CN117067260A

CN117067260A - Broken robot of tearing open

Info

Publication number: CN117067260A
Application number: CN202311205172.8A
Authority: CN
Inventors: 高志刚; 王俊军; 赵平; 赵戈; 梁康
Original assignee: Jiangsu Xugong Construction Machinery Research Institute Co ltd; Shanghai Fire Research Institute of MEM; XCMG Fire Fighting Safety Equipment Co Ltd
Current assignee: Jiangsu Xugong Construction Machinery Research Institute Co ltd; Shanghai Fire Research Institute of MEM; XCMG Fire Fighting Safety Equipment Co Ltd
Priority date: 2023-09-18
Filing date: 2023-09-18
Publication date: 2023-11-17

Abstract

The application relates to a breaking and dismantling robot, which comprises a hydraulic system, an engine (3), a heat radiating device and a control device, wherein the hydraulic system comprises a hydraulic pump (1) and a working device (2) connected with the hydraulic pump (1), and the hydraulic pump (1) is configured to convey hydraulic oil to the working device (2) so as to control the action of the working device (2); the engine (3) is in driving connection with the hydraulic pump (1); the heat dissipation device is configured to dissipate heat of hydraulic oil of the hydraulic system and cooling liquid of the engine (3); the control device is configured to increase the heat radiation power of the heat radiation device before at least one of the temperature of the hydraulic oil, the temperature of the coolant, and/or to decrease the heat radiation power of the heat radiation device before at least one of the temperature of the hydraulic oil, the temperature of the coolant is decreased.

Description

Broken robot of tearing open

Technical Field

The application relates to the technical field of engineering machinery, in particular to a breaking and disassembling robot.

Background

Robotics is one of the high and new technologies that are significant for the development of emerging industries in the future. Early robots were limited by the current state of the art and performance was difficult to meet the current application requirements. With the progress of technology, the research on the robot technology is very active at home and abroad in recent years, but the research on robots in extreme working scenes still has the defect. For example, in rescue operations in a space-limited scene such as building collapse due to an earthquake or collapse of an underground space, the requirements for the performance of the robot are high. The multifunctional breaking and dismantling rescue robot in the current market is mainly of a large tonnage type, and can meet the requirement of breaking and dismantling rescue capability, but is difficult to enter the interior for rescue due to large external dimension, so that the overall rescue efficiency is low. And because the robot is large in size, complex in structure and high in energy consumption, a plurality of heat concentration areas exist in the robot, and the radiator is limited in size and cannot cover all heat sources, certain areas are difficult to obtain sufficient heat dissipation, and therefore the heat dissipation effect of the robot is poor when the robot works under high load, and the working efficiency of the robot is affected.

High energy consumption: high power robots generally produce higher energy consumption and this energy is released in the form of heat. This will place higher demands on the heat dissipating system, requiring better heat dissipating capabilities to avoid overheating problems.

It should be noted that the information disclosed in the background section of the present application is only for increasing the understanding of the general background of the present application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

The application provides a breaking and disassembling robot which can realize the prior thermal management.

According to an aspect of the present application, there is provided a breaking robot including:

a hydraulic system including a hydraulic pump and a working device connected to the hydraulic pump, the hydraulic pump configured to deliver hydraulic oil to the working device to control an action of the working device;

the engine is in driving connection with the hydraulic pump;

a heat radiating device configured to radiate heat from hydraulic oil of a hydraulic system and coolant of an engine; and

and a control device configured to increase the heat radiation power of the heat radiation device before at least one of the temperature of the hydraulic oil and the temperature of the coolant increases, and/or to decrease the heat radiation power of the heat radiation device before at least one of the temperature of the hydraulic oil and the temperature of the coolant decreases.

In some embodiments, the load of the work device is adjustable, and the control device is configured to adjust the heat dissipation power of the heat dissipation device according to a change in the load of the work device.

In some embodiments, the breaking robot further comprises a console for adjusting the load of the working device, and the control device is in signal connection with the console to obtain a change in the load of the working device.

