CN209321091U - A kind of tunnel obstacle removing robot - Google Patents
A kind of tunnel obstacle removing robot Download PDFInfo
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- CN209321091U CN209321091U CN201821532938.8U CN201821532938U CN209321091U CN 209321091 U CN209321091 U CN 209321091U CN 201821532938 U CN201821532938 U CN 201821532938U CN 209321091 U CN209321091 U CN 209321091U
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- 239000003921 oil Substances 0.000 claims description 90
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Abstract
The utility model discloses a kind of tunnel obstacle removing robots, including rack, basic machine system, dynamical system, hydraulic system, electric control system, communication system, wireless video system, basic machine system includes the composite structure I that tunnel obstacle removing robot rear end is arranged in, composite structure I includes shoveling mechanism, grabs clamp mechanism, hydraulic rotary motor, slewing equipment, shoveling mechanism with grab clamp mechanism and connect by slewing equipment；Shoveling mechanism includes two shoveling ontology, left and right shoveling oil cylinders；Hydraulic rotary motor, slewing equipment are each attached on shoveling ontology；Grabbing clamp mechanism includes two fixed plates, two sets of hydraulic jaws, and two fixed plates are symmetrically disposed on the inner ring of slewing equipment, and two sets of hydraulic jaws are symmetrically disposed between fixed plate, and four-bar mechanism is constituted between fixed plate.The utility model robot in tunnel or working space constrained environment, can cope on road it is various happen after work of removing obstacles.
Description
Technical field
The utility model relates to a kind of robot, it is especially a kind of used under tunnel and working space constrained environment it is clear
Hinder robot, belongs to machinery equipment field.
Background technique
After traffic accident occurs at present, carrying out roadside assistance is mainly road obstacle clearing vehicle, and obstacles removing car technology is mature, still
Just for the rescue of Ordinary Rd, it is not suitable for tunnel.
If patent application CN105540494 A discloses a kind of fork fortune and obstacles removing car, which needs 2 drivers
Member's close fit could complete the road obstacle clearing work of the smaller situation of accident；Utility model patent CN105751954A discloses one
The plate obstacles removing car of kind, utility model patent CN105691277 A disclose a kind of tunnel obstacles removing car, both obstacles removing cars drive
Personnel can not easily operate lifting automobile, thus more demanding to driver's technical level, and be also for accident compared with
The road obstacle clearing of the small intact situation of situation vehicle works；Patent application CN107234999A discloses a kind of roadside assistance obstacle cleaning machine
Device people, which has a single function, not very practical.
Due to tunnel and working space constrained environment, these above-mentioned common large-scale vehicle devices of removing obstacles can not normally make
With moreover, the operation of personnel's steer is removed obstacles very not in the environment of tunnel and working space are limited and are easy to happen safety accident
Safety, therefore to design a kind of special tunnel obstacle removing robot.
Utility model content
The problem to be solved by the utility model is to provide a kind of tunnel obstacle removing robots, it is in tunnel or working space
In constrained environment, the shoveling to road barrier may be implemented, embrace the functions such as folder, fork fortune, vehicle traction, to cope with road
Work of removing obstacles after going up various happen.Meanwhile the utility model can realize remote control, to ensure that personnel's person is pacified
Entirely.
A kind of tunnel obstacle removing robot of the utility model, including rack, basic machine system, dynamical system, hydraulic system,
Electric control system, communication system, wireless video system, it is characterized in that: basic machine system includes being arranged in tunnel obstacle cleaning machine
The composite structure I of device people rear end, composite structure I include shoveling mechanism, grab clamp mechanism, hydraulic rotary motor, slewing equipment, shoveling
Mechanism with grab clamp mechanism and connect by slewing equipment；Shoveling mechanism includes two shoveling ontology, left and right shoveling oil cylinders, shoveling ontology
Lower part it is hinged by connecting rod and rack, the two shoveling oil cylinders in left and right are arranged symmetrically, and cylinder end, rod end are respectively and in rack
Fixed block, shoveling body upper part are hinged；Hydraulic rotary motor, slewing equipment are each attached on shoveling ontology, hydraulic rotary motor
In worm screw be meshed with the worm gear in slewing equipment；Grabbing clamp mechanism includes two fixed plates, two sets of hydraulic jaws, two fixed plates
It is symmetrically disposed on the inner ring of slewing equipment, two sets of hydraulic jaws are symmetrically disposed between fixed plate, the structure between fixed plate
At four-bar mechanism.
Further, every set hydraulic jaw includes outer pawl, interior pawl, collet, hydraulic jaw oil cylinder, and outer pawl, one end of interior pawl are equal
It is hinged in fixed plate, the other end is hinged with collet, and for hydraulic jaw oil cylinder between inside and outside pawl, cylinder end is hinged on fixed plate
On, rod end is hinged on interior pawl.
Further, basic machine system further includes the composite structure II that tunnel obstacle removing robot front end is arranged in, compound
Mechanism II includes foundation frame, connecting plate, at least two associated mechanisms, and the lower hinge of two risers of foundation frame on the rack, connects
Fishplate bar is fixed on before two risers of foundation frame, and can be moved up and down along the track of foundation frame, associated mechanisms with connection
Plate connection.
Further, composite structure II further includes the two foundation frame oil cylinders in left and right, the cylinder end of the two foundation frame oil cylinders in left and right
It is connected with rack, rod end is respectively hinged at the outside of two risers of foundation frame.
Further, the associated mechanisms in composite structure II one be transshipment acitivity another be traction mechanism；Conveyance
Structure includes the two symmetrically set transhipment bar in left and right, and transhipment bar is L shape, and vertical bar is respectively fitted over connection two pin shafts of prelaminar part
On.
Further, the transshipment acitivity in composite structure II further includes that two spacing adjustment oil cylinders, spacing adjustment up and down are oily
The cylinder end of cylinder is fixed on a transhipment bar, and rod end is then matched with the hole of another transhipment bar, upper and lower two spacing adjustment oil
The cylinder end and rod end of cylinder are exchanged.
Further, the traction mechanism in composite structure II includes hitch frame, regulating device；Regulating device includes traction lock
Locking oil cylinder, traction oscillating oil cylinder；Hitch frame includes cross bar, two clamping jaws, and two clamping jaws are symmetrically hinged on cross bar, traction lock
Cylinder end, the rod end of locking oil cylinder are hinged with two clamping jaws respectively；Traction oscillating oil cylinder cylinder end be connected on connecting plate, rod end with lead
Draw frame connection.
Further, the regulating device in the traction mechanism in composite structure II further includes traction telescopic oil cylinder, and traction is stretched
The cylinder end of contracting oil cylinder is connected with traction oscillating oil cylinder, and rod end is hinged with hitch frame.
Further, dynamical system, hydraulic system are connected with rack；Dynamical system includes engine, engine diesel oil
Fuel tank, hydraulic system include plunger pump, hydraulic oil container；Engine, engine diesel oil tank, hydraulic oil container are each attached to rack
On, plunger pump is connect by shaft coupling with engine, and the inlet port of plunger pump is connected with hydraulic oil container.
Further, hydraulic jaw oil cylinder, shoveling oil cylinder, foundation frame oil cylinder, spacing adjust oil cylinder, traction locking cylinder, lead
Draw telescopic oil cylinder, traction oscillating oil cylinder is connect with plunger pump by the road respectively.
The advantages of the utility model robot is: one, the rear end of robot: shoveling mechanism and machine is arranged in composite structure I
Frame is connected by pin shaft, and shoveling oil cylinder controls shoveling mechanism and hydraulic jaw and positions in the swing of vertical direction；It grabs in clamp mechanism
Hydraulic jaw oil cylinder controls the different degrees of folding of hydraulic jaw, grabs various sizes of barrier；Hydraulic jaw and slewing equipment
Inner ring is connected, and slewing equipment is driven by hydraulic rotary motor, to realize 360 degree of revolutions of hydraulic jaw；Composite structure I mentions significantly
High machine task efficiency, has also widened the working range of robot, especially processing is located in long and narrow position significantly
Object, the rotation for grabbing clamp mechanism, which especially can be convenient, takes out the object being clipped in gap, to preferably remove obstacles；Grab folder
Mechanism and shoveling structure cooperate work of removing obstacles, and hydraulic jaw stretches out in the outside of shoveling, is mainly used for embracing site obstructions
Removal effect is pressed from both sides, hydraulic jaw, which has rotation function, may be implemented to embrace folder to the accurate of Different Rule object, and shoveling structure can be complete
Removing obstacles for pairs of various barriers, makes to remove obstacles efficiency faster；Two, the rear portion of robot is arranged in composite structure II, wherein basis
On the rack, connecting plate is fixed on foundation frame and can move up and down along the track of foundation frame, associated mechanisms frame lower hinge
It is connect with connecting plate, keeps overall structure more compact and reasonable；When associated mechanisms are transshipment acitivity, traction mechanism, conveyance
Structure, which is able to achieve, carries function to the fork shovel of object within 2000KG, and when using transport function, traction mechanism is rotated clockwise
80 ° -100 ° only in situ, and transhipment is in operating position；The realization of traction mechanism effect is by traction oscillating oil cylinder, telescopic oil cylinder, lock
Locking oil cylinder is completed jointly, has three degree of freedom, and major function is the towage realized to the trouble vehicle on road, when making
When with traction function, pallet fork rotates clockwise 170 ° -190 ° only original positions by operating position, and traction mechanism part is by situ counterclockwise
80 ° -100 ° of rotation, makes traction mechanism be in operating position.(original position here refers to off-position)
The utility model tunnel obstacle removing robot, it may be implemented pair in tunnel or working space constrained environment
Folder, fork fortune, the functions such as vehicle traction are embraced in the shoveling of road barrier, thus cope on road it is various happen after remove obstacles
Work.Meanwhile the utility model is the high-power Work robot of remote control, it collects bionics techniques, the communication technology, control skill
Art, sensing technology, mechanical-electrical-hydraulic integration technology are hair of the robot technology from pure movement field to Engineering Dynamics field
Exhibition and leap, belong to the Integration ofTechnology of specific area, remote control ensure that personnel's personal safety.
Detailed description of the invention
Fig. 1 is a kind of main view of tunnel obstacles removing car of the utility model；
Fig. 2 is the right view of Fig. 1；
Fig. 3 is the top view of Fig. 2；
Fig. 4 is the utility model control system composition block diagram；
Fig. 5 is the utility model wireless video system topology diagram；
Fig. 6 is the perspective view one of the utility model tunnel obstacles removing car；
Fig. 7 is that (transshipment acitivity is operating position, traction mechanism is non-work for the perspective view two of the utility model tunnel obstacles removing car
Make position)；
Fig. 8 is that (traction mechanism is operating position, transshipment acitivity is non-work for the perspective view three of the utility model tunnel obstacles removing car
Make position).
Specific embodiment
The concrete scheme that patent that the utility model is described in more detail with reference to the accompanying drawing proposes:
Embodiment 1
A kind of tunnel obstacle removing robot of the utility model, including rack 1, basic machine system, dynamical system, hydraulic pressure system
System, electric control system, communication system, wireless video system, it is characterized in that: basic machine system includes that setting is removed obstacles in tunnel
The composite structure I of robot rear end, composite structure I include shoveling mechanism 4, grab clamp mechanism 5, hydraulic rotary motor 7, slewing equipment
9, shoveling mechanism with grab clamp mechanism and connect by slewing equipment 9；Shoveling mechanism includes two shoveling ontology 4-1, left and right shoveling oil
The lower part of cylinder 4-2, shoveling ontology 4-1 are hinged by connecting rod and rack 1, and the shoveling oil cylinder 4-2 of left and right two is symmetrical arranged, cylinder
End, rod end are hinged with the fixed block in rack 1, the top shoveling ontology 4-1 respectively；Hydraulic rotary motor 7, slewing equipment 9 are solid
It is scheduled on shoveling ontology 4-1, the worm screw in hydraulic rotary motor is meshed with the worm gear in slewing equipment 9；Grabbing clamp mechanism 5 includes
Two fixed plates 5-1, two sets of hydraulic jaws, two fixed plates 5-1 are symmetrically disposed on the inner ring of slewing equipment 9, and two sets hydraulic
Pawl is symmetrically disposed between fixed plate 5-1, constitutes four-bar mechanism between fixed plate 5-1.
Wherein, every set hydraulic jaw include outer pawl 5-2, it is interior pawl 5-3, collet 5-4, hydraulic jaw oil cylinder 5-5, outer pawl 5-2, interior
One end of pawl 5-3 is hinged on fixed plate 5-1, and the other end is hinged with collet 5-4, and hydraulic jaw oil cylinder 5-5 is located inside and outside pawl
Between, cylinder end is hinged on fixed plate 5-1, and rod end is hinged on interior pawl 5-3.
Composite structure I is mounted on the rear end of robot: shoveling mechanism is connect with rack by pin shaft, and the control of shoveling oil cylinder pushes away
The swing of shovel structure and hydraulic jaw in vertical direction y positions；The different degrees of folding that hydraulic jaw oil cylinder controls hydraulic jaw is two
Distance between set hydraulic jaw in the z-axis direction changes, and grabs various sizes of barrier；Hydraulic jaw and slewing equipment
Inner ring is connected, and slewing equipment is driven by hydraulic rotary motor, to realize 360 degree of revolutions (centered on x-axis) of hydraulic jaw.Cause
This, when shoveling mechanism works, the rod end for first passing through shoveling oil cylinder, which pushes out, is horizontally situated shoveling ontology or position downward,
To realize the shoveling to object, then the rod end of shoveling oil cylinder holds up shoveling ontology upwards to contract, works as robot ambulation
It is when to suitable position that shoveling ontology is downward, object is put into appropriate place；When grabbing clamp mechanism work, hydraulic jaw oil cylinder is first passed through
The retraction of rod end increases distance, when hydraulic jaw is substantially surrounded by object, then hydraulic jaw oil cylinder rod end
It is protruding that distance between two hydraulic jaws is made to become smaller, so that hydraulic jaw be made first to catch grip objects again, then robot ambulation
Hydraulic jaw is unclamped when to suitable position, object is put into appropriate place；For the object of different location, hydraulic rotary motor work
Make, slewing equipment, which will grab clamp mechanism and rotate to suitable position, to carry out grabbing folder again.Therefore, composite structure I can be implemented separately and push away
Shovel function grabs folder function, also can be realized simultaneously this two functions, while grabbing clamp mechanism can also be without the rotation at dead angle.So
Composite structure I substantially increases machine task efficiency, has also widened the working range of robot significantly, especially processing position
Object in long and narrow position, the folding for rotating hydraulic jaw in addition for grabbing clamp mechanism especially can be convenient the object that will be clipped in gap
Body takes out, to preferably remove obstacles.
Embodiment 2
The basic machine system of the utility model tunnel obstacle removing robot further includes being arranged in tunnel obstacle removing robot front end
Composite structure II, composite structure II includes foundation frame 11, connecting plate 13, at least two associated mechanisms, and foundation frame 11 two are perpendicular
In rack 1, connecting plate 13 is fixed on before 11 two risers of foundation frame the lower hinge of plate, and can be along foundation frame
Track moves up and down, and associated mechanisms are connect with connecting plate 13.
As a kind of improved procedure of the utility model, the utility model tunnel obstacle removing robot is provided with multiple in its front end
Mechanism II is closed, the associated mechanisms on composite structure can be moved up and down by connecting plate along foundation frame, widen Xiang Guanji significantly
The working range of structure, to preferably remove obstacles.The interference on position does not occur between associated mechanisms, when a mechanism works
When, another mechanism is off working state.
Embodiment 3
The composite structure II of the utility model tunnel obstacle removing robot further includes the two foundation frame oil cylinders 12 in left and right, left and right
The cylinder end of two foundation frame oil cylinders 12 is connected with rack 1, and rod end is respectively hinged at the outside of 11 two risers of foundation frame.
In order to further widen the working range of robot, the utility model composite structure II also sets up that there are two foundation frames
Oil cylinder when foundation frame cylinder efficient, can make foundation frame and its swing of the associated mechanisms on vertical direction y above.
Embodiment 4
Associated mechanisms one in the composite structure II of the utility model tunnel obstacle removing robot is transshipment acitivity 6, another
A is traction mechanism 8；Transshipment acitivity 6 includes the two symmetrically set transhipment bar 6-1 in left and right, and transhipment bar 6-1 is L shape, vertical bar
It is respectively fitted on the pin shaft of connecting plate 13 front two.
A mechanism in the utility model in composite structure II is transshipment acitivity, and the transhipment bar in rotating mechanism passes through company
Fishplate bar can be moved up and down along foundation frame, to easily fork object and then be transported through.Traction mechanism then may be implemented to drag
Drag function.
Certainly, the associated mechanisms in the utility model are not limited to transshipment acitivity and traction mechanism, can be other machine
Structure, and can be more than two multiple mechanisms, as long as not interfered between mechanism.
Embodiment 5
Transshipment acitivity 6 in the composite structure II of the utility model tunnel obstacle removing robot further includes upper and lower two spacing tune
The cylinder end of whole oil cylinder 6-2, spacing adjustment oil cylinder 6-2 are fixed on a transhipment bar, and rod end then transports the hole phase of bar with another
Cooperation, the cylinder end and rod end of upper and lower two spacing adjustment oil cylinder 6-2 are exchanged.
In order to further widen the working range of robot, transshipment acitivity further includes spacing adjustment oil cylinder, two spacing tune
Whole oil cylinder is setting up and down, and rod end is connect with a transhipment bar respectively.In this way, when spacing adjusts cylinder efficient, two transhipments
The distance of the distance between bar i.e. in the z-axis direction can be adjusted, and object more easily be forked, to preferably carry out
It removes obstacles.
Embodiment 6
Traction mechanism 8 in the composite structure II of the utility model tunnel obstacle removing robot includes hitch frame, regulating device；
Regulating device includes traction locking cylinder 8-2, traction oscillating oil cylinder 8-3；Hitch frame includes cross bar 8-5, two clamping jaw 8-1, and two
A clamping jaw 8-1 is symmetrically hinged on cross bar 8-5, draws the cylinder end of locking cylinder 8-2, rod end is cut with scissors with two clamping jaw 8-1 respectively
It connects；The cylinder end of traction oscillating oil cylinder 8-3 is connected on connecting plate 13, and rod end is connect with hitch frame.
The working principle of traction mechanism in the composite structure II of the utility model tunnel obstacle removing robot is: traction locking
The variation of two clamping jaws position in the z-axis direction may be implemented in oil cylinder, thus the distance between two clamping jaws of control；Traction is swung
Swing of the entire hitch frame on vertical direction y may be implemented in oil cylinder.Specifically: when traction oscillating oil cylinder work makes entirely to lead
Draw frame to lift to upwards when coming to 11 top of foundation frame, this is the off-position of traction mechanism, transshipment acitivity work；Work as traction
When oscillating oil cylinder work makes hitch frame horizontal position, traction mechanism works at this time: outside the rod end for first passing through traction locking cylinder
It stretches, makes two clamping jaws are adjacent to each other it is facilitated to enter in narrow space, then draw the rod end retraction of locking cylinder, make two
It is separated between a clamping jaw, is firmly attached to the interior recess of two clamping jaws on the outer surface of the similar objects such as tire, then machine
People's walking is to realize that the traction realization to object is removed obstacles.
Embodiment 7
The regulating device in traction mechanism 8 in the composite structure II of the utility model tunnel obstacle removing robot further includes leading
Draw telescopic oil cylinder 8-4, the cylinder end for drawing telescopic oil cylinder 8-4 is connected with traction oscillating oil cylinder 8-3, and rod end is hinged with hitch frame.
In order to further widen the working range of robot, the regulating device in traction mechanism further includes drawing flexible oil
Cylinder, traction telescopic oil cylinder can drive hitch frame to be moved forward and backward along the x-axis direction, can be drawn in this way in narrow sky when working
Between in object, to preferably remove obstacles.
That is: traction mechanism makes hitch frame level i.e. hitching machinery be in working position by drawing oscillating oil cylinder 8-3
It sets, traction telescopic oil cylinder 8-4 adjusts traction mechanism extension elongation, and traction locking cylinder 8-2, which can be realized, embraces the objects such as wheel
Tightly；When traction mechanism is in operating position, transshipment acitivity can be moved manually to be rotated clockwise 170 ° -190 ° and makes (shown in Fig. 2)
The cross bar of bar is transported towards vehicle body (transshipment acitivity is in off-position), such robot can carry out related using traction mechanism
It removes obstacles operation.
When the cross bar level for transporting bar is in operating position horizontally forward, traction mechanism swings oil by traction mechanism
Cylinder, which makes it rotate clockwise 80 ° -100 ° from operating position, to be made hitch frame (traction mechanism is in non-work upward vertically (shown in Fig. 2)
Make position), such robot can carry out correlation using transshipment acitivity and remove obstacles operation.
Embodiment 8
Dynamical system, the hydraulic system of the utility model robot are connected with rack 1；Dynamical system includes engine
16, engine diesel oil tank 2, hydraulic system include plunger pump 3, hydraulic oil container 10；Engine 16, engine diesel oil tank 2, liquid
Pressure oil case 10 is each attached in rack 1, and plunger pump 3 is connect by shaft coupling with engine 16, the inlet port of plunger pump 3 with it is hydraulic
Fuel tank 10 is connected.
In the utility model robot: engine diesel oil tank 2 provides power to engine 16, and engine 16 drives column
3 movement of plug pump, hydraulic oil container 10 provide hydraulic oil to oil cylinder by plunger pump.That is: plunger pump conveys engine
Mechanical energy, which is transformed into the hydraulic of hydraulic oil, can be carried out transmitting, by the various executive components such as oil cylinder and hydraulic motor again hydraulic
The hydraulic energy of oil is changed into various mechanical energy, realizes various movement outputs.
Wherein: hydraulic jaw oil cylinder 5-5, shoveling oil cylinder 4-2, foundation frame oil cylinder 12, spacing adjustment oil cylinder 6-2, traction locking
Oil cylinder 8-2, traction telescopic oil cylinder 8-4, traction oscillating oil cylinder 8-3 are connect with plunger pump 3 by the road respectively.
Embodiment 9
The walking mechanism of tunnel obstacle removing robot uses 15 structure of crawler belt in the utility model, itself has system by two
The walk motor with hydraulic pressure 14 of dynamic device respectively drives.
When the speed of two crawler belts is identical, robot, which realizes, moves forward or back movement；When the speed of two crawler belts is different
When, robot realizes divertical motion.Under the non-walking of robot or diesel engine closed state, brake holds revolution horse tightly automatically
It reaches, is at stationary state, guarantee walking safety of the robot in uphill, downhill.
Hydraulic system is the driving source of the executing agencies such as robot ambulation and work, mainly by load-sensitive formula variable piston
Pump, load-sensitive electro-hydraulic proportional multi-way reversal valve, hydraulic cylinder, hydraulic rotary motor, safety valve, pressure reducing valve, balanced valve, Yi Jiqi
Its Hydraulic Elements composition, entire hydraulic system can be divided into main hydraulic circuit and load feedback hydraulic circuit two parts.Robot
The main pump of hydraulic system is axial variable plunger pump, and using load-sensing control mode, the output pressure and flow for making main pump are certainly
The dynamic variation with executive component load is adapted, and output power is approximately equal to load consuming power, reduces overpressure and mistake
Surplus flow, reduces spill losses, effectively increases the utilization efficiency of diesel engine.And when multi-execution component composite move,
Can jointly control with load-sensing proportioning valve, realize the synchronous working of multi-execution component and be independent of each other, system operatio performance compared with
It is good.Since the pressure and changes in flow rate of system are controlled by load sensing signal, thus it is higher to control sensitivity；Simultaneously because using base
It is only related with area by the flow of restriction in speed regulation in the electro-hydraulic proportional valve of load-sensing, not by the shadow of load variation
It rings, speed regulation is steady, accurate, rapid, and when multi-cylinder composite move, synchronization action may be implemented and be independent of each other, therefore robot
Integrated operation better performances.
Electric control system is mainly by Diesel Engine Control circuit, remote control system, controller, rectifier power source, alarm circuit, photograph
The composition such as bright circuit and electrical cabinet, control system composition block diagram are as shown in Figure 4.Robot hydraulic system, which uses, is based on pulsewidth modulation
Electro-hydraulic proportional system controlled, the primary element for forming electro-hydraulic proportional control system has remote-control handle, controller, pulsewidth tune
The parts such as (PWM) driving circuit, electro-hydraulic proportional valve and executing agency are made, control signal is generated by remote-control handle, is controlled electro-hydraulic
The output pressure of proportional pilot valve realizes the operating rate of control hydraulic cylinder for working to control the position of main reversing valve spool.
Remote-control handle mainly receives conversion by the Wireless/wired signal transmitting system of double distant bars (universal) (remote controler), Wireless/wired signal
System composition.Remote controler is the portable waist fastened in operator, and receiver is mounted in rack, and receiving antenna passes through magnetic support
It is placed on engine body exterior.Electro-hydraulic proportional valve is controlled using PWM regulative mode, is adjusted by changing the duty ratio of pwm signal
The average current of proportion electro-magnet coil is flowed through, with the stagnant ring and dead zone phenomenon for reducing friction, reducing electromagnet, improves electro-hydraulic ratio
The response speed of example valve.
Communication is one of essential function of robot, and by communication system, robot can transmit external or interior
Portion's information, it is contemplated that the complexity of operating environment, robot are combined using wired and wireless in the selection of communication mode
Mode, user can select between wired and wireless communication mode according to specific working environment and task, with
The mating 20m controlling cable of machine.To guarantee that robot control system has good response characteristic and module scalability, robot
Communication system uses CAN bus communication mode, is integrated with the entire communication system of robot using remote control technology foundation.Communication
System includes the modules such as robot communication interface, CAN controller, remote control transmitter, receiver of remote-control sytem composition.
Robot wireless video system mainly conveys system by spatial position: (the four fixed camera shootings of panorama camera system
Machine), wireless video transmission system and background video show the composition such as storage system, as shown in Figure 5.Holder camera is installed on machine
The front end of device people, which can freely overturn under the action of holder, pitching, dynamically flutter the working condition at the scene of catching.Equipment
Equipped with a set of dedicated panorama camera system, the panorama of working region is shown that operator is in remote port in remote port by it
In conjunction with video image, remote controler is controlled to robot and sends instruction, movement needed for realizing.
The utility model obstacle removing robot category roadside assistance obstacle removing robot, it uses steel tracks movement chassis to carry
Body, by by load feedback formula electro-hydraulic proportional system, CAN bus based digital way wireless remote control system and multi-parameter
Sensor-based system organically blends, and is mainly used for public (iron) road tunnel, subway station, underground installation and goods yard, petrochemical industry oil depot and refining
Implement Quick rescue when fire or peril occur for the places such as factory for other breakdown lorry blaze the trails, danger also may be implemented
The crawls of product is transported, have many advantages, such as environmental suitability is strong, job area extensively, it is flexible and convenient operation, safe and reliable.Together
When, high-power Work robot of the utility model tunnel obstacle removing robot as a kind of remote control, with common engineering machine
Tool has the difference of essence, and it is machine that it, which collects bionics techniques, the communication technology, control technology, sensing technology, mechanical-electrical-hydraulic integration technology,
Development and leap of the device people technology from pure movement field to Engineering Dynamics field, belong to the Integration ofTechnology of specific area.
Claims (10)
1. a kind of tunnel obstacle removing robot, including rack (1), basic machine system, dynamical system, hydraulic system, electrical control
System, communication system, wireless video system, it is characterized in that: basic machine system includes being arranged in tunnel obstacle removing robot rear end
Composite structure I, composite structure I include shoveling mechanism (4), grab clamp mechanism (5), hydraulic rotary motor (7), slewing equipment (9),
Shoveling mechanism with grab clamp mechanism and connect by slewing equipment (9)；Shoveling mechanism includes two shoveling ontology (4-1), left and right shovelings
The lower part of oil cylinder (4-2), shoveling ontology (4-1) passes through connecting rod and rack (1) hingedly, and the two shoveling oil cylinders (4-2) in left and right are right
Claim setting, cylinder end, rod end are hinged with the fixed block on rack (1), the top shoveling ontology (4-1) respectively；Hydraulic rotary motor
(7), slewing equipment (9) is each attached on shoveling ontology (4-1), in the worm screw in hydraulic rotary motor and slewing equipment (9)
Worm gear is meshed；Grabbing clamp mechanism (5) includes two fixed plates (5-1), two sets of hydraulic jaws, and two fixed plates (5-1) are symmetrically set
Set on the inner ring of slewing equipment (9), two sets of hydraulic jaws are symmetrically disposed between fixed plate (5-1), with fixed plate (5-1) it
Between constitute four-bar mechanism.
2. a kind of tunnel obstacle removing robot according to claim 1, it is characterized in that: every set hydraulic jaw includes outer pawl (5-
2), interior pawl (5-3), collet (5-4), hydraulic jaw oil cylinder (5-5), outer pawl (5-2), interior pawl (5-3) one end be hinged on fixation
On plate (5-1), the other end with collet (5-4) hingedly, between inside and outside pawl, cylinder end is hinged on hydraulic jaw oil cylinder (5-5)
In fixed plate (5-1), rod end is hinged on interior pawl (5-3).
3. a kind of tunnel obstacle removing robot according to claim 1 or 2, it is characterized in that: basic machine system further includes setting
The composite structure II in tunnel obstacle removing robot front end is set, composite structure II includes foundation frame (11), connecting plate (13), at least two
A associated mechanisms, for the lower hinge of (11) two risers of foundation frame on rack (1), connecting plate (13) is fixed on foundation frame (11)
It before two risers, and can be moved up and down along the track of foundation frame, associated mechanisms are connect with connecting plate (13).
