WO2022222362A1 - 一种抽吸挖掘机器人及其应急救援设备 - Google Patents

一种抽吸挖掘机器人及其应急救援设备 Download PDF

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Publication number
WO2022222362A1
WO2022222362A1 PCT/CN2021/119394 CN2021119394W WO2022222362A1 WO 2022222362 A1 WO2022222362 A1 WO 2022222362A1 CN 2021119394 W CN2021119394 W CN 2021119394W WO 2022222362 A1 WO2022222362 A1 WO 2022222362A1
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WIPO (PCT)
Prior art keywords
suction
excavation
gas
telescopic
excavation robot
Prior art date
Application number
PCT/CN2021/119394
Other languages
English (en)
French (fr)
Inventor
徐光源
欧阳联格
林志国
吕卓峄
Original Assignee
福建侨龙应急装备股份有限公司
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Publication of WO2022222362A1 publication Critical patent/WO2022222362A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
    • A62B99/00—Subject matter not provided for in other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G53/00—Conveying materials in bulk through troughs, pipes or tubes by floating the materials or by flow of gas, liquid or foam
    • B65G53/04—Conveying materials in bulk pneumatically through pipes or tubes; Air slides
    • B65G53/24—Gas suction systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G53/00—Conveying materials in bulk through troughs, pipes or tubes by floating the materials or by flow of gas, liquid or foam
    • B65G53/34—Details
    • B65G53/60—Devices for separating the materials from propellant gas
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/8816—Mobile land installations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/92—Digging elements, e.g. suction heads

Definitions

  • the invention relates to the technical field of emergency rescue, in particular to a suction and excavation robot and its emergency rescue equipment.
  • Non-destructive excavation equipment has the characteristics of fast, efficient and safe, so it has been widely used in urban pipeline maintenance and other fields.
  • the existing excavation equipment for suction remote operation has the characteristics of small width and long narrowness, and is suitable for narrow sewer operations, but it has the following shortcomings: First, because its rotation uses an oil cylinder to achieve its swing, the rotation angle It is limited and the operating range is small. During the operation, the crawler chassis needs to be steered to achieve its swing, and the operation efficiency is low. Second, due to its light weight, the traction force is insufficient, and the subsequent hose cannot be dragged during the operation, and its climbing degree is low. It is extremely small and cannot be operated while climbing, which also causes the problem of low efficiency.
  • the inventor provides a suction and excavation robot, which includes a third mobile chassis and a suction and excavation device;
  • the suction and excavation device is arranged on the third mobile chassis, and the third mobile chassis is used to drive the suction and excavation robot to walk;
  • the suction and excavation device includes a slewing mechanism, a lifting mechanism and a suction mechanism;
  • the slewing mechanism is arranged on the third moving chassis, one end of the slewing mechanism is connected to the third moving chassis, the other end of the slewing mechanism is connected to the suction mechanism, and the slewing mechanism is used to drive the The suction mechanism is rotated;
  • the lifting mechanism is used to drive the suction mechanism to lift, and the suction mechanism For suction of excavated material.
  • the slewing mechanism includes a slewing bearing and a slewing plate, the fixed end of the slewing bearing is connected to the third moving chassis, and the slewing end of the slewing bearing is connected to one end of the slewing plate connected, and the other end of the rotary plate is connected with the suction mechanism.
  • the suction and excavation robot further comprises a mounting plate, the mounting plate is arranged on the third mobile chassis, the mounting plate is fixedly connected with the third mobile chassis, and the The fixed end of the slewing bearing is mounted on the mounting plate.
  • the lifting mechanism selects a lifting cylinder, one end of the lifting cylinder is connected to one end of the rotary plate, and the other end of the lifting cylinder is connected to the suction mechanism.
  • the suction mechanism includes a suction nozzle, a multi-stage telescopic tube and a telescopic drive part;
  • the suction nozzle is connected to the feed port of the telescopic tube, and the suction nozzle is communicated with the feed port of the telescopic tube;
  • the multi-stage telescopic tubes are slidably nested with each other, and the multi-stage telescopic tubes are communicated with each other;
  • the telescopic driving component is used for driving the multi-stage telescopic tubes to expand and contract.
  • the multi-stage telescopic tube includes a first telescopic tube and a second telescopic tube, the first telescopic tube is slidably connected to the second telescopic tube, and the second telescopic tube is embedded in the
  • the suction nozzle is sleeved on the inner wall of the first telescopic tube, the suction nozzle is connected to the feed port of the second telescopic tube, and the suction nozzle is communicated with the feed port of the second telescopic tube.
  • the telescopic drive component includes a first telescopic oil cylinder, one end of the first telescopic oil cylinder is fixedly connected to the outer wall of the first telescopic tube, and the other end of the first telescopic oil cylinder is It is fixedly connected to the outer wall of the second telescopic tube.
  • the third mobile chassis is a crawler-type third mobile chassis or a wheel-type third mobile chassis.
  • the suction and excavation robot further includes a control system, the control system is disposed on the suction mechanism, and the control system is used to control the operation of the suction and excavation robot.
  • the suction and excavation robot of the present invention includes a third mobile chassis and a suction and excavation device; the suction and excavation device is arranged on the third mobile chassis, so The third mobile chassis is used to drive the suction and excavation robot to walk;
  • the suction and excavation device includes a slewing mechanism, a lifting mechanism and a suction mechanism; the slewing mechanism is arranged on the third mobile chassis, and the One end of the slewing mechanism is connected to the third moving chassis, and the other end of the slewing mechanism is connected to the suction mechanism, and the slewing mechanism is used to drive the suction mechanism to rotate; Rotation, increase the scope of work, adapt to different working conditions, and improve work efficiency.
  • the lifting mechanism is used to drive the suction mechanism to lift, and the lifting mechanism realizes The up and down pitch of the suction mechanism increases the scope of operation, adapts to different working conditions, and improves the operation efficiency.
  • the suction mechanism is used for suctioning excavated materials, so as to realize the remote operation of suction and excavation, expand the operation range, and adapt to different working conditions.
  • an emergency rescue equipment including a gas-solid separation device, a power device and
  • the power device and the gas-solid separation device are connected by a pipeline, and the gas-solid separation device and the suction and excavation robot are connected by a pipeline;
  • the power device is used to provide hydraulic power to the gas-solid separation device and the suction and excavation robot;
  • the power device is also used to provide suction negative pressure power to the gas-solid separation device and the suction and excavation robot;
  • the gas-solid separation device is used for storing the collapsed buildings that the suction and excavation robot has suctioned and excavated;
  • the gas-solid separation device is also used for purifying the gas in the gas-solid separation device.
  • the beneficial effects of the above technical solutions are: in the emergency rescue equipment of the present invention, during rescue operations, the power device, the gas-solid separation device and the suction and excavation robot are respectively driven to the rescue operation point, and the power device and the gas-solid are respectively driven to the rescue operation point.
  • the separation device is connected by an oil pipe, and the suction and excavation robot and the gas-solid separation device are connected by an oil pipe.
  • the power device provides hydraulic power for the suction and excavation robot and the gas-solid separation device, thereby driving the suction and excavation robot and the gas-solid separation device to operate.
  • the power device provides suction negative pressure power for the suction digging robot and the gas-solid separation device, so that a strong negative pressure is formed in the gas-solid separation device and the suction digging robot, so that the suction digging robot sucks the material into the gas-solid separation inside the device.
  • the power unit and the gas-solid separation device can be parked in the open space next to the collapsed building, and the suction excavation robot can be remotely operated to perform the suction operation, and the maximum working distance is more than 200m.
  • the suction and excavation robot is light in weight, and the chassis of the suction and excavation robot has a large grounding area, which will not cause secondary damage to collapsed buildings with weak support; large gradient, strong passability, and flexible maneuverability.
  • FIG. 1 is a schematic structural diagram of the emergency rescue equipment according to the specific embodiment
  • FIG. 2 is a schematic structural diagram of the power plant according to the specific embodiment
  • FIG. 3 is a top view of the power plant according to the specific embodiment
  • FIG. 5 is a cross-sectional view of the second filter mechanism in the gas-solid separation device according to the specific embodiment
  • FIG. 6 is a schematic structural diagram of the suction and excavation robot according to the specific embodiment
  • FIG. 7 is a schematic structural diagram of the third mobile chassis according to the specific embodiment.
  • FIG. 8 is one of the structural schematic diagrams of the suction and excavation device according to the specific embodiment.
  • FIG. 9 is the second schematic view of the structure of the suction and excavation device according to the specific embodiment.
  • suction nozzle 3234, suction nozzle
  • the present embodiment relates to a suction and excavation robot 3 , which can realize functions such as left and right rotation, up and down pitching, and front and rear telescoping, which greatly improves the working range and working efficiency, and can adapt to different working conditions.
  • the suction and excavation robot 3 includes a third mobile chassis 31 and a suction and excavation device 32; the suction and excavation device 32 is disposed on the third mobile chassis 31, and the third mobile chassis 31 is used to drive the The aforementioned suction and excavation robot 3 walks.
  • the third mobile chassis 31 is a crawler-type third mobile chassis 31 .
  • the grounding area of the crawler-type third mobile chassis 31 is relatively large, it will not cause secondary damage to the collapsed buildings with weak support; the climbing degree is large, the maneuverability is flexible, the passability is strong, and it is convenient for emergency rescue; It can easily pass through soft and muddy roads.
  • the track plate has patterns and can be installed with thorns, it can firmly grasp the ground on muddy or uphill roads, without causing slippage, and it can be used in a wider range.
  • the third mobile chassis 31 may also be a wheeled third mobile chassis 31, etc., which may be determined according to operational requirements.
  • the suction and excavation device 32 includes a rotating mechanism 321, a lifting mechanism 322 and a suction mechanism 323; the rotating mechanism 321 is arranged on the first On the third moving chassis 31 , one end of the rotating mechanism 321 is connected to the third moving chassis 31 , and the other end of the rotating mechanism 321 is connected to the suction mechanism 323 , and the rotating mechanism 321 is used to drive the suction
  • the mechanism 323 rotates, and the suction mechanism 323 is rotated left and right through the rotation mechanism 321, so as to increase the scope of operation, adapt to different working conditions, and improve the operation efficiency.
  • the slewing mechanism 321 includes a slewing bearing 3211 and a slewing plate 3212 , the fixed end (stator) of the slewing bearing 3211 and the third moving chassis 31 connection, the slewing end (rotor) of the slewing bearing 3211 is connected to one end of the slewing plate 3212 , and the other end of the slewing plate 3212 is connected to the first telescopic tube 3231 of the suction mechanism 323 .
  • the suction and excavation robot 3 further includes a mounting plate 33 , and the mounting plate 33 is arranged on the third mobile chassis 31 .
  • 33 is fixedly connected with the third moving chassis 31 , and the fixed end (stator) of the slewing bearing 3211 is mounted on the mounting plate 33 .
  • the slewing mechanism 321 further includes a driver, and the driver is arranged on one side of the slewing bearing 3211 ;
  • a hydraulic motor is selected, and the driver is connected to the slewing bearing 3211 in a driving manner, and the driver is used to provide power to the slewing bearing 3211, and the slewing bearing 3211 is driven by a worm gear.
  • the structure of the rotary mechanism 321 in this embodiment is not limited to this, and those skilled in the art can select other suitable rotary mechanisms 321 according to the teaching of this embodiment.
  • one end of the lifting mechanism 322 is connected to the rotating plate 3212 of the rotating mechanism 321 , and the other end of the lifting mechanism 322 is connected to the suction
  • the first telescopic tube 3231 of the mechanism 323 is connected, and the lifting mechanism 322 is used to drive the suction mechanism 323 to lift. Different working conditions, improve work efficiency.
  • the lift mechanism 322 selects a lift cylinder, and one end of the lift cylinder is connected to one end of the rotary plate 3212 of the rotary mechanism 321 , and the lift The other end of the lift cylinder is connected to the first telescopic tube 3231 of the suction mechanism 323 .
  • the structure of the lifting mechanism 322 in this embodiment is not limited to this, and those skilled in the art can select other suitable lifting mechanisms 322 according to the teaching of this embodiment.
  • the suction mechanism 323 is used for suctioning materials.
  • the suction mechanism 323 includes a suction nozzle 3234, a multi-stage telescopic tube and a telescopic drive component; one end of the suction nozzle 3234 is connected to the feed port 211 of the telescopic tube, and the other end of the suction nozzle 3234 is and the suction nozzle 3234 communicates with the feed port 211 of the telescopic tube.
  • the suction nozzle 3234 has a strong negative pressure inside, which can suck the material at the front end of the suction nozzle 3234.
  • the sucked material passes through the telescopic tube, and finally enters the settling tank 21 through the second suction pipe 5.
  • the vacuum mechanism on the power unit 1 14 When working, a strong airflow is generated, so that a strong negative pressure is formed in the first suction pipe 4, the settling tank 21, the second suction pipe 5, the first telescopic pipe 3231, the second telescopic pipe 3232, and the suction nozzle 3234, thereby The material is sucked into the settling tank 21 from the suction nozzle 3234.
  • the multi-stage telescopic tubes are slidably nested with each other, and the multi-stage telescopic tubes are communicated with each other; the telescopic driving component is used for The multi-stage telescopic tube is driven to expand and contract, so that the suction mechanism 323 can expand and contract back and forth, thereby increasing the scope of work, adapting to different working conditions, and improving work efficiency.
  • the structure of the suction mechanism 323 in this embodiment is not limited to this, and those skilled in the art can select other suitable suction mechanisms 323 according to the teachings of this embodiment.
  • the multi-stage telescopic tube includes a first telescopic tube 3231 and a second telescopic tube 3232 , the first telescopic tube 3231 and the second telescopic tube 3232 are slidably connected, and the second telescopic tube 3232 is nested on the inner wall of the first telescopic tube 3231, the suction nozzle 3234 is connected to the feed port 211 of the second telescopic tube 3232, and the The suction nozzle 3234 communicates with the feeding port 211 of the second telescopic tube 3232 .
  • the number of multi-stage telescopic tubes is not limited, which is determined according to actual working conditions.
  • the multi-stage telescopic tube further includes a third telescopic tube, a fourth telescopic tube, and the like.
  • the telescopic driving component includes a first telescopic oil cylinder 3233 , and one end of the first telescopic oil cylinder 3233 is fixedly connected to the outer wall of the first telescopic tube 3231 Above, the other end of the first telescopic oil cylinder 3233 is fixedly connected to the outer wall of the second telescopic tube 3232 .
  • the suction and excavation robot 3 further includes a third control system, and the third control system is disposed on the first telescopic portion of the suction mechanism 323 .
  • the third control system is used to control the operation of the suction and excavation robot 3.
  • the remote control technology can be used to remotely control the suction and excavation robot 3 to perform operations, or the operator can perform remote control or wired control near the operating point, or the operator can directly control the suction
  • the excavation robot 3 operates to ensure the reliability of the operation.
  • hydraulic power is provided to the suction and excavation robot 3 through the power device 1, so as to drive the suction and excavation robot 3 to perform operations.
  • the hydraulic system 13 of the power unit 1 provides hydraulic power for the suction and excavation robot 3, and the suction and excavation robot 3 communicates with the hydraulic system 13 of the emergency rescue equipment through an oil pipe.
  • a power device 1 may be provided separately to provide hydraulic power for the suction and excavation robot 3 .
  • the suction and excavation robot 3 further includes a hydraulic valve group mechanism 324 , and the hydraulic valve group mechanism 324 is arranged on the first telescopic tube 3231 of the suction mechanism 323 .
  • the hydraulic valve group mechanism 324 is used to control the hydraulic pipeline on the suction and excavation robot 3 .
  • the suction and excavation device 32 is provided on the third mobile chassis 31 , and the third mobile chassis 31 is used to drive the suction and excavation robot 3 walking;
  • the suction and excavation device 32 includes a slewing mechanism 321, a lifting mechanism 322 and a suction mechanism 323;
  • the slewing mechanism 321 is arranged on the third mobile chassis 31, and one end of the slewing mechanism 321 is connected to the first
  • the three moving chassis 31 are connected, and the other end of the rotating mechanism 321 is connected with the suction mechanism 323 , and the rotating mechanism 321 is used to drive the suction mechanism 323 to rotate; Rotation, increase the scope of work, adapt to different working conditions, and improve work efficiency.
  • the suction mechanism 323 is used for suctioning excavated materials, so as to realize the remote operation of suction and excavation, expand the operation range, and adapt to different working conditions.
  • this embodiment also relates to an emergency rescue equipment, including a suction and excavation robot 3 , a gas-solid separation device 2 , a power device 1 , a first suction pipe 4 and a second suction pipe 5 ;
  • the power device 1 and the gas-solid separation device 2 are connected by pipelines, the gas-solid separation device 2 and the suction and excavation robot 3 are connected by pipelines, or the power device 1 and the suction and excavation robot 3 are connected by pipelines.
  • the suction and excavation robots 3 are connected by pipelines, and the power device 1 directly provides hydraulic power and suction negative pressure power to the suction and excavation robots 3;
  • the device 1 is used to provide hydraulic power to the gas-solid separation device 2 and the suction and excavation robot 3.
  • the power device 1 and the gas-solid separation device 2 are connected by an oil pipe, and the suction and excavation robot 3 and the gas-solid separation device 2 are connected by an oil pipe connection; in other embodiments, the power device 1 and the gas-solid separation device 2 are connected by oil pipes, and the power device 1 and the suction and excavation robot 3 are connected by oil pipes, so that the power device 1 is the gas-solid separation device 2 and the suction and excavation robot 3.
  • the suction and excavation robot 3 provides hydraulic power to drive the gas-solid separation device 2 and the suction and excavation robot 3 to perform operations.
  • the power device 1 is also used to provide suction negative pressure power to the gas-solid separation device 2 and the suction and excavation robot 3 ; the The power unit 1 and the gas-solid separation device 2 are detachably connected through the first suction pipe 4 , and the second suction is used between the gas-solid separation device 2 and the suction and excavation robot 3
  • the pipe 5 is detachably connected.
  • the suction and excavation robot 3 is used for suction and excavation of collapsed buildings; the power device 1 provides suction negative pressure power for the gas-solid separation device 2 and the suction and excavation robot 3, so that the gas-solid separation device 2 and the suction and excavation are A strong negative pressure is formed in the robot 3 , so that the suction and excavation robot 3 sucks the material into the gas-solid separation device 2 .
  • the gas-solid separation device 2 is used to store the collapsed buildings excavated by the suction and excavation robot 3. When the gas-solid separation device 2 is filled with materials, the first suction pipe 4 and the second suction pipe 4 are firstly pumped. The quick release mechanism on the pipe 5 is removed, and then the gas-solid separation device 2 is transported for unloading. Further, the gas-solid separation device 2 is also used to purify the gas in the gas-solid separation device 2 to avoid secondary air pollution.
  • the materials in this embodiment may be collapsed buildings, cement steel bars, soil, and the like.
  • the power plant 1 includes a first moving chassis 11 , a power mechanism 12 , a hydraulic system 13 and a vacuum mechanism 14 ; the power mechanism 12 , the The hydraulic system 13 and the vacuum mechanism 14 are respectively disposed on the first moving chassis 11 , and the first moving chassis 11 is used to drive the power device 1 to walk.
  • the first mobile chassis 11 is a crawler-type first mobile chassis 11 .
  • the grounding area of the crawler-type first mobile chassis 11 is relatively large, it will not cause secondary damage to the collapsed buildings with weak supporting force; the climbing degree is large, the maneuverability is flexible, the passability is strong, and it is convenient for emergency rescue; and it is not easy to sink, during the walking process It can easily pass through soft and muddy roads.
  • the track plate has patterns and can be installed with thorns, it can firmly grasp the ground on muddy or uphill roads, without causing slippage, and it can be used in a wider range.
  • the first moving chassis 11 may also be a wheeled first moving chassis 11, etc., which may be determined according to operational requirements.
  • the power mechanism (engine) is used to provide power to the power plant 1 ; the hydraulic system 13 is used to provide power to the power plant 1 ,
  • the gas-solid separation device 2 and the suction and excavation robot 3 provide hydraulic power, and the hydraulic system 13 is respectively connected with the power device 1, the gas-solid separation device 2 and the suction and excavation robot 3 through oil pipes.
  • the first mobile chassis 11 , the second mobile chassis 22 and the third mobile chassis 31 are all driven by hydraulic pressure, and the hydraulic oil pump of the hydraulic system 13 driven by the power mechanism (engine) provides pressure oil.
  • the vacuum mechanism 14 is used to provide suction negative pressure power to the gas-solid separation device 2 and the suction and excavation robot 3 .
  • the vacuum mechanism 14 is a vacuum fan.
  • the vacuum mechanism 14 may also be a vacuum pump.
  • the air inlet 141 of the vacuum fan is detachably connected to one end of the first suction pipe 4, the other end of the first suction pipe 4 is detachably connected to the air outlet 212 on the settling tank 21, and the second suction pipe 5
  • One end of the suction pipe 5 is detachably connected to the feed port 211 on the settling tank 21, and the other end of the second suction pipe 5 is detachably connected to the first telescopic pipe 3231 on the suction mechanism 323; when the vacuum fan works, a strong airflow is generated , so that a strong negative pressure is formed in the first suction pipe 4 , the settling tank 21 , the second suction pipe 5 and the suction mechanism 323 , so that the suction mechanism 323 sucks the material from the suction nozzle 3234 into the settling tank 21 .
  • the power plant 1 further includes an air compressor 15 , the air compressor 15 is arranged on the power mechanism 12 , and the air compressor 15 is used to provide compressed air to the gas-solid separation device 2 of the emergency rescue equipment.
  • the power mechanism 12 engine
  • the air compressor 15 is connected to the air tank 2335 in the settling tank 21 through a high-pressure air pipe; required compressed air.
  • the power unit 1 further includes a plurality of reel mechanisms 16 , and the plurality of reel mechanisms 16 are respectively disposed on the first moving chassis 11 .
  • a plurality of the reel mechanisms 16 are respectively used to retract the pipelines on the power device 1 .
  • pipelines such as oil pipes and high-pressure gas pipes on the power unit 1 can be quickly retracted and released through the multiple reel mechanisms 16 , thereby improving work efficiency and improving the timeliness of emergency rescue.
  • the reel mechanism 16 includes a capstan bracket and a capstan drum, the capstan drum is connected to the capstan bracket, and the capstan drum is rotatable relative to the capstan bracket .
  • the power plant 1 further includes a first control system, the first control system is arranged on the first mobile chassis 11 , the first control system is A control system is used to control the operation of the power plant 1 .
  • the remote control technology can be used to remotely control the power device 1 to perform operations, or the operator can perform remote control or wired control near the operating point, or the operator can directly control the power device 1 to perform operations. operation to ensure the reliability of operation.
  • the power plant 1 in this embodiment provides hydraulic power to the power plant 1 , the gas-solid separation device 2 and the suction and excavation robot 3 through the hydraulic system 13 , and provides hydraulic power to the gas-solid separation device 2 and the suction excavation robot 3 through the vacuum mechanism 14 .
  • the excavation robot 3 provides suction negative pressure power, thereby driving the gas-solid separation device 2 and the suction excavation robot 3 to operate, saving time and effort, reducing labor intensity, improving work efficiency, and improving the timeliness of emergency rescue; and the first mobile chassis 11
  • the grounding area is relatively large, which will not cause secondary damage to the collapsed buildings with weak support; the climbing degree is large, the passability is strong, the maneuverability is flexible, and it is convenient for emergency rescue.
  • the gas-solid separation device 2 includes a settling tank 21 , a second mobile chassis 22 , a multi-stage filtering mechanism 23 , a blocking mechanism 24 , and a discharging mechanism 25 , a discharge door 26 and a first drive mechanism 251; the settling box 21 is arranged on the second mobile chassis 22, and the second mobile chassis 22 is used to drive the gas-solid separation device 2 to walk.
  • the second mobile chassis 22 is a crawler-type second mobile chassis 22 .
  • the grounding area of the crawler-type second mobile chassis 22 is relatively large, it will not cause secondary damage to the collapsed buildings with weak support; the climbing degree is large, the maneuverability is flexible, the passability is strong, and it is convenient for emergency rescue; It can easily pass through soft and muddy roads.
  • the track plate has patterns and can be installed with thorns, it can firmly grasp the ground on muddy or uphill roads, without causing slippage, and it can be used in a wider range.
  • the second moving chassis 22 may also be a wheeled second moving chassis 22, etc., which may be determined according to operational requirements.
  • the settling tank 21 includes a feed port 211 and an air outlet 212 , and the feed port 211 is disposed at the upper end of one side of the settling tank 21 .
  • the air outlet 212 is arranged at the upper end of the other side of the settling tank 21 ; the feed inlet 211 is arranged opposite to the air outlet 212 .
  • the material sucked from the suction mechanism 323 is ejected from the feed port 211 into the sedimentation tank 21 at a high speed through the second suction pipe 5 , and is filtered and purified by the multi-stage filter mechanism 23 , so that the purified air flows from the air outlet 212 It is discharged into the first suction pipe 4, and then enters the air inlet 141, and finally the purified air is discharged into the atmosphere from the exhaust port 142 to avoid polluting the atmosphere.
  • the multi-stage filtering mechanisms are respectively arranged in the sedimentation tank 21 , and the multi-level filtering mechanisms are respectively used to filter and purify the sedimentation tank 21 . gas inside.
  • the blocking mechanism 24 is arranged in the settling tank 21, and the blocking mechanism 24 is located at the front end of the multi-stage filtering mechanism, and this area forms a block particle separation area.
  • the material ejected from the feeding port 211 can prevent the material in the feeding port 211 from smashing the components in the settling box 21 at a high speed.
  • the blocking mechanism 24 includes a plurality of chains, and the chains are respectively vertically arranged on the settling tank 21 near the feed port 211 . Inside, one end of a plurality of the chains is respectively connected to the top inside the settling tank 21 .
  • the kinetic energy of the particles is transmitted to the chain, the chain oscillates to absorb its kinetic energy, and the particles lose their kinetic energy and settle vertically, thereby avoiding high-speed projection from the feeding port 211
  • the incoming particulate material smashes the components in the settling tank 21 .
  • the multi-stage filtering mechanism includes a first filtering mechanism 231 , a second filtering mechanism 232 and a third filtering mechanism 233 .
  • the second filter mechanism 232 and the third filter mechanism 233 constitute a dust separation area
  • the blocking mechanism 24 is located at the front end of the first filter mechanism 231
  • the first filter mechanism 231 is located at the front end of the second filter mechanism 232
  • the second filter mechanism 232 is located at the front end of the third filter mechanism 233 .
  • the first filter mechanism 231 is used to filter the light objects in the material
  • the second filter mechanism 232 is used to filter the larger particle size particles in the separated material
  • the third filter mechanism 233 is used to filter the particles in the material. dust.
  • the multi-stage filtration mechanism 23 performs filtration step by step, so as to further filter and purify the air in the sedimentation tank 21 to avoid polluting the air.
  • the first filter mechanism 231 includes a first filter screen 2311 , a second filter screen 2312 and a blocking plate 2313 , one end of the first filter screen 2311 is It is connected with the top of the inner wall of the settling tank 21, the other end of the first filter screen 2311 is connected with one end of the second filter screen 2312, and the other end of the second filter screen 2312 is connected with the blocking plate 2313.
  • the blocking plate 2313 is connected with the inner wall of the settling tank 21 .
  • the first filter screen 2311 and the second filter screen 2312 are connected in an L-shaped upside-down manner.
  • the first filter screen 2311 and the second filter screen 2312 are used to filter light objects such as plastic bags and leaves.
  • the blocking plate 2313 plays a blocking role to block the particulate material thrown in at a high speed from the feeding port 211 to avoid damaging the components in the settling box 21 .
  • the gas-solid separation device 2 further includes a separation box 27 , a first partition member 271 and a second partition member 272 ; the separation box 27
  • the first partition member 271 and the second partition member 272 are respectively arranged in the settling tank 21, and the first partition member
  • the plate member 271 is located below the separation box 27.
  • a second sealing member is provided between the bottom of the separation box 27 and the first partition member 271.
  • the second sealing member play a sealing role.
  • the second partition member 272 is located below the first partition member 271 , and the second partition member 272 is located on the side close to the blocking plate 2313 .
  • the first baffle member 271 is connected to the settling tank 21, and the second baffle member 272 is connected to the first baffle member 271 vertically downward.
  • the second filter mechanism 232 includes a plurality of dust removal plates 2321 , and the plurality of the dust removal plates 2321 are respectively disposed in the settling tank 21 at an inclination interval.
  • the inclination angles of the plurality of dust removal boards 2321 are respectively 30° to 60°; preferably, in this embodiment, as shown in FIGS. 1 to 9 , the inclination angles of the plurality of dust removal boards 2321 are respectively 45°, A plurality of the dust removal plates 2321 are respectively located below the second partition member 272 , and the plurality of the dust removal plates 2321 are respectively connected to the settling tank 21 .
  • the third filter mechanism 233 includes a plurality of filter cartridges 2331, an air intake duct 2332, a plurality of blowback nozzles 2333 and a control switch 2334; a plurality of The filter cartridges 2331 are respectively installed on the first baffle member 271, and a plurality of through holes are respectively provided on the first baffle member 271 and the bottom of the separation box 27. Compressed air passes through.
  • the third filter mechanism 233 further includes an air tank 2335 , the air intake pipe 2332 is arranged in the separation box 27 , and the air tank 2335 is connected with the intake pipe 2332 through a pipeline, the air compressor 15 is connected with the air tank 2335 through a high-pressure air pipe, and the air tank 2335 is used for storing compressed air.
  • a plurality of the backflushing nozzles 2333 are respectively installed on the air intake pipe 2332, and the plurality of the backflushing nozzles 2333 are respectively connected with a plurality of the filter cartridges 2331, and the control switch 2334 is arranged on the air intake.
  • the control switch 2334 is disposed on the intake pipe 2332.
  • the control switch 2334 is a solenoid valve.
  • the gas-solid separation device 2 further includes a second control system, a first pressure sensor 214 and a second pressure sensor 215 , the second control system set on the second mobile chassis 22; in other embodiments, the second control system is set on the settling tank 21; the second control system is used to control the operation of the gas-solid separation device 2 .
  • remote control technology can be used to remotely control the gas-solid separation device 2 for operation, or the operator can perform remote control or wired control near the operating point, or the operator can directly control the gas-solid separation device 2.
  • the separation device 2 operates to ensure the reliability of the operation.
  • the first pressure sensor 214 is disposed on one side of the settling tank 21 close to the filter cartridge 2331 , and the second pressure sensor 215
  • the first pressure sensor 214 and the second pressure sensor 215 are respectively electrically connected to the second control system, and the second control system It is electrically connected to the control switch 2334 .
  • the purified gas flows out from the air outlet 212; the filtered dust adheres to the outside of the filter cartridge 2331, and when the dust of the filter cartridge 2331 is too thick, the filtration resistance is increased,
  • the second control system sends a signal to the control switch 2334 (solenoid valve) to open, and the compressed air is ejected from the blowback nozzle 2333 at a high speed, close to the speed of sound.
  • the airflow attracts the surrounding air and sprays into the inside of the filter cartridge 2331 together, and instantaneous high pressure and vibration are generated inside the filter cartridge 2331, which shakes off the dust on the outer wall of the filter cartridge 2331, thereby playing a self-cleaning role.
  • the gas-solid separation device 2 further includes an inspection door 28 and a third driving mechanism 281 , and the inspection door 28 is provided on the side of the settling tank 21 .
  • the access door 28 is located above the separation box 27, the access door 28 is movably connected with the settling tank 21, the third drive mechanism 281 is arranged on one side of the access door 28, the The third driving mechanism 281 is used for driving to open or close the access door 28 .
  • the third driving mechanism 281 is a third oil cylinder, one end of the third oil cylinder is connected to the outer wall of the settling tank 21, and the other end of the third oil cylinder is connected to the inspection door 28 connections.
  • the collapsed buildings are centrally processed and transported through the gas-solid separation device 2, and the collapsed buildings are ejected from the feeding port 211 into the sedimentation tank 21 for storage.
  • the blocking mechanism 24 swings to absorb its kinetic energy, and the particles lose their kinetic energy and settle vertically, thereby avoiding the high-speed ejection of the granular material from the feeding port 211.
  • the components in the sedimentation tank 21 are smashed, and then filtered step by step through the multi-stage filtering mechanism 23 , so as to further filter and purify the air in the sedimentation tank 21 .
  • the operation is carried out through the gas-solid separation device 2, which saves time and labor, reduces labor intensity, improves operation efficiency, and improves the timeliness of emergency rescue.
  • the unloading mechanism 25 is arranged at the bottom of the settling tank 21 , and the unloading door 26 is arranged on a side of the settling tank 21 .
  • the discharge door 26 is located on one side of the discharge mechanism 25 , and the discharge door 26 is movably connected with the settling tank 21 .
  • the first driving mechanism 251 is provided on one side of the unloading mechanism 25 , and the first driving mechanism 251 is used to discharge the material to the unloading mechanism 25 .
  • the mechanism 25 provides power, and the unloading mechanism 25 is used to push out the material in the settling tank 21 horizontally for unloading.
  • the first driving mechanism 251 selects a hydraulic motor. In other embodiments, the first driving mechanism 251 may also select an electric motor.
  • the gas-solid separation device 2 further includes a second driving mechanism 261 , and the second driving mechanism 261 is disposed on a side of the discharge door 26 .
  • the second driving mechanism 261 is used for driving to open or close the discharge door 26 .
  • the second driving mechanism 261 is a second oil cylinder, one end of the second oil cylinder is connected to the outer wall of the settling tank 21, and the other end of the second oil cylinder is connected to the discharger Door 26 is connected.
  • the gas-solid separation device 2 further includes a first sealing member, and the first sealing member is disposed between the discharge door 26 and the sedimentation Between the boxes 21, the first sealing member plays a sealing role.
  • the gas-solid separation device 2 further includes a blanking tank 213 , and the blanking tank 213 is arranged at the bottom of the settling tank 21 .
  • the unloading mechanism 25 is arranged in the blanking chute 213 .
  • the gas-solid separation device 2 further includes a first inclined plate 29 and a second inclined plate 291 , and the first inclined plate 29 is disposed obliquely on the On one side of the settling tank 21 , the second inclined plate 291 is obliquely disposed on the other side of the settling tank 21 , and the first inclined plate and the second inclined plate are disposed opposite to each other.
  • the first driving mechanism 251 is disposed below the second inclined plate.
  • FIGS. 1 to 9 there are two or more unloading mechanisms 25 , two or more first driving mechanisms 251 , and more than two unloading mechanisms 25 They are respectively arranged at the bottom of the settling tank 21, two or more of the first driving mechanisms 251 are respectively arranged on one side of the two or more unloading mechanisms 25, and the two or more first driving mechanisms 251 are respectively opposite to each other. It is applied to provide power to two or more of the unloading mechanisms 25 described above.
  • the unloading mechanism 25 includes a transmission shaft 252 and a helical blade 253 , the transmission shaft 252 is drivingly connected to the first driving mechanism 251 , and the helical blade 253 is provided in the transmission on shaft 252.
  • the number of the unloading mechanism 25 and the number of the first driving mechanism 251 is not limited.
  • the unloading mechanism 25 and the first driving mechanism 251 may be one, or two, or the like.
  • the vacuum mechanism 14 when discharging, the vacuum mechanism 14 is stopped, and the discharge door 26 is lifted and opened by the second driving mechanism 261 first, and then the first driving mechanism 251 drives the transmission shaft 252.
  • the drive shaft 252 drives the helical blade 253 to rotate, and discharges the material in the horizontal direction, with fast discharge speed, saving time and effort, reducing labor intensity, high work efficiency, improving the timeliness of emergency rescue, and taking up less space.
  • the power device 1, the gas-solid separation device 2 and the suction and excavation robot 3 are respectively driven to the rescue operation point, and the gas-solid separation device 2 passes through the oil pipe and the power device.
  • the hydraulic system 13 of 1 is connected, the suction and excavation robot 3 is connected to the gas-solid separation device 2 through the oil pipe, or the suction and excavation robot 3 and the gas-solid separation device 2 are respectively connected to the hydraulic system 13 of the power device 1 through the oil pipe, and the hydraulic system 13 Hydraulic power is provided for the suction and excavation robot 3 and the gas-solid separation device 2 to drive the suction and excavation robot 3 and the gas-solid separation device 2 to operate.
  • the power device 1 and the gas-solid separation device 2 are connected by a first suction pipe 4, and the gas-solid separation device 2 and the suction and excavation robot 3 are connected by a second suction pipe 5.
  • the vacuum mechanism 14 of the power device 1 is: The suction and excavation robot 3 and the gas-solid separation device 2 provide suction negative pressure power.
  • the vacuum mechanism 14 works, a strong airflow is generated, so that a strong negative pressure is formed in the first suction pipe 4, the settling tank 21, the second suction pipe 5, the first telescopic pipe 3231, the second telescopic pipe 3232 and the suction nozzle 3234. , so that the material is sucked into the settling tank 21 from the suction nozzle 3234.
  • the large granular material enters the settling box 21 from the first suction pipe 4.
  • the kinetic energy of the particles is transmitted to the chain, and the chain vibrates to absorb its kinetic energy, and the particles lose kinetic energy.
  • Settling vertically so as to prevent the particles in the feeding port 211 from smashing the components in the settling box 21 .
  • the multi-stage filtering mechanism 23 performs filtering and purification step by step, so as to further filter and purify the air in the sedimentation tank 21, and the purified air is discharged into the atmosphere from the exhaust port 142 to avoid polluting the air.
  • emergency rescue equipment is used to carry out rescue operations
  • the suction excavation robot 3 without mechanical contact is used to suction and excavate collapsed buildings instead of manual hand planing mode, which greatly reduces the labor intensity of rescue and shortens the rescue of buried people.
  • the power device 1 and the gas-solid separation device 2 can be parked in the open space beside the collapsed building, and the suction and excavation robot 3 can be remotely operated to perform the suction operation, and the maximum working distance exceeds 200m.
  • the suction and excavation robot 3 is light in weight (only 400kg), and the crawler-type second mobile chassis 22 has a large grounding area, which will not cause secondary damage to collapsed buildings with weak support; Strong and flexible.

Abstract

本发明涉及了一种抽吸挖掘机器人及其应急救援设备，抽吸挖掘机器人包括第三移动底盘以及抽吸挖掘装置；抽吸挖掘装置设置于第三移动底盘上，第三移动底盘用于驱动抽吸挖掘机器人行走；抽吸挖掘装置包括回转机构、举升机构以及抽吸机构；回转机构设置于第三移动底盘上，回转机构一端与第三移动底盘连接，回转机构另一端与抽吸机构连接，回转机构用于驱动抽吸机构进行回转；举升机构一端与回转机构连接，举升机构另一端与抽吸机构连接，举升机构用于驱动抽吸机构进行举升，抽吸机构用于抽吸挖掘物料。本发明的抽吸挖掘机器人的抽吸机构可以实现左右回转，上下俯仰，前后伸缩等功能，大大提高作业范围和作业效率，且可以适应不同的工况。

Description

一种抽吸挖掘机器人及其应急救援设备 技术领域
本发明涉及应急救援技术领域，特别涉及一种抽吸挖掘机器人及其应急救援设备。
背景技术
地震发生之后，要在短时间内尽可能地解救出更多的被困人员，是一项十分危险、紧迫、艰难的工作。大量的地震灾害数据显示，在震害伤亡中有70％的人是因为在地震发生后，得不到及时有效地救助而死亡的。
多年来，世界各国人民在震后现场救援工作中，所总结出的经验表明：震后的12小时是救助被困人员的最佳时间，可以取得良好的救援效果，极大地降低人员伤亡，震后的72小时是抢救生命的关键时期。
在地震后，由于易发生坍塌的建筑结构，无法进行及时有效的支撑与稳固，因此常规工程机械类救援装备无法使用，只能采用手刨等人工方法；通过人工手刨等方法，不仅劳动强度大，而且作业效率低，费时费力，影响了人员抢救时效，时效性差。
非破坏性挖掘装备具有快速、高效、安全等特点，因而在城市管路维护等领域得到广泛的应用。现有的抽吸远程作业的挖掘装备，其宽度小而狭长的特点，具有适合于狭小的下水道作业的特点，但其存在以下缺限：一是由于其回转采用油缸实现其摆动，因而回转角度有限，作业范围小，作业过程中需要通过履带底盘转向来实现其摆动，作业效率低；二是由于其重量轻，因而牵引力不足，在作业过程中无法拖动后续的软管，且其爬坡度极小，无法实现一边爬坡一边作业，同样造成效率低的问题。
发明内容
为此，需要提供一种抽吸挖掘机器人及其应急救援设备，用于解决现有的抽吸远程作业的挖掘装备，由于其回转采用油缸实现其摆动，因而回转角度有限，作业范围小，作业过程中需要通过履带底盘转向来实现其摆动，作业效率低；二是由于其重量轻，因而牵引力不足，在作业过程中无法拖动后续的软管，且其爬坡度极小，无法实现一边爬坡一边作业，同样造成效率低等的技术问题。
为实现上述目的，发明人提供了一种抽吸挖掘机器人，包括第三移动底盘以及抽吸挖掘装置；
所述抽吸挖掘装置设置于所述第三移动底盘上，所述第三移动底盘用于驱动所述抽吸挖掘机器人行走；
所述抽吸挖掘装置包括回转机构、举升机构以及抽吸机构；
所述回转机构设置于所述第三移动底盘上，所述回转机构一端与所述第三移动底盘连接，所述回转机构另一端与所述抽吸机构连接，所述回转机构用于驱动所述抽吸机构进行回转；
所述举升机构一端与所述回转机构连接，所述举升机构另一端与所述抽吸机构连接，所述举升机构用于驱动所述抽吸机构进行举升，所述抽吸机构用于抽吸挖掘物料。
作为本发明的一种优选结构，所述回转机构包括回转支承以及回转板，所述回转支承的固定端与所述第三移动底盘连接，所述回转支承的回转端与所述回转板的一端连接，所述回转板的另一端与所述抽吸机构连接。
作为本发明的一种优选结构，所述抽吸挖掘机器人还包括安装板，所述安装板设置于所述第三移动底盘上，所述安装板与所述第三移动底盘固定连接，所述回转支承的固定端安装于所述安装板上。
作为本发明的一种优选结构，所述举升机构选用举升油缸，所述举升油缸一端与所述回转板一端连接，所述举升油缸另一端与所述抽吸机构连接。
作为本发明的一种优选结构，所述抽吸机构包括抽吸嘴、多级伸缩管以 及伸缩驱动部件；
所述抽吸嘴连接于所述伸缩管的进料口，且所述抽吸嘴与所述伸缩管的进料口相连通；
多级所述伸缩管之间相互滑动嵌套，且多级所述伸缩管之间相互连通；
所述伸缩驱动部件用于驱动多级所述伸缩管进行伸缩。
作为本发明的一种优选结构，多级所述伸缩管包括第一伸缩管以及第二伸缩管，所述第一伸缩管与所述第二伸缩管滑动连接，且所述第二伸缩管嵌套于所述第一伸缩管的内壁，所述抽吸嘴连接于所述第二伸缩管的进料口，且所述抽吸嘴与所述第二伸缩管的进料口相连通。
作为本发明的一种优选结构，所述伸缩驱动部件包括第一伸缩油缸，所述第一伸缩油缸的一端固定连接于所述第一伸缩管的外壁上，所述第一伸缩油缸的另一端固定连接于所述第二伸缩管的外壁上。
作为本发明的一种优选结构，所述第三移动底盘选用履带式第三移动底盘或轮式第三移动底盘。
作为本发明的一种优选结构，所述抽吸挖掘机器人还包括控制系统，所述控制系统设置于所述抽吸机构上，所述控制系统用于控制所述抽吸挖掘机器人的运行。
区别于现有技术，上述技术方案的有益效果为：本发明的抽吸挖掘机器人，包括第三移动底盘以及抽吸挖掘装置；所述抽吸挖掘装置设置于所述第三移动底盘上，所述第三移动底盘用于驱动所述抽吸挖掘机器人行走；所述抽吸挖掘装置包括回转机构、举升机构以及抽吸机构；所述回转机构设置于所述第三移动底盘上，所述回转机构一端与所述第三移动底盘连接，所述回转机构另一端与所述抽吸机构连接，所述回转机构用于驱动所述抽吸机构进行回转；通过回转机构对抽吸机构进行左右回转，增加作业的范围，适应不同的工况，提高作业效率。所述举升机构一端与所述回转机构连接，所述举升机构另一端与所述抽吸机构连接，所述举升机构用于驱动所述抽吸机构进 行举升，通过举升机构实现对抽吸机构的上下俯仰，增加作业的范围，适应不同的工况，提高作业效率。所述抽吸机构用于抽吸挖掘物料，从而实现抽吸挖掘的远程作业，扩大作业范围，适应不同的工况。
为实现上述目的，发明人还提供了一种应急救援设备，包括气固分离装置、动力装置以及
上述发明人提供的任意一项所述的抽吸挖掘机器人；
所述动力装置与所述气固分离装置之间通过管线连接，所述气固分离装置与所述抽吸挖掘机器人之间通过管线连接；