In some embodiments, the breaking robot further comprises a pressure sensor in signal connection with the control device, the pressure sensor being configured to detect a pressure change of the hydraulic line of the hydraulic system and feed back to the control device in case the load of the working device continues to increase, the control device being configured to increase the heat dissipation power of the heat dissipation device in case the pressure of the hydraulic line continues to increase.

In some embodiments, the breaking robot further comprises a first temperature sensor and a second temperature sensor in signal connection with the control device, the first temperature sensor being configured to detect the temperature of the hydraulic oil, the second temperature sensor being configured to detect the temperature of the cooling fluid, the control device being configured to increase the heat dissipation power of the heat dissipation device in case of an increase in at least one of the temperature of the hydraulic oil, the temperature of the cooling fluid, and/or to decrease the heat dissipation power of the heat dissipation device in case of a decrease in at least one of the temperature of the hydraulic oil, the temperature of the cooling fluid.

In some embodiments, the heat sink includes a radiator configured to exchange heat with the hydraulic oil and the coolant, and a fan configured to supply air to the radiator, and the control device is configured to adjust an amount and/or a speed of the air supplied by the fan, thereby adjusting a heat dissipation power of the heat sink.

In some embodiments, the breaking robot further comprises a rotary platform, the hydraulic system and the engine are both mounted on the rotary platform, and the heat dissipating device is mounted on the engine.

In some embodiments, the axis of the output shaft of the engine is perpendicular to the axis of the input shaft of the hydraulic pump, and the break-open robot further includes a commutator connected between the output shaft of the engine and the input shaft of the hydraulic pump.

In some embodiments, the work device and the engine are arranged in opposition such that the engine acts as a counterweight for the work device.

In some embodiments, the breaking robot further includes a first oil tank for supplying oil to the hydraulic system and a second oil tank for supplying oil to the engine, the first oil tank and the second oil tank being disposed on both sides of a line between the working device and the engine, respectively.

Based on the technical scheme, the heat dissipation device is arranged to dissipate heat of hydraulic oil of the hydraulic system and cooling liquid of the engine, so that the hydraulic system and the engine can be ensured to be kept in a proper temperature range in the running process, and efficiency reduction or part damage possibly caused by overheating or supercooling is avoided; the heat dissipation power of the heat dissipation device is increased before the temperature of the hydraulic oil and the temperature of the cooling liquid or one of the hydraulic oil and the cooling liquid is increased, so that the temperature is regulated in advance, the temperature rising range can be reduced as far as possible, and compared with the heat dissipation mode that the heat dissipation power is increased for heat dissipation after the temperature is increased, the heat dissipation device can effectively avoid efficiency reduction or part damage caused by overlarge temperature rise; by reducing the heat radiation power of the heat radiation device before at least one of the temperature of the hydraulic oil and the temperature of the coolant is lowered, it is possible to save energy when the cooling demand is low, and to avoid a decrease in the working performance due to excessive cooling.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

FIG. 1 shows a schematic structural view of one embodiment of a tamper robot of the present application;

FIG. 2 shows a schematic structural view of another embodiment of the breaking robot of the present application;

FIG. 3 shows a schematic structural view of yet another embodiment of the breaking robot of the present application;

figure 4 shows a control logic diagram of a control device in one implementation of the demolition robot of the application.

In the figure:

1. a hydraulic pump; 2. a working device; 21. a mechanical arm; 22. a quick change device; 23. an implement; 3. an engine; 4. a heat sink; 5. a fan; 6. a rotary platform; 7. a first oil tank; 8. a second oil tank; 9. a commutator; 10. a crawler chassis; 101. a chassis body; 102. a track; 103. a support leg; 11. a rotary motor; 12. a housing; 13. a hydraulic valve; 14. and a hydraulic cylinder.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the description of the present application, it should be understood that the terms "center," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present application.

