavy-load robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110175334.2A CN114906036B (en) | 2021-02-09 | 2021-02-09 | Crawler walking type heavy-load robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114906036A CN114906036A (en) | 2022-08-16 |
| CN114906036B true CN114906036B (en) | 2023-03-21 |
Family
ID=82760789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110175334.2A Active CN114906036B (en) | 2021-02-09 | 2021-02-09 | Crawler walking type heavy-load robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114906036B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2645497A1 (en) * | 1989-04-07 | 1990-10-12 | Jacques Terrade | Improvement made to boat-lifting gantries making it possible to avoid completely unbracing the mast at the bow (or at the stern) of sailing ships and removing the mast without external means, as well as allowing lifting with variable span and jib |
| JP2003175760A (en) * | 2001-12-10 | 2003-06-24 | Nippon Lift Kk | Underfloor accommodation type lifter |
| JP2008150159A (en) * | 2006-12-18 | 2008-07-03 | Koshihara:Kk | Jib crane |
| EP2805852A2 (en) * | 2013-05-22 | 2014-11-26 | Jungheinrich Aktiengesellschaft | Trailer for a route train |
| JP2015124491A (en) * | 2013-12-25 | 2015-07-06 | 日本車輌製造株式会社 | Construction machine, boom mounting method, and boom demounting method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2704814B1 (en) * | 1993-05-06 | 1995-08-04 | Boudrot Charles | EQUIPMENT FOR HANDLING HEAVY LOADS. |
| JP3715424B2 (en) * | 1998-01-08 | 2005-11-09 | 新明和工業株式会社 | Cargo stand lifting device with road plate device |
| FR2825081B1 (en) * | 2001-05-22 | 2003-09-12 | Gestra Groupe D Etudes Specifi | HEAVY DUTY BEAM GANTRY |
| JP5907080B2 (en) * | 2012-07-25 | 2016-04-20 | コベルコクレーン株式会社 | Crane gantry |
| CN103072510A (en) * | 2013-02-01 | 2013-05-01 | 合肥工业大学 | Hydraulic lifting device of carrier |
| CN207476530U (en) * | 2017-11-23 | 2018-06-12 | 重庆市季锦农业有限公司 | A kind of application automatic irrigation device |
| CN108502740A (en) * | 2018-04-18 | 2018-09-07 | 丁瑞 | One kind can expansion type gallows frame |
| CN211545732U (en) * | 2020-01-03 | 2020-09-22 | 泉州市苏合建桥设备有限公司 | Automatic simple door machine |
-
2021
- 2021-02-09 CN CN202110175334.2A patent/CN114906036B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2645497A1 (en) * | 1989-04-07 | 1990-10-12 | Jacques Terrade | Improvement made to boat-lifting gantries making it possible to avoid completely unbracing the mast at the bow (or at the stern) of sailing ships and removing the mast without external means, as well as allowing lifting with variable span and jib |
| JP2003175760A (en) * | 2001-12-10 | 2003-06-24 | Nippon Lift Kk | Underfloor accommodation type lifter |
| JP2008150159A (en) * | 2006-12-18 | 2008-07-03 | Koshihara:Kk | Jib crane |
| EP2805852A2 (en) * | 2013-05-22 | 2014-11-26 | Jungheinrich Aktiengesellschaft | Trailer for a route train |
| JP2015124491A (en) * | 2013-12-25 | 2015-07-06 | 日本車輌製造株式会社 | Construction machine, boom mounting method, and boom demounting method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114906036A (en) | 2022-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4249600A (en) | Double cylinder system | |
| CN110963421B (en) | Multifunctional rocket transport erecting vehicle | |
| CN113922272A (en) | Inspection platform and method moving along overhead ground wire | |
| CN114906036B (en) | Crawler walking type heavy-load robot | |
| CN214653418U (en) | But folding flexible insulating arm platform of fly arm formula double platform of multi-angle motion | |
| CN106628231A (en) | Towbarless aircraft towing tractor holding wheel climbing mechanism | |
| CN111942610B (en) | Airport moving lifting type passenger boarding ladder | |
| CN206750174U (en) | Non-rod aircraft tractor guider and non-rod aircraft tractor | |
| CN106760683B (en) | Automatic flexible folding canopy mechanism | |
| CN214653419U (en) | Crank arm type double-platform folding telescopic insulating arm capable of moving at multiple angles | |
| CN113605228A (en) | Bridge detection mobile platform and use method thereof | |
| CN210915049U (en) | Self-moving quick erecting tower crane | |
| CN112938855A (en) | Chassis cross lifting type aerial working vehicle with adjustable platform angle | |
| CN114906742A (en) | Emergency rescue car robot expandes to remove receives system | |
| CN109050799B (en) | Folding boarding device | |
| CN206750172U (en) | Non-rod aircraft tractor wheel holding door opening/closing apparatus, lifting body and tractor | |
| CN206664954U (en) | A kind of non-rod aircraft tractor wheel holding door opening/closing apparatus with locking function | |
| CN110846952B (en) | Work apparatus and control method for work apparatus | |
| CN112320609B (en) | Hoist and mount conveyer in class absorption formula tunnel | |
| CN110526141A (en) | A kind of crane arm apparatus for turning of type fast erecting tower crane | |
| CN217732487U (en) | Tire type conveyer | |
| CN217479959U (en) | Bridge construction operation platform truck | |
| CN219654304U (en) | Non-road walking external track mechanical system for building assembly | |
| CN219009838U (en) | Omnidirectional forklift | |
| CN218751494U (en) | Vehicle-mounted folding deck system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |