WO2020087841A1 - 一种拆墙终端执行器及废料回收式拆墙机器人 - Google Patents

一种拆墙终端执行器及废料回收式拆墙机器人 Download PDF

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Publication number
WO2020087841A1
WO2020087841A1 PCT/CN2019/078851 CN2019078851W WO2020087841A1 WO 2020087841 A1 WO2020087841 A1 WO 2020087841A1 CN 2019078851 W CN2019078851 W CN 2019078851W WO 2020087841 A1 WO2020087841 A1 WO 2020087841A1
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WO
WIPO (PCT)
Prior art keywords
wall
impact
shaft
transmission mechanism
driving
Prior art date
Application number
PCT/CN2019/078851
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English (en)
French (fr)
Inventor
宋振东
Original Assignee
深圳职业技术学院
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Filing date
Publication date
Application filed by 深圳职业技术学院 filed Critical 深圳职业技术学院
Publication of WO2020087841A1 publication Critical patent/WO2020087841A1/zh

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/08—Wrecking of buildings
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/08—Wrecking of buildings
    • E04G23/082—Wrecking of buildings using shears, breakers, jaws and the like

Definitions

  • the present invention relates to a wall-removing robot, and particularly to a wall-removing terminal actuator and a waste recycling type wall-removing robot.
  • the present invention provides a wall-removing terminal actuator and a waste recycling type wall-removing robot.
  • the present invention provides a wall demolition terminal actuator, including a wall demolition cutting head, a box and a dust removal recovery cover connected to the box, the dust removal recovery cover is provided with a lateral opening dust removal A groove, a rubber cover is provided on the edge of the notch of the dust recovery groove, a waste material recovery port is provided at the bottom of the dust recovery groove, and a drilling transmission mechanism and an impact transmission mechanism are provided in the box;
  • the cutting head is located inside the dust-recovery groove
  • the drilling transmission mechanism includes a rotation transmission mechanism and a hollow rotating shaft with a through hole in the center, the rotation transmission mechanism is connected to the hollow rotating shaft, and the hollow rotating shaft passes through
  • the impact transmission mechanism is a mechanical transmission mechanism that converts rotary motion into linear reciprocating motion
  • the rotary motion input end of the impact transmission mechanism is connected to the rotary transmission Mechanism connection
  • the linear reciprocating output end of the impact transmission mechanism is connected with an impact rod
  • the The impact rod is arranged
  • the cutting head is provided with a striker, the impact rod moves linearly back and forth between an impact position and a non-impact position, and when the impact rod reaches the impact position, the impact The rod collides with the collision block.
  • the cutting head is provided with a sliding screw, the cutting head is sleeved on the end of the hollow rotating shaft, the cutting head is slidingly connected to the hollow rotating shaft through the sliding screw, A thrust spring for resetting the cutting head is provided between the sliding screw and the hollow rotating shaft.
  • a high-pressure spray head is connected to the dust-recovery housing, and a high-pressure water pipe is connected to the high-pressure spray head.
  • the rotation transmission mechanism includes a driving shaft, a driving bevel gear and a driven bevel gear, the driving bevel gear is fixed on the driving shaft, the driven bevel gear is fixed on the On the hollow rotating shaft, the driving bevel gear meshes with the driven bevel gear.
  • the impact transmission mechanism is a crank slider mechanism.
  • the impact transmission mechanism includes a driving gear, a driven gear, a transmission shaft, a turntable, a primary rotation shaft, and a rotating arm
  • the driving gear is fixed on the driving shaft
  • the The driven gear is fixed on the transmission shaft
  • the turntable is fixed on the transmission shaft
  • the primary rotation shaft is fixed on the turntable
  • the One end of the rotating arm is rotatably connected to the first-level rotating shaft about a first axis of rotation
  • the other end of the rotating arm is rotatably connected to the impact rod about a second axis of rotation, the first axis of rotation and the second axis of rotation
  • the axes of the transmission shaft do not coincide with each other, and the first rotation axis, the second rotation axis, and the axis of the transmission shaft are arranged in parallel.
  • a drive motor is connected to the driving shaft.
  • the present invention also provides a waste recovery type wall-removing robot, including the wall-removing terminal actuator as described in any one of the above.
  • the waste recycling type wall-removing robot further includes a car body, an upper support arm, a lower support arm, and a hydraulic cylinder, and the top end of the upper support arm is fixed to the wall-removing terminal actuator Connected, the bottom end of the upper support arm is hinged with the top end of the lower support arm, the bottom end of the lower support arm is connected to the vehicle body, and the upper support arm and the lower support arm are connected by the hydraulic cylinder ,
  • the vehicle body is provided with a waste material recovery and suction device and an air suction pipe, and the waste material recovery and suction device passes through the air suction pipe and the waste material Recycling port connection.
  • the beneficial effects of the present invention are: Through the above solution, two wall-demolition actions of drilling and impact can be realized at the same time.
  • the two wall-demolition actions simultaneously perform wall-demolition construction on the wall, and the individual volume of the removed wall material is relatively large. Small, conducive to recycling again; can reduce the impact of noise and dust through the dust collection cover and rubber cover, improve the operator's working environment, and also reduce the noise and dust impact on the external environment.
  • FIG. 1 is an overall schematic view of a wall demolition terminal actuator of the present invention.
  • FIG. 2 is a bottom view of a wall-demolition terminal actuator of the present invention.
  • FIG. 3 is a schematic cross-sectional view of a wall-removing terminal actuator of the present invention.
  • FIG. 4 is a schematic diagram of a transmission part of a wall-demolition terminal actuator of the present invention.
  • FIG. 5 is an exploded schematic view of a transmission part of a wall-removing terminal actuator of the present invention.
  • FIG. 6 is an exploded schematic view of a housing portion of a wall-mounted terminal actuator of the present invention.
  • FIG. 7 is a schematic diagram of a waste-recycling robot of the present invention.
  • a wall-removing terminal actuator 45 includes a wall-removing cutting head 2, a box, and a dust-recovery cover 14 connected to the box, and the box includes a left box 44 and the right box 37, the dust-recovery cover 14 is provided with a laterally-opened dust-recovery groove, the dust-recovery cover 14 is covered on the wall for wall removal, and the operation part is covered in the dust-recovery groove , Help reduce the impact of noise and dust.
  • a rubber cover 42 is provided on the edge of the notch of the dust collection groove, and the rubber cover 42 can form a closed wall removal space for the dust collection groove, which is conducive to further reduction Noise and dust effects.
  • the bottom of the dust recovery groove is provided with a waste recovery port 13, which is removed by the wall removal operation The waste material is recovered through the waste material recovery port 13.
  • a drilling transmission mechanism and an impact transmission mechanism are provided in the box, the cutting head 2 is located within the dust-recovery groove, and the drilling transmission mechanism includes A rotating transmission mechanism and a hollow rotating shaft 1 with a through hole in the center, the rotating transmission mechanism is connected to the hollow rotating shaft, the hollow rotating shaft 1 is connected to the cutting head 2 through the box, the dust-recovery cover 14,
  • the impact transmission mechanism is a mechanical transmission mechanism that converts rotary motion into linear reciprocating motion.
  • the rotary motion input end of the impact transmission mechanism is connected to the rotary transmission mechanism, and the linear reciprocating output end of the impact transmission mechanism is connected to
  • the impact rod 34 is disposed in the through hole of the hollow rotating shaft 1.
  • the cutting head 2 is provided with a striker 3, the impact rod 34 reciprocates linearly between an impact position and a non-impact position, and when the impact rod 34 reaches an impact At the position, the impact rod 34 collides with the impact block 3, the impact block 3 drives the cutting head 2 to impact the wall, and at the same time, the cutting head 2 is always driven by the rotation transmission mechanism to rotate
  • the wall-removing terminal actuator 45 can realize both drilling and impacting wall-removing actions at the same time.
  • the two wall-removing actions simultaneously perform wall-removing construction on the wall.
  • the removed wall material has a relatively small volume, which is beneficial to Recycle again.
  • the cutting head 2 is provided with a sliding screw 7, the cutting head 2 is sleeved on the end of the hollow rotating shaft 1, the cutting head 2 passes through the sliding screw 7 is slidingly connected to the hollow rotating shaft 1, and a thrust spring 6 for resetting the cutting head is provided between the sliding screw 7 and the hollow rotating shaft 1.
  • the dust-recovery cover 14 is connected with a high-pressure spray head 39
  • the high-pressure spray head 39 is connected with a high-pressure water pipe 46, while drilling and impact demolition work, can pass through the high-pressure spray head 39 Perform high-pressure water spray.
  • the rotation transmission mechanism includes a driving shaft 18, a driving bevel gear 16 and a driven bevel gear 161
  • the driving bevel gear 16 is fixed on the driving shaft 18, the
  • the driven bevel gear 161 is fixed on the hollow rotating shaft 1 through a plastic bearing 38
  • the driving bevel gear 16 meshes with the driven bevel gear 161
  • the driving shaft 18 is connected to a driving motor, which can be driven by the driving motor
  • the driving shaft 18 is driven to rotate.
  • the impact transmission mechanism is preferably a crank slider mechanism.
  • the impact transmission mechanism includes a driving gear 21, a driven gear 24, a transmission shaft 29, a turntable 28, a primary rotation shaft 27, and a rotating arm 31, the driving gear 21 is fixed On the driving shaft 18, the driven gear 24 is fixed on the transmission shaft 29, and the driving gear 21 is connected to the driven gear 24 Meshing, the turntable 28 is fixed on the transmission shaft 29, the first-stage rotating shaft 27 is fixed on the turntable 28, one end of the turning arm 31 and the first-stage rotating shaft 27 rotate around the first The axis is rotationally connected, the other end of the rotating arm 31 is rotationally connected to the impact rod 34 about a second axis of rotation, the first axis of rotation, the second axis of rotation, and the axis of the transmission shaft 29 do not coincide with each other, the The axes of the first axis of rotation, the second axis of rotation, and the axis of the transmission shaft 29 are arranged in parallel.
  • the arm sleeve 35 is provided on the arm 31 for the installation
  • the driving gear 21 is a large spur gear
  • the driven gear 24 is a small spur gear
  • the driving gear 21 is sleeved on the driving shaft 18 through a flat key 17
  • one end is in contact with the shaft shoulder
  • the other One end is in contact with the positioning sleeve 19
  • the driven gear 24 is provided on a 61802 deep groove ball bearing 22.
  • the driving bevel gear 16 is sleeved on the upper end of the driving shaft 18 through a flat key.
  • the driving bevel gear 16 is connected to the shaft shoulder, and the driven bevel gear 161 is fixed on the hollow rotating shaft 1 through the hollow rotating shaft retaining ring 40.
  • the transmission shaft 29 is fixed to the turntable 28 by M3x8 screws 26, the transmission shaft sleeve 25 is sleeved on the transmission shaft 29, one end is connected to the lower surface of the turntable 28, the driven gear 24 is sleeved on the lower end of the transmission shaft 29 through a flat key sleeve, and the driven gear 24 —The end face is connected to the drive shaft sleeve 25—the end face, the other face is connected to the positioning sleeve, and the other end face of the positioning sleeve is connected to the end face of the 61802 deep groove ball bearing 22.
  • the driving gear 21 meshes with the driven gear 24.
  • the primary rotation shaft 27 is fixed to the turntable 28 by M3 screws 26, the primary rotation shaft sleeve 30 is sleeved on the primary rotation shaft 27, and the 61800 deep groove ball bearing 32 is connected to the primary rotation shaft sleeve 30 at the other end.
  • One end is placed in the groove of the rotating arm 31, and a 61800 deep groove ball bearing is also placed in the groove on the other side of the rotating arm 31.
  • the other end of the 1800 deep groove ball bearing is connected to another first-stage rotating shaft sleeve,
  • the other end of the first-stage rotating shaft sleeve is connected to the M8 nut 33, and the M8 nut 33 is only fixed on the first-stage rotating shaft 27.
  • a 61800 deep groove ball bearing is sleeved on the convex shaft at the other end of the swing arm 31.
  • the outer ring of the 1800 deep groove ball bearing is placed in the bearing groove on the end of the impact rod 34, and the other end of the impact rod 34 is also placed in a 61800 deep For groove ball bearings, the uppermost face is only fixed by an M8 thin nut 36.
  • the thin shaft of the impact rod 34 has a hollow rotating shaft 1, a driven bevel gear 161 is sleeved on one end of the hollow rotating shaft 1 through a flat key, and is fixed on the hollow rotating shaft 1 by a hollow rotating shaft retaining ring 40.
  • the driven bevel gear 161 and the driving shaft 18 The driving bevel gear 16 meshes, the driving shaft sleeve 20 contacts the driving bevel gear 16, one end of the 61804 deep groove ball bearing is in contact with the driven bevel gear 161, and the other end of the 61804 deep groove ball bearing is placed in the bearing recess of the dust collection cover 14 In the groove, a 61804 deep groove ball bearing 8 is also placed in the bearing groove on the other side of the dust collection cover 14 and is sleeved on the hollow rotating shaft 1.
  • the thrust spring 6 is sleeved on the hollow rotating shaft 1, and one end is in contact with the shoulder of the end of the hollow rotating shaft 1.
  • Angular contact ball bearings 5 are set at the 3 end of the striker block and pass through the stopper ring 4 Fixed, angular contact ball bearings 5 are placed in bearing grooves in the cutting head 2.
  • the cutting head 2 is sleeved on the end of the hollow rotating shaft 1, and is fixed to the end of the hollow rotating shaft 1 by a sliding screw 7.
  • the rubber cover 42 is fixed to the dust-recovery cover 14 by M5 nuts 10, M5x20 screws 9 and D5 washers 11, and the sealing rubber ring 12 is placed in a groove in the waste recovery port 13 for waste recovery
  • the port 13 is fixed to the lower end of the dust collection cover 14 by M5x10 screws 43.
  • the high-pressure spray head 39 is fixed to the upper end of the dust-recovery cover 14 through the M20 nut 41.
  • the right cabinet 37 and the left cabinet 44 are symmetrically fixed together by M5xl6 screws 23 and M5 nuts 9, and are fixed on the side of the dust-recovery cover 14 by M5x25 screws 15 in an integral form.
  • a waste-recycling wall-removing robot includes a wall-removing terminal actuator 45 as described in any one of the above.
  • the waste-recycling type wall-removing robot further includes a car body 51, an upper support arm 47, a lower support arm 50, and a hydraulic cylinder 48, and the top end of the upper support arm 47 and the wall removal
  • the end effector 45 is fixedly connected, the bottom end of the upper support arm 47 is hinged to the top end of the lower support arm 50, the bottom end of the lower support arm 50 is connected to the vehicle body 51, and the upper support arm 47 1.
  • the lower support arm 50 is connected through the hydraulic cylinder 48, and the vehicle body 51 is provided with a waste material recovery and suction device and an air suction pipe 49.
  • the waste material recovery and suction device is connected to the waste material recovery port through the air suction pipe 49 13 connections.
  • a high-pressure water spray device is provided on the vehicle body 51, and the high-pressure water spray device is connected to the high-pressure spray head 39 through a high-pressure water pipe 46.
  • a wall demolition terminal actuator and a waste recycling type wall demolition robot provided by the present invention, during operation, a drive motor first rotates a driving shaft 18, and a driving bevel gear 16 and a driving gear 21 on the driving shaft 18 rotate to drive
  • the driven bevel gear 161 meshed therewith rotates, and the driven bevel gear 161 will drive the hollow shaft 1 to rotate. Since the cutting head 2 is fixed to the hollow rotating shaft 1, the cutting head 2 will rotate with the hollow rotating shaft 1 to realize the rotary cutting function. Since the driving gear 21 and the driven gear 24 mesh with each other, the driving gear 21 will rotate while driving the driven gear 24, and at the same time, the transmission shaft 29 will follow the rotation. At this time, the turntable 28 will rotate along with the transmission shaft 29.
  • the first-stage rotating shaft 27 is fixed on the turntable 28. Therefore, the first-stage rotating shaft 27 will also rotate with the turntable 28. Since the rotating arm 31 is sleeved on the first-level rotating shaft 27 and the impact lever 34 is connected to the rotating arm 31, when the first-level rotating shaft 27 rotates, the first-level rotating shaft 27, the rotating arm 31 and the impact lever 34 form a crank slide Block mechanism, the impact rod 34 will repeat high-frequency linear motion in the center of the hollow shaft 1, and the end will repeatedly hammer the impact block 3, hitting The block 3 transmits the impact to the cutting head 2. The cutting head 2 moves outward and compresses the thrust spring 6. When the impact rod 34 is in the return stroke, the thrust spring 6 reduces the pressure and pushes the sliding screw 7 to retract the cutting head 2.
  • the wall-removing end effector 45 simultaneously realizes rotary cutting and high-frequency vibration impact.
  • the high-pressure nozzle 39 always emits a high-pressure water column, which impacts the wall on the one hand and wets and softens the wall on the other hand, and the water mist can also absorb dust flying due to cutting.
  • the entire rubber cover 42 is pressed tightly against the wall surface. The rubber cover 42 can prevent the flow of dust and mud, and can also hinder the propagation of noise.
  • the waste recovery port 13 at the lower end of the dust collection cover 14 will be connected to a high-power extraction pump, and wall waste, muddy water and other waste products in the working process will be drawn back through the waste recovery port 13 to realize recovery and reuse.
  • the present invention provides a wall demolition terminal actuator and a waste recycling type wall demolition robot, using a single motor as a driving element, through clever transmission design, so that the mechanism simultaneously achieves two actions of drilling and impact, two actions At the same time, the wall was constructed.
  • the structure is equipped with a high-pressure water spray device.
  • the high-pressure water column can not only impact the loose concrete surface, but also wet and soften the dry and hard wall to match the cutting head 2 (such as the punching and blasting head) to disassemble the wall.
  • the wall sound removal terminal actuator 45 is equipped with a rubber soundproof sealing device, it can not only minimize the impact of noise, but also prevent dust from flying during the wall removal process, greatly improving the operator's working environment.
  • the wall-removing terminal actuator 45 has a compact and compact structure and safe and reliable operation. It can effectively solve many problems of the current wall-removing robots such as huge volume, low efficiency, and poor working conditions. It has a very broad market prospect.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Working Measures On Existing Buildindgs (AREA)
  • Crushing And Grinding (AREA)

Abstract

一种拆墙终端执行器（45），包括切削头（2）、箱体和除尘回收外罩（14），箱体内设置钻削传动机构和冲击传动机构，钻削传动机构包括旋转传动机构和空心转轴（1），空心转轴（1）穿过箱体、除尘回收外罩（14）和切削头（2）连接，冲击传动机构的旋转运动输入端与旋转传动机构连接，直线往复运动输出端连接有冲击杆（34），冲击杆（34）设置于空心转轴（1）的通孔内。还提供包括有拆墙终端执行器(45)的废料回收式拆墙机器人。拆墙时能同时钻削和冲击，废料易于回收再利用。

Description

一种拆墙终端执行器及废料回收式拆墙机器人 技术领域
[0001] 本发明涉及拆墙机器人， 尤其涉及一种拆墙终端执行器及废料回收式拆墙机器 人。
背景技术
[0002] 目前， 5见有的拆墙机器人的终端执行器， 绝大多数采用两指型结构或单纯气锤 结构， 这种末端执行器在拆墙作业中， 体积庞大， 结构笨重， 效率低下， 噪声 较大。 由于没有考虑灰尘处理问题， 这种拆墙机器人在使用时， 会使工作环境 中充满灰尘， 严重影响周边自然环境及操作人员的身体健康。 由于结构形式的 限制， 拆下的墙体材料个体体积较大， 很难进行再次回收利用， 造成了巨大的 经济浪费。
发明概述
技术问题
问题的解决方案
技术解决方案
[0003] 为了解决现有技术中的问题， 本发明提供了一种拆墙终端执行器及废料回收式 拆墙机器人。
[0004] 本发明提供了一种拆墙终端执行器， 包括拆墙的切削头、 箱体和与所述箱体连 接的除尘回收外罩， 所述除尘回收外罩上设有侧向开口的除尘回收凹槽， 所述 除尘回收凹槽的槽口边沿上设有橡胶外罩， 所述除尘回收凹槽的底部设有废料 回收口， 所述箱体内设有钻削传动机构和冲击传动机构， 所述切削头位于所述 除尘回收凹槽之内， 所述钻削传动机构包括旋转传动机构和中心设有通孔的空 心转轴， 所述旋转传动机构与所述空心转轴连接， 所述空心转轴穿过所述箱体 、 除尘回收外罩与所述切削头连接， 所述冲击传动机构为将旋转运动转换成直 线往复运动的机械传动机构， 所述冲击传动机构的旋转运动输入端与所述旋转 传动机构连接， 所述冲击传动机构的直线往复运动输出端连接有冲击杆， 所述 冲击杆设置在所述空心转轴的通孔内。
[0005] 作为本发明的进一步改进， 所述切削头上设有撞块， 所述冲击杆在冲击位置和 非冲击位置之间直线往复运动， 当所述冲击杆到达冲击位置时， 所述冲击杆与 所述撞块发生碰撞。
[0006] 作为本发明的进一步改进， 所述切削头上设有滑动螺钉， 所述切削头套在所述 空心转轴的末端上， 所述切削头通过所述滑动螺钉与所述空心转轴滑动连接， 所述滑动螺钉、 空心转轴之间设有使所述切削头复位的推力弹簧。
[0007] 作为本发明的进一步改进， 所述除尘回收外罩连接有高压喷头， 所述高压喷头 连接有高压水管。
[0008] 作为本发明的进一步改进， 所述旋转传动机构包括主动轴、 主动锥齿轮和从动 锥齿轮， 所述主动锥齿轮固定在所述主动轴上， 所述从动锥齿轮固定在所述空 心转轴上， 所述主动锥齿轮与所述从动锥齿轮相啮合。
[0009] 作为本发明的进一步改进， 所述冲击传动机构为曲柄滑块机构。
[0010] 作为本发明的进一步改进， 所述冲击传动机构包括主动齿轮、 从动齿轮、 传动 轴、 转盘、 一级旋转轴和转臂， 所述主动齿轮固定在所述主动轴上， 所述从动 齿轮固定在所述传动轴上， 所述主动齿轮与所述从动齿轮相啮合， 所述转盘固 定在所述传动轴上， 所述一级旋转轴固定在所述转盘上， 所述转臂的一端与所 述一级旋转轴绕第一旋转轴线旋转连接， 所述转臂的另一端与所述冲击杆绕第 二旋转轴线旋转连接， 所述第一旋转轴线、 第二旋转轴线、 传动轴的轴线两两 不重合， 所述第一旋转轴线、 第二旋转轴线、 传动轴的轴线平行设置。
[0011] 作为本发明的进一步改进， 所述主动轴连接有驱动电机。
[0012] 本发明还提供了一种废料回收式拆墙机器人， 包括如上述中任一项所述的拆墙 终端执行器。
[0013] 作为本发明的进一步改进， 所述废料回收式拆墙机器人还包括车体、 上支撑臂 、 下支撑臂和液压缸， 所述上支撑臂的顶端与所述拆墙终端执行器固定连接， 所述上支撑臂的底端与所述下支撑臂的顶端铰接， 所述下支撑臂的底端与所述 车体连接， 所述上支撑臂、 下支撑臂通过所述液压缸连接， 所述车体上设有废 料回收抽吸装置和抽气管， 所述废料回收抽吸装置通过所述抽气管与所述废料 回收口连接。
发明的有益效果
有益效果
[0014] 本发明的有益效果是： 通过上述方案， 能同时实现钻削和冲击两种拆墙动作， 两种拆墙动作同时对墙体进行拆墙施工， 拆下的墙体材料个体体积较小， 有利 于再次回收利用； 可通过除尘回收外罩以及橡胶外罩来降低噪音和灰尘影响， 改善了操作者的工作环境， 也降低了对外界环境的噪音和灰尘影响。
对附图的简要说明
附图说明
[0015] 图 1是本发明一种拆墙终端执行器的整体示意图。
[0016] 图 2是本发明一种拆墙终端执行器的仰视图。
[0017] 图 3是本发明一种拆墙终端执行器的剖面示意图。
[0018] 图 4是本发明一种拆墙终端执行器的传动部分的示意图。
[0019] 图 5是本发明一种拆墙终端执行器的传动部分的分解示意图。
[0020] 图 6是本发明一种拆墙终端执行器的外壳部分的分解示意图。
[0021] 图 7是本发明一种废料回收式拆墙机器人的示意图。
发明实施例
本发明的实施方式
[0022] 下面结合附图说明及具体实施方式对本发明作进一步说明。
[0023] 如图 1至图 7所示， 一种拆墙终端执行器 45， 包括拆墙的切削头 2、 箱体和与所 述箱体连接的除尘回收外罩 14， 箱体包括左箱体 44和右箱体 37， 所述除尘回收 外罩 14上设有侧向开口的除尘回收凹槽， 除尘回收外罩 14盖在墙体上进行拆墙 作业， 将作业部分罩在除尘回收凹槽之内， 有利于降低噪音和灰尘影响。
[0024] 如图 1至图 7所示， 所述除尘回收凹槽的槽口边沿上设有橡胶外罩 42， 橡胶外罩 42可以使除尘回收凹槽形成封闭的拆墙作业空间， 有利于进一步降低噪音和灰 尘影响。
[0025] 如图 1至图 7所示， 所述除尘回收凹槽的底部设有废料回收口 13， 拆墙作业所拆 出的废料则通过废料回收口 13进行废料回收。
[0026] 如图 1至图 7所示， 所述箱体内设有钻削传动机构和冲击传动机构， 所述切削头 2位于所述除尘回收凹槽之内， 所述钻削传动机构包括旋转传动机构和中心设有 通孔的空心转轴 1， 所述旋转传动机构与所述空心转轴连接， 所述空心转轴 1穿 过所述箱体、 除尘回收外罩 14与所述切削头 2连接， 所述冲击传动机构为将旋转 运动转换成直线往复运动的机械传动机构， 所述冲击传动机构的旋转运动输入 端与所述旋转传动机构连接， 所述冲击传动机构的直线往复运动输出端连接有 冲击杆 34, 所述冲击杆 34设置在所述空心转轴 1的通孔内。
[0027] 如图 1至图 7所示， 所述切削头 2上设有撞块 3， 所述冲击杆 34在冲击位置和非冲 击位置之间直线往复运动， 当所述冲击杆 34到达冲击位置时， 所述冲击杆 34与 所述撞块 3发生碰撞， 撞块 3驱动切削头 2冲击墙体， 与此同时， 切削头 2在旋转 传动机构的驱动下， 始终进行旋转运动， 以钻削墙体， 拆墙终端执行器 45能同 时实现钻削和冲击两种拆墙动作， 两种拆墙动作同时对墙体进行拆墙施工， 拆 下的墙体材料个体体积较小， 有利于再次回收利用。
[0028] 如图 1至图 7所示， 所述切削头 2上设有滑动螺钉 7， 所述切削头 2套在所述空心 转轴 1的末端上， 所述切削头 2通过所述滑动螺钉 7与所述空心转轴 1滑动连接， 所述滑动螺钉 7、 空心转轴 1之间设有使所述切削头复位的推力弹簧 6。
[0029] 如图 1至图 7所示， 所述除尘回收外罩 14连接有高压喷头 39， 所述高压喷头 39连 接有高压水管 46 , 在钻削和冲击拆墙作业的同时， 可以通过高压喷头 39进行高 压喷水。
[0030] 如图 1至图 7所示， 所述旋转传动机构包括主动轴 18、 主动锥齿轮 16和从动锥齿 轮 161， 所述主动锥齿轮 16固定在所述主动轴 18上， 所述从动锥齿轮 161通过塑 料轴承 38固定在所述空心转轴 1上， 所述主动锥齿轮 16与所述从动锥齿轮 161相 啮合， 所述主动轴 18连接有驱动电机， 可通过驱动电机来驱动主动轴 18转动。
[0031] 如图 1至图 7所示， 所述冲击传动机构优选为曲柄滑块机构。
[0032] 如图 1至图 7所示， 所述冲击传动机构包括主动齿轮 21、 从动齿轮 24、 传动轴 29 、 转盘 28、 一级旋转轴 27和转臂 31， 所述主动齿轮 21固定在所述主动轴 18上， 所述从动齿轮 24固定在所述传动轴 29上， 所述主动齿轮 21与所述从动齿轮 24相 啮合， 所述转盘 28固定在所述传动轴 29上， 所述一级旋转轴 27固定在所述转盘 2 8上， 所述转臂 31的一端与所述一级旋转轴 27绕第一旋转轴线旋转连接， 所述转 臂 31的另一端与所述冲击杆 34绕第二旋转轴线旋转连接， 所述第一旋转轴线、 第二旋转轴线、 传动轴 29的轴线两两不重合， 所述第一旋转轴线、 第二旋转轴 线、 传动轴 29的轴线平行设置， 转臂 31上设有转臂轴套 35 , 用于冲击杆 34的安 装。
[0033] 如图 2至图 4所示， 主动齿轮 21为大直齿轮， 从动齿轮 24为小直齿轮， 主动齿轮 21通过平键 17套在主动轴 18上， 一端与轴肩接触， 另一端与定位轴套 19接触， 从动齿轮 24设置在 61802深沟球轴承 22上。 主动锥齿轮 16通过平键套在主动轴 18 的上端， 主动锥齿轮 16与轴肩相连， 从动锥齿轮 161通过空心转轴挡圈 40固定在 空心转轴 1上。 传动轴 29通过 M3x8螺钉 26与转盘 28固定， 传动轴轴套 25套在传动 轴 29上， 一端与转盘 28下平面相连， 从动齿轮 24通过平键套在传动轴 29下端， 从动齿轮 24—端面与传动轴轴套 25—端面相连， 另一面与定位轴套相连， 定位 轴套另一端面与 61802深沟球轴承 22—端面相连。 主动齿轮 21与从动齿轮 24相啮 合。 一级旋转轴 27通过 M3螺钉 26固定在转盘 28上， 一级旋转轴轴套 30套在一级 旋转轴 27上， 61800深沟球轴承 32—端与一级旋转轴轴套 30相连， 另一端置于转 臂 31的凹槽内， 转臂 31另一侧凹槽内同样放入一个 61800深沟球轴承， 该 1800深 沟球轴承的另一端与另一个一级旋转轴轴套相连， 此一级旋转轴轴套的另一端 与 M8螺母 33相连， M8螺母 33仅仅固定在一级旋转轴 27上。 转臂 31的另一端凸起 轴上套有一个 61800深沟球轴承， 该 1800深沟球轴承外圈置于冲击杆 34—端的轴 承凹槽内， 冲击杆 34另一端同样放入一个 61800深沟球轴承， 最上端面通过一个 M8薄螺母 36仅仅固定。 冲击杆 34细杆外套有空心转轴 1， 从动锥齿轮 161通过平 键套在空心转轴 1一端， 通过空心转轴挡圈 40固定在空心转轴 1上， 此从动锥齿 轮 161与主动轴 18上的主动锥齿轮 16相啮合， 主动轴轴套 20与主动锥齿轮 16接触 ， 61804深沟球轴承一端与从动锥齿轮 161接触， 61804深沟球轴承另一端置于除 尘回收外罩 14的轴承凹槽内， 除尘回收外罩 14另一侧的轴承凹槽内同样放入一 个 61804深沟球轴承 8， 并套在空心转轴 1上。 推力弹簧 6套在空心转轴 1上， 一端 与空心转轴 1末端的轴肩接触。 角接触球轴承 5套在撞块 3—端， 通过撞块挡圈 4 固定， 角接触球轴承 5置于切削头 2内的轴承凹槽内。 切削头 2套在空心转轴 1的 末端， 通过滑动螺钉 7固定在空心转轴 1末端。
[0034] 如图 6所示， 橡胶外罩 42通过 M5螺母 10、 M5x20螺钉 9及 D5垫圈 11固定在除尘 回收外罩 14上， 密封橡胶圈 12置于废料回收口 13内的凹槽内， 废料回收口 13通 过 M5xl0螺钉 43固定在除尘回收外罩 14的下端。 高压喷头 39通过 M20螺母 41固定 在除尘回收外罩 14的上端。 右箱体 37及左箱体 44通过 M5xl6螺钉 23及 M5螺母 9对 称的固定在一起， 以一个整体的形式， 通过 M5x25螺钉 15固定在除尘回收外罩 14 的侧面。
[0035] 如如图 7所示， 一种废料回收式拆墙机器人， 包括如上述中任一项所述的拆墙 终端执行器 45。
[0036] 如图 7所示， 所述废料回收式拆墙机器人还包括车体 51、 上支撑臂 47、 下支撑 臂 50和液压缸 48 , 所述上支撑臂 47的顶端与所述拆墙终端执行器 45固定连接， 所述上支撑臂 47的底端与所述下支撑臂 50的顶端铰接， 所述下支撑臂 50的底端 与所述车体 51连接， 所述上支撑臂 47、 下支撑臂 50通过所述液压缸 48连接， 所 述车体 51上设有废料回收抽吸装置和抽气管 49 , 所述废料回收抽吸装置通过所 述抽气管 49与所述废料回收口 13连接。
[0037] 如图 7所示， 车体 51上设有高压喷水装置， 高压喷水装置通过高压水管 46与高 压喷头 39连接。
[0038] 本发明提供的一种拆墙终端执行器及废料回收式拆墙机器人， 工作时， 驱动电 机首先使主动轴 18旋转， 主动轴 18上的主动锥齿轮 16、 主动齿轮 21转动， 带动 与之啮合的从动锥齿轮 161转动， 该从动锥齿轮 161将带动空心转轴 1转动。 由于 切削头 2与空心转轴 1固定， 因此， 切削头 2将随空心转轴 1转动， 实现旋转切削 功能。 由于主动齿轮 21、 从动齿轮 24相互啮合， 主动齿轮 21转动的同时， 将带 动从动齿轮 24转动， 同时， 传动轴 29将跟随转动， 此时， 转盘 28将随传动轴 29 一起转动。 一级旋转轴 27固定在转盘 28上， 因此， 一级旋转轴 27也将随转盘 28 转动。 由于一级旋转轴 27上套有转臂 31， 转臂 31上连接了冲击杆 34, 当一级旋 转轴 27转动时， 一级旋转轴 27、 转臂 31、 冲击杆 34将形成一个曲柄滑块机构， 冲击杆 34将在空心转轴 1的中心反复高频直线运动， 末端将反复锤击撞块 3， 撞 块 3将撞击传给切削头 2, 切削头 2向外运动， 压缩推力弹簧 6 , 当冲击杆 34处于 回程时， 推力弹簧 6由于受压力减小， 推动滑动螺钉 7 , 从而将切削头 2退回原位 置， 完成一次冲击。 此时， 拆墙终端执行器 45便同时实现了旋转切削和高频振 动撞击。 在驱动电机工作的同时， 高压喷头 39始终喷出高压水柱， 一方面冲击 墙体， 另一方面湿润软化墙面， 水雾还可以吸收由于切削而飞起的灰尘。 机构 工作时， 整个橡胶外罩 42紧紧压在墙面上， 橡胶外罩 42即可阻止灰尘及泥水下 流， 又可以阻碍噪音传播。 除尘回收外罩 14下端的废料回收口 13将与大马力抽 气泵相连， 工作过程中的墙体废料、 泥水等废品将通过废料回收口 13被抽回， 实现回收再利用。