Referring to fig. 1 and 3, in some embodiments of the present disclosure, a demolition robot includes a hydraulic system including a hydraulic pump 1 and a working device 2 connected to the hydraulic pump 1, the hydraulic pump 1 configured to deliver hydraulic oil to the working device 2 to control an action of the working device 2, an engine 3, a heat dissipating device, and a control device; the engine 3 is in driving connection with the hydraulic pump 1; the heat radiation device is configured to radiate heat of hydraulic oil of the hydraulic system and coolant of the engine 3; the control device is configured to increase the heat radiation power of the heat radiation device before at least one of the temperature of the hydraulic oil, the temperature of the coolant, and/or to decrease the heat radiation power of the heat radiation device before at least one of the temperature of the hydraulic oil, the temperature of the coolant is decreased.

Through setting up heat abstractor and dispel the heat to hydraulic oil of hydraulic system and the coolant liquid of engine, can ensure that hydraulic system and engine keep in suitable temperature range in the operation in-process, avoid because overheated or supercooled efficiency reduction or spare part damage that probably causes.

Further, by increasing the heat radiation power of the heat radiation device before the temperature of the hydraulic oil, the temperature of the cooling liquid or one of the two is increased, that is, the temperature is adjusted in advance, so that the temperature rising range can be reduced as much as possible; by reducing the heat radiation power of the heat radiation device before at least one of the temperature of the hydraulic oil and the temperature of the coolant is reduced, it is possible to save energy when the cooling demand is low (for example, when the external ambient temperature is low in winter), and it is also possible to avoid a decrease in the working performance due to excessive cooling.

The type of the heat dissipating device may be selected from various types, such as air-cooling type, liquid-cooling type, etc., according to actual requirements.

In some embodiments, the breaking robot further comprises a battery for powering the start of the engine 3.

In some embodiments, the load of work device 2 is adjustable and the control device is configured to adjust the heat dissipation power of the heat dissipation device in accordance with changes in the load of work device 2.

The change of the load of the working device 2 generally means that the output power of the hydraulic system, the engine 3 and other components is changed, so that the overall heating value of the breaking and dismantling robot is also changed, and by arranging the control device, the heating value of the breaking and dismantling robot can be pre-judged in advance according to the change of the load of the working device 2, so that the heat dissipation capacity of the radiator is changed in advance (namely, the heat dissipation power is increased or reduced), the pre-type thermal management is realized, and the breaking and dismantling robot is facilitated to be maintained in a small working temperature range, so that the heat balance of the whole machine is maintained.

The thermal management mode in advance can solve the problem of overlarge temperature change range from the source, is suitable for the breaking and disassembling robots with various specifications and shapes, and can realize effective temperature control on the breaking and disassembling robots no matter the size of the breaking and disassembling robots. Specifically, on one hand, the problems of uneven temperature of the whole machine, concentrated hot spots and the like caused by overlarge volume of the breaking and disassembling robot and insufficient coverage of a heat dissipation system can be effectively avoided, and on the other hand, the problems of slow heat dissipation and over-temperature caused by inconvenient heat dissipation and small heat dissipation space caused by compact volume of the breaking and disassembling robot can be effectively prevented.

In some embodiments, the breaking robot further comprises an operating table for adjusting the load of the working device 2, the control device being in signal connection with the operating table for obtaining a change in the load of the working device 2.

Through setting up the operation panel, be convenient for let broken operating personnel who tears open the robot adjust the load of operation device 2 as required to improve broken adaptability of tearing open the robot to different operation environment, can both keep higher operating efficiency under different external conditions.

The operator can input the instruction to the console in various ways, for example, the operator can directly input the instruction through an input interface of the console, and the operator can remotely control the console by adopting wireless equipment.

In the operation of the breaking robot, the load of the working device 2 often fluctuates, and a short-time and accidental load change does not generally cause a significant change in the overall heat generation amount, and from the standpoint of saving control resources and improving responsiveness, the power of the heat sink may not be adjusted in this case, and therefore, it is necessary to distinguish between a temporary load change and a thermal management method in the case of a continuous load change.

Thus, in some embodiments, the breaking robot further comprises a pressure sensor in signal connection with the control device, the pressure sensor being configured to detect a pressure change of the hydraulic line of the hydraulic system and feed back to the control device in case the load of the working device 2 continues to increase, the control device being configured to increase the heat dissipation power of the heat dissipation device in case the pressure of the hydraulic line continues to increase.

Through setting up pressure sensor, can monitor the pressure variation of the hydraulic line of hydraulic system that the change of the load of operation device 2 leads to in real time, if the pressure of hydraulic line continuously increases, then reflect that the load of operation device 2 has taken place non-transient increase, corresponding is hydraulic system, the increase of the output of engine 3, just also can judge in advance that the complete machine calorific capacity of breaking and tearing the robot has the trend of rising next, and then can in time increase the heat dissipation power of heat facility before breaking and tearing the complete machine temperature of the robot takes place practical rise, help maintaining the operating performance of breaking and tearing the robot.

In the application, a pre-type thermal management mode is used as a main thermal management method, and the heat dissipation power regulation and control performed after the temperature change in the embodiment can be used as an auxiliary thermal management method, so that the two thermal management methods are mutually cooperated, and the reliability and the high efficiency of the thermal management of the breaking and dismantling robot are further improved.

Through setting up the temperature that two temperature sensor detected hydraulic oil and coolant respectively, compare in only detecting single temperature parameter, on the one hand can realize that the temperature based on hydraulic oil and/or coolant prejudges the complete machine trend of generating heat of tearing open the robot, and the judgement basis is more comprehensive, and the other party can also carry out the contrast analysis based on the detected value of two sensors to reduce the prejudgement error condition that leads to because the sensor damages or has measuring error.

In other embodiments, more temperature sensors may be further disposed in the breaking and disassembling robot to detect the temperature change of each part of the breaking and disassembling robot to obtain more comprehensive temperature information, and the breaking and disassembling robot also has a redundancy backup function, and correspondingly, the radiator device and more parts may exchange heat, or more radiators may be disposed, so as to realize more comprehensive thermal management.

Referring to fig. 3, in some embodiments, the heat dissipating device includes a radiator 4 and a fan 5, the radiator 4 is configured to exchange heat with hydraulic oil and cooling liquid, the fan 5 is configured to supply air to the radiator 4, and the control device is configured to adjust the air supply amount and/or the air supply speed of the fan 5, thereby adjusting the heat dissipating power of the heat dissipating device.

In the above embodiment, the specific structure and working parameters of the radiator 4 can be adjusted according to actual needs, so as to adaptively design the structural form and performance of the radiator 4, for example, adjust the heat exchange area, change the arrangement of the cooling fins, optimize the material of the cooling fins, etc., thereby ensuring that the hydraulic system and the engine 3 are fully and effectively cooled.

Referring to fig. 3, in some embodiments, the breaking robot further includes a rotary platform 6, the hydraulic system and the engine 3 are both mounted on the rotary platform 6, and the heat dissipating device is mounted on the engine 3.

The rotary platform 6 has a rotating function, through setting up the rotary platform 6 and setting up hydraulic system and engine 3 on the rotary platform 6, the rotation of accessible rotary platform 6 drives hydraulic system and engine 3 and rotates for hydraulic system's operation device 2 can carry out the operation in a plurality of directions, obtains as large as possible operating range under the condition that broken robot whole volume is limited, thereby enlarges the scope of broken robot's applicable operation scene. In addition, install heat abstractor on engine 3, can also practice thrift the installation space on broken robot horizontal direction for broken whole width of tearing open the robot keeps in less within range, in order to adapt to the operation demand in narrow, the complex space.

Referring to fig. 3, in some embodiments, the axis of the output shaft of the engine 3 is perpendicular to the axis of the input shaft of the hydraulic pump 1, and the breaking robot further includes a commutator 9, the commutator 9 being connected between the output shaft of the engine 3 and the input shaft of the hydraulic pump 1.

In the above embodiment, the commutator 9 plays a power transmission role between the engine 3 and the hydraulic pump 1, and the transmission ratio of the commutator 9 may be set as needed, for example, may be set to 1:1, 1:2, 2:1, or the like. Compared with an arrangement mode in which the engine 3 and the hydraulic pump 1 are directly connected (i.e., the output shaft of the engine 3 and the input shaft of the hydraulic pump 1 are aligned and connected), the total assembly length of the engine 3 and the hydraulic pump 1 can be effectively reduced by vertically arranging the axes of the output shaft and the input shaft of the engine 3 and the hydraulic pump 1 and connecting the axes through the reverser 9, the installation space in the horizontal direction of the breaking and dismantling robot can be further saved, the tight arrangement of all parts in the breaking and dismantling robot can be realized, and the whole volume of the breaking and dismantling robot is reduced.

In other embodiments, other angles may be formed between the axis of the output shaft of the engine 3 and the axis of the input shaft of the hydraulic pump 1, and the angles may be adjusted according to the installation positions of other components of the breaking and disassembling robot to achieve a compact layout, and accordingly, the commutator 9 may be replaced by a universal transmission device or the like.

The working device 2 generally includes an implement structure for performing operations such as grabbing, transporting, and crushing, for example, a mechanical arm, a bucket, and a breaking hammer, and is generally relatively large in volume and mass, and the working device 2 needs to be moved frequently, which easily causes the center of gravity of the breaking and dismantling robot to be unstable, and to shake, thereby bringing about a safety hazard. In order to solve the above problem, a method of providing the counterweight to the working device 2 may be adopted, but the added counterweight not only increases the size of the breaking and dismantling robot and limits the working environment of the breaking and dismantling robot, but also significantly increases the weight of the breaking and dismantling robot, thereby increasing the energy loss of the operation thereof.

Thus, as shown with reference to fig. 2 and 3, in some embodiments, work device 2 and engine 3 are disposed opposite to each other such that engine 3 acts as a counterweight to work device 2.

Through making engine 3 as the counter weight of operation device 2, avoided alone for the operation device 2 set up the broken robot volume grow that the counter weight brought, weight promotion scheduling problem of tearing open, can enough guarantee the stability of broken robot operation process of tearing open, can realize the compact of its structure again and arrange, guarantee broken operation flexibility and the mobility of tearing open the robot.

In some embodiments, the breaking robot further comprises a first oil tank 7 for supplying oil to the hydraulic system and a second oil tank 8 for supplying oil to the engine 3, the first oil tank 7 and the second oil tank 8 being arranged on both sides of a line between the working device 2 and the engine 3, respectively.

The first oil tank 7 is used for providing hydraulic oil for the hydraulic system, and the second oil tank 8 is used for providing fuel for the engine 3, through arranging the first oil tank 7 and the second oil tank 8 respectively in the both sides of the line between the operation device 2 and the engine 3, the whole focus of the broken robot of tearing open can be balanced, and the holistic stability of it is further improved.

The following describes a specific embodiment of the breaking robot according to the present application:

referring to fig. 1 to 3, the breaking robot includes a crawler chassis 10, a rotary platform 6, a hydraulic system, a rotary motor 11, a heat dissipating device, a control device, a detection system, an operation table, a first oil tank 7, a second oil tank 8, a commutator 9, a battery, a housing 12, and the like.

The crawler chassis 10 comprises a chassis body 101, a crawler 102 and supporting legs 103, wherein the crawler 102 and the supporting legs 103 are arranged on two sides of the chassis body 101, the supporting legs 103 are foldable, when the whole machine of the breaking and disassembling robot walks, the supporting legs 103 are folded and folded, and when the whole machine works, the supporting legs 103 are put down, so that the walking trafficability and the working stability of the whole machine of the breaking and disassembling robot are ensured.

The rotary platform 6 is connected with the crawler chassis 10 through a rotary support, and the rotary platform 6 can rotate 360 degrees by means of the rotary motor 11, so that the breaking and dismantling robot is guaranteed to have a wider operation range.

The hydraulic system comprises a hydraulic pump 1, a working device 2, a hydraulic valve 13, a hydraulic cylinder 14, a motor and other elements, the working device 2 is hinged on a rotary platform 6, the working device 2 comprises a mechanical arm 21, a quick-change device 22 and an implement 23, the mechanical arm 21 adopts a three-section structure, the working flexibility is high, the range is wide, the quick-change device 22 can realize quick-change operation of different implements 23, and the improvement of the working efficiency is facilitated.

The engine 3 drives the hydraulic pump 1 to obtain hydraulic energy, and then distributes the hydraulic energy to each hydraulic actuator in the working device 2 through the hydraulic valve 13.

The detection system is in signal connection with the control device, and the detection system comprises a pressure sensor, a first temperature sensor and a second temperature sensor, wherein the pressure sensor is used for detecting the pressure of a hydraulic pipeline of the hydraulic system, and the first temperature sensor and the second temperature sensor are respectively used for detecting the temperature of hydraulic oil of the hydraulic system and the temperature of cooling liquid of the engine 3.

The heat dissipating device comprises a heat sink 4 and a fan 5, wherein the heat sink 4 is configured to exchange heat with hydraulic oil and cooling liquid, the fan 5 is configured to supply air to the heat sink 4, the fan 5 is provided with an adjustable brushless motor, and the wind speed and the wind quantity of the adjustable brushless motor can be adjusted according to input signals.

The control device is used for controlling the walking and the operation of the breaking and disassembling robot, the control device is arranged in the first shell, the first shell is arranged above the second oil tank 8, the control device receives signals of the operation table, analyzes the signals and transmits the signals to the hydraulic valve 13, and then the action of each executive component in the hydraulic system is controlled.

The hydraulic system, the rotary motor 11, the heat sink, the control device, the detection system, the operation panel, the first oil tank 7, the second oil tank 8, the commutator 9, the battery and the like are all mounted on the rotary platform 6, and the outer shell 12 covers the outer periphery of the above components.

In order to reduce the width of the whole machine of the breaking and disassembling robot, the engine 3 is transversely arranged at one end of the rotary platform 6 far away from the working device 2, and the engine 3 is connected with the hydraulic pump 1 through the reverser 9; directly above the engine 3 are a radiator 4 and a fan 5, and a first oil tank 7 and a second oil tank 8 are arranged on both sides of the line connecting the engine 3 and the working device 2 of the swivel platform 6.

Referring to the arrow direction shown in fig. 1, during the operation of the breaking and dismantling robot, natural wind enters the power cabin through the surface a, passes through the heat dissipation device, dissipates heat for hydraulic oil of the hydraulic system and cooling liquid of the engine 3, flows through the surface of the engine 3, and flows out through the surface B and the surface C.

Referring to fig. 4, when the operator inputs an operation command to the console to increase the load on the working device 2, the control device first determines whether or not the operation command is a continuous command signal, and then reads the pressure P1 of the hydraulic line of the working device 2 to determine whether or not the pressure P1 increases. After logic judgment, the control device directly sends a signal to the fan 5, adjusts the rotating speed of the fan, increases the heat radiation capacity of the heat radiation device before the temperature T1 of hydraulic oil of the hydraulic system and the temperature T2 of cooling liquid of the engine 3 rise, and keeps the optimal heat balance state of the whole machine of the breaking and disassembling robot. As the assist determination logic, when a change in the temperature T1 of the hydraulic oil of the hydraulic system and the temperature T2 of the coolant of the engine 3 is detected, the rotation speed of the fan 5 may be directly adjusted.

Based on the above description, the whole structure of the breaking and disassembling robot provided by the application has compact layout, smaller gaps among the systems in the whole structure and higher operation maneuverability and flexibility. In addition, the breaking and disassembling robot adopts a prejudging type whole machine thermal management strategy for changing the heat dissipation power of the heat dissipation device based on the instruction of the operation table, and compared with the direct feedback of the temperature of hydraulic oil and the temperature of cooling liquid, the breaking and disassembling robot can prejudge the heat generation amount of the whole machine in advance, thereby changing the heat dissipation capacity of the heat dissipation device in advance, keeping the heat balance of the whole machine, and realizing good thermal management effect even under the conditions of compact internal system layout and small heat dissipation space.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same; while the application has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications and equivalents of the features disclosed herein may be made to the specific embodiments of the application or to parts of the features may be substituted without departing from the principles of the application, and such modifications and equivalents are intended to be encompassed within the scope of the application as claimed.

Claims

1. The utility model provides a broken robot of tearing open which characterized in that includes:

a hydraulic system comprising a hydraulic pump (1) and a working device (2) connected to the hydraulic pump (1), the hydraulic pump (1) being configured to deliver hydraulic oil to the working device (2) to control the operation of the working device (2);

an engine (3) in driving connection with the hydraulic pump (1);

a heat radiation device configured to radiate heat from the hydraulic oil of the hydraulic system and from the coolant of the engine (3); and

a control device configured to increase the heat radiation power of the heat radiation device before at least one of the temperature of the hydraulic oil and the temperature of the coolant increases, and/or to decrease the heat radiation power of the heat radiation device before at least one of the temperature of the hydraulic oil and the temperature of the coolant decreases.

2. The breaking robot according to claim 1, characterized in that the load of the working device (2) is adjustable, the control device being configured to adjust the heat dissipation power of the heat dissipation device in accordance with a change in the load of the working device (2).

3. The breaking robot according to claim 2, further comprising an operating table for adjusting the load of the working device (2), the control device being in signal connection with the operating table for obtaining a change in the load of the working device (2).

4. The demolition robot according to claim 2, further comprising a pressure sensor in signal connection with the control device, the pressure sensor being configured to detect a pressure change of a hydraulic line of the hydraulic system and feed back to the control device in case of a continuous increase of the load of the working device (2), the control device being configured to increase the heat dissipation power of the heat dissipation device in case of a continuous increase of the pressure of the hydraulic line.

5. The breaking robot according to any one of claims 1 to 4, further comprising a first temperature sensor and a second temperature sensor in signal connection with the control device, the first temperature sensor being configured to detect a temperature of the hydraulic oil, the second temperature sensor being configured to detect a temperature of the coolant, the control device being configured to increase a heat radiation power of the heat radiation device in case that at least one of the temperature of the hydraulic oil, the temperature of the coolant increases, and/or to decrease the heat radiation power of the heat radiation device in case that at least one of the temperature of the hydraulic oil, the temperature of the coolant decreases.

6. The breaking and dismantling robot according to claim 1, characterized in that the heat dissipating device comprises a radiator (4) and a fan (5), the radiator (4) being configured to exchange heat with the hydraulic oil and the cooling liquid, the fan (5) being configured to blow air to the radiator (4), the control device being configured to adjust the blow air amount and/or blow air speed of the fan (5) and thereby to adjust the heat dissipating power of the heat dissipating device.

7. The breaking robot according to claim 1, further comprising a swivel platform (6), wherein the hydraulic system and the engine (3) are both mounted on the swivel platform (6), and wherein the heat dissipating device is mounted on the engine (3).

8. The breaking robot according to claim 7, characterized in that the axis of the output shaft of the engine (3) is perpendicular to the axis of the input shaft of the hydraulic pump (1), the breaking robot further comprising a commutator (9), the commutator (9) being connected between the output shaft of the engine (3) and the input shaft of the hydraulic pump (1).

9. The demolition robot according to claim 7, characterized in that the working device (2) and the engine (3) are arranged opposite to each other such that the engine (3) acts as a counterweight for the working device (2).

10. The breaking robot according to claim 9, further comprising a first oil tank (7) for supplying oil to the hydraulic system and a second oil tank (8) for supplying oil to the engine (3), the first oil tank (7) and the second oil tank (8) being arranged on both sides of a line between the working device (2) and the engine (3), respectively.