4. a kind of tunnel obstacle removing robot according to claim 3, it is characterized in that: composite structure II further includes left and right two
The cylinder end of foundation frame oil cylinder (12), the two foundation frame oil cylinders (12) in left and right is connected with rack (1), and rod end is respectively hinged at foundation frame
The outside of (11) two risers.
5. a kind of tunnel obstacle removing robot according to claim 3, it is characterized in that: the associated mechanisms one in composite structure II
A is transshipment acitivity (6), another is traction mechanism (8)；Transshipment acitivity (6) includes the two symmetrically set transhipment bar in left and right
(6-1), transhipment bar (6-1) are L shape, and vertical bar is respectively fitted on the pin shaft of connecting plate (13) front two.
6. a kind of tunnel obstacle removing robot according to claim 5, it is characterized in that: the transshipment acitivity in composite structure II
It (6) further include that two spacing adjustment oil cylinder (6-2), the cylinder end of spacing adjustment oil cylinder (6-2) are fixed on a transhipment bar up and down
On, rod end is then matched with the hole of another transhipment bar, and the cylinder end and rod end of upper and lower two spacing adjustment oil cylinder (6-2) are exchanged.
7. a kind of tunnel obstacle removing robot according to claim 5, it is characterized in that: the traction mechanism in composite structure II
It (8) include hitch frame, regulating device；Regulating device includes traction locking cylinder (8-2), traction oscillating oil cylinder (8-3)；Hitch frame
Including cross bar (8-5), two clamping jaws (8-1), two clamping jaws (8-1) are symmetrically hinged on cross bar (8-5), draw locking cylinder
Cylinder end, the rod end of (8-2) are hinged with two clamping jaws (8-1) respectively；The cylinder end of traction oscillating oil cylinder (8-3) is connected to connecting plate
(13) on, rod end is connect with hitch frame.
8. a kind of tunnel obstacle removing robot according to claim 7, it is characterized in that: the traction mechanism in composite structure II
(8) regulating device in further includes traction telescopic oil cylinder (8-4), draws the cylinder end and traction oscillating oil cylinder of telescopic oil cylinder (8-4)
(8-3) is connected, and rod end is hinged with hitch frame.
9. a kind of tunnel obstacle removing robot according to claim 1, it is characterized in that: dynamical system, hydraulic system are and machine
Frame (1) is connected；Dynamical system includes engine (16), engine diesel oil tank (2), and hydraulic system includes plunger pump (3), hydraulic
Fuel tank (10)；Engine (16), engine diesel oil tank (2), hydraulic oil container (10) are each attached on rack (1), plunger pump (3)
It is connect by shaft coupling with engine (16), the inlet port of plunger pump (3) is connected with hydraulic oil container (10).
10. a kind of tunnel obstacle removing robot according to claim 9, it is characterized in that: hydraulic jaw oil cylinder (5-5), shoveling oil
Cylinder (4-2), foundation frame oil cylinder (12), spacing adjustment oil cylinder (6-2), traction locking cylinder (8-2), traction telescopic oil cylinder (8-4),
Traction oscillating oil cylinder (8-3) is connect with plunger pump (3) by the road respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821532938.8U CN209321091U (en) | 2018-09-19 | 2018-09-19 | A kind of tunnel obstacle removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821532938.8U CN209321091U (en) | 2018-09-19 | 2018-09-19 | A kind of tunnel obstacle removing robot |
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| Publication Number | Publication Date |
|---|---|
| CN209321091U true CN209321091U (en) | 2019-08-30 |
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ID=67707025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821532938.8U Withdrawn - After Issue CN209321091U (en) | 2018-09-19 | 2018-09-19 | A kind of tunnel obstacle removing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN209321091U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178123A (en) * | 2018-09-19 | 2019-01-11 | 惊天智能装备股份有限公司 | A kind of tunnel obstacle removing robot |
| CN112972970A (en) * | 2021-01-28 | 2021-06-18 | 许方修 | Fire control unit based on digital home system |
-
2018
- 2018-09-19 CN CN201821532938.8U patent/CN209321091U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178123A (en) * | 2018-09-19 | 2019-01-11 | 惊天智能装备股份有限公司 | A kind of tunnel obstacle removing robot |
| CN109178123B (en) * | 2018-09-19 | 2023-11-17 | 惊天智能装备股份有限公司 | Tunnel obstacle clearance robot |
| CN112972970A (en) * | 2021-01-28 | 2021-06-18 | 许方修 | Fire control unit based on digital home system |
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