[0039] 本发明提供的一种拆墙终端执行器及废料回收式拆墙机器人， 采用单电机为驱 动元件， 通过巧妙的传动设计， 使机构同时实现钻削和冲击两种动作， 两种动 作同时对墙体进行施工。 结构中自带高压喷水装置， 高压水柱既可以冲击松动 的混凝土表层， 又可以对干燥坚硬的墙体进行湿润软化， 以配合切削头 2 （例如 冲钻爆破头） 对墙体进行拆解。 由于拆墙终端执行器 45周边装有橡胶隔音密封 装置， 既能最大限度降低噪音影响， 又可以杜绝拆墙过程中灰尘乱飞， 极大的 改善了操作者的工作环境。 在拆墙终端执行器 45的最下端有废料回收口 13 , 经 拆墙终端执行器 45拆解下来的墙体废料可通过废料回收口 13进行回收， 从而进 行统一处理， 实现废料的回收和再利用。 拆墙终端执行器 45结构精巧紧凑， 工 作安全可靠， 可以有效解决目前拆墙机器人体积巨大、 效率低下、 工况恶劣等 诸多问题， 具有十分广阔的市场前景。
[0040] 以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明， 不能认 定本发明的具体实施只局限于这些说明。 对于本发明所属技术领域的普通技术 人员来说， 在不脱离本发明构思的前提下， 还可以做出若干简单推演或替换， 都应当视为属于本发明的保护范围。

Claims

权利要求书
[权利要求 1] 一种拆墙终端执行器， 其特征在于： 包括拆墙的切削头、 箱体和与所 述箱体连接的除尘回收外罩， 所述除尘回收外罩上设有侧向开口的除 尘回收凹槽， 所述除尘回收凹槽的槽口边沿上设有橡胶外罩， 所述除 尘回收凹槽的底部设有废料回收口， 所述箱体内设有钻削传动机构和 冲击传动机构， 所述切削头位于所述除尘回收凹槽之内， 所述钻削传 动机构包括旋转传动机构和中心设有通孔的空心转轴， 所述旋转传动 机构与所述空心转轴连接， 所述空心转轴穿过所述箱体、 除尘回收外 罩与所述切削头连接， 所述冲击传动机构为将旋转运动转换成直线往 复运动的机械传动机构， 所述冲击传动机构的旋转运动输入端与所述 旋转传动机构连接， 所述冲击传动机构的直线往复运动输出端连接有 冲击杆， 所述冲击杆设置在所述空心转轴的通孔内。
[权利要求 2] 根据权利要求 1所述的拆墙终端执行器， 其特征在于： 所述切削头上 设有撞块， 所述冲击杆在冲击位置和非冲击位置之间直线往复运动， 当所述冲击杆到达冲击位置时， 所述冲击杆与所述撞块发生碰撞。
[权利要求 3] 根据权利要求 1所述的拆墙终端执行器， 其特征在于： 所述切削头上 设有滑动螺钉， 所述切削头套在所述空心转轴的末端上， 所述切削头 通过所述滑动螺钉与所述空心转轴滑动连接， 所述滑动螺钉、 空心转 轴之间设有使所述切削头复位的推力弹簧。
[权利要求 4] 根据权利要求 1所述的拆墙终端执行器， 其特征在于： 所述除尘回收 外罩连接有高压喷头， 所述高压喷头连接有高压水管。
[权利要求 5] 根据权利要求 1所述的拆墙终端执行器， 其特征在于： 所述旋转传动 机构包括主动轴、 主动锥齿轮和从动锥齿轮， 所述主动锥齿轮固定在 所述主动轴上， 所述从动锥齿轮固定在所述空心转轴上， 所述主动锥 齿轮与所述从动锥齿轮相啮合。
[权利要求 6] 根据权利要求 5所述的拆墙终端执行器， 其特征在于： 所述冲击传动 机构为曲柄滑块机构。
[权利要求 7] 根据权利要求 6所述的拆墙终端执行器， 其特征在于： 所述冲击传动 机构包括主动齿轮、 从动齿轮、 传动轴、 转盘、 一级旋转轴和转臂， 所述主动齿轮固定在所述主动轴上， 所述从动齿轮固定在所述传动轴 上， 所述主动齿轮与所述从动齿轮相啮合， 所述转盘固定在所述传动 轴上， 所述一级旋转轴固定在所述转盘上， 所述转臂的一端与所述一 级旋转轴绕第一旋转轴线旋转连接， 所述转臂的另一端与所述冲击杆 绕第二旋转轴线旋转连接， 所述第一旋转轴线、 第二旋转轴线、 传动 轴的轴线两两不重合， 所述第一旋转轴线、 第二旋转轴线、 传动轴的 轴线平行设置。
[权利要求 8] 根据权利要求 5所述的拆墙终端执行器， 其特征在于： 所述主动轴连 接有驱动电机。
[权利要求 9] 一种废料回收式拆墙机器人， 其特征在于： 包括如权利要求 1至 8中任 一项所述的拆墙终端执行器。
[权利要求 10] 根据权利要求 9所述的废料回收式拆墙机器人， 其特征在于： 所述废 料回收式拆墙机器人还包括车体、 上支撑臂、 下支撑臂和液压缸， 所 述上支撑臂的顶端与所述拆墙终端执行器固定连接， 所述上支撑臂的 底端与所述下支撑臂的顶端铰接， 所述下支撑臂的底端与所述车体连 接， 所述上支撑臂、 下支撑臂通过所述液压缸连接， 所述车体上设有 废料回收抽吸装置和抽气管， 所述废料回收抽吸装置通过所述抽气管 与所述废料回收口连接。
PCT/CN2019/078851 2018-10-31 2019-03-20 一种拆墙终端执行器及废料回收式拆墙机器人 WO2020087841A1 (zh)

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