所述动力装置用于向所述气固分离装置以及所述抽吸挖掘机器人提供液压动力；
所述动力装置还用于向所述气固分离装置以及所述抽吸挖掘机器人提供抽吸负压动力；
所述气固分离装置用于存储所述抽吸挖掘机器人抽吸挖掘的坍塌建筑物；
所述气固分离装置还用于净化所述气固分离装置内的气体。
区别于现有技术，上述技术方案的有益效果为：本发明的应急救援设备，抢险作业时，分别将动力装置、气固分离装置以及抽吸挖掘机器人开到抢险作业点，动力装置与气固分离装置通过油管连接，抽吸挖掘机器人与气固分离装置通过油管连接，动力装置为抽吸挖掘机器人以及气固分离装置提供液压动力，从而驱动抽吸挖掘机器人以及气固分离装置进行作业。动力装置为所述抽吸挖掘机器人以及气固分离装置提供抽吸负压动力，使得气固分离装置以及抽吸挖掘机器人内形成强大的负压,从而使得抽吸挖掘机器人将物料吸入气固分离装置内。利用无机械接触的抽吸挖掘机器人进行抽吸挖掘坍塌的建筑物，代替人工手刨模式，大大降低救援的劳动强度，缩短了被掩埋人员的抢救时间，省时省力，提高工作效率，提高抢险的时效性。且其作业距 离远，可将动力装置和气固分离装置停放于坍塌建筑物旁边的空旷地点，遥控操作抽吸挖掘机器人进行抽吸作业，最大作业距离超过200m。且不产生二次坍塌，抽吸挖掘机器人重量轻，抽吸挖掘机器人的底盘接地面积大，不会对支撑力薄弱的坍塌建筑物产生二次破坏；爬坡度大，通过性强，机动灵活。
附图说明
图1为具体实施方式所述应急救援设备的结构示意图；
图2为具体实施方式所述动力装置的结构示意图；
图3为具体实施方式所述动力装置的俯视图；
图4为具体实施方式所述气固分离装置的剖视图；
图5为具体实施方式所述气固分离装置中第二过滤机构的剖视图；
图6为具体实施方式所述抽吸挖掘机器人的结构示意图；
图7为具体实施方式所述第三移动底盘的结构示意图；
图8为具体实施方式所述抽吸挖掘装置的结构示意图之一；
图9为具体实施方式所述抽吸挖掘装置的结构示意图之二。
附图标记说明：
1、动力装置，
11、第一移动底盘，
12、动力机构，
13、液压系统，
14、真空机构，
141、进风口，
142、排气口，
15、空气压缩机，
16、卷盘机构，
2、气固分离装置，
21、沉降箱，
211、进料口，
212、出气口，
213、落料槽，
214、第一压力传感器，
215、第二压力传感器，
22、第二移动底盘，
23、多级过滤机构，
231、第一过滤机构，
2311、第一过滤网，
2312、第二过滤网，
2313、阻挡板，
232、第二过滤机构，
2321、除尘板，
233、第三过滤机构，
2331、滤筒，
2332、进气管道，
2333、反吹喷嘴，
2334、控制开关，
2335、气罐，
24、阻挡机构，
25、卸料机构，
251、第一驱动机构，
252、传动轴，
253、螺旋叶片，
26、卸料门，
261、第二驱动机构，
27、分离箱，
271、第一隔板部件，
272、第二隔板部件，
28、检修门，
281、第三驱动机构，
29、第一斜板，
291、第二斜板，
3、抽吸挖掘机器人，
31、第三移动底盘，
32、抽吸挖掘装置，
321、回转机构，
3211、回转支承，
3212、回转板，
322、举升机构，
323、抽吸机构，
3231、第一伸缩管，
3232、第二伸缩管，
3233、第一伸缩油缸，
3234、抽吸嘴，
324、液压阀组机构，
33、安装板，
4、第一抽吸管，
5、第二抽吸管。
具体实施方式
为详细说明技术方案的技术内容、构造特征、所实现目的及效果，以下结合具体实施例并配合附图详予说明。
请参阅图1至图9，本实施例涉及一种抽吸挖掘机器人3，其可以实现左右回转，上下俯仰，前后伸缩等功能，大大提高作业范围和作业效率，且可以适应不同的工况。具体的，抽吸挖掘机器人3包括第三移动底盘31以及抽吸挖掘装置32；所述抽吸挖掘装置32设置于所述第三移动底盘31上，所述第三移动底盘31用于驱动所述抽吸挖掘机器人3行走。优选的，在本实施例中，所述第三移动底盘31选用履带式第三移动底盘31。由于履带式第三移动底盘31接地面积比较大，不会对支撑力薄弱的坍塌建筑物产生二次破坏；爬坡度大，机动灵活，通过性强，方便抢险；且不轻易下陷，在行走过程中能够轻松地通过松软、泥泞的路面。此外,由于履带板上有花纹且能安装履刺，因此在泥泞或上坡等路面上能牢牢地抓住地面，不会造成滑转，使用范围更广。在其他实施例中，第三移动底盘31还可以选用轮式第三移动底盘31等，具体根据作业需求而定。
进一步的，在某些实施例中，如图1至9所示，所述抽吸挖掘装置32包括回转机构321、举升机构322以及抽吸机构323；所述回转机构321设置于所述第三移动底盘31上，所述回转机构321一端与所述第三移动底盘31连接，所述回转机构321另一端与所述抽吸机构323连接，所述回转机构321用于驱动所述抽吸机构323进行回转，通过回转机构321对抽吸机构323进行左右回转，增加作业的范围，适应不同的工况，提高作业效率。
进一步的，在某些实施例中，如图1至9所示，所述回转机构321包括回转支承3211以及回转板3212，所述回转支承3211的固定端(定子)与所述第三移动底盘31连接，所述回转支承3211的回转端(转子)与所述回转板3212的一端连接，所述回转板3212的另一端与所述抽吸机构323的第一伸缩管3231连接。
具体的，在本实施例中，如图1至9所示，所述抽吸挖掘机器人3还包 括安装板33，所述安装板33设置于所述第三移动底盘31上，所述安装板33与所述第三移动底盘31固定连接，所述回转支承3211的固定端(定子)安装于所述安装板33上。
进一步的，在某些实施例中，如图1至9所示，所述回转机构321还包括驱动器，所述驱动器设置于所述回转支承3211一侧；具体的，在本实施例中，驱动器选用液压马达，所述驱动器与所述回转支承3211传动连接，所述驱动器用于向所述回转支承3211提供动力，回转支承3211为蜗轮蜗杆驱动的方式。需要说明的是，本实施例的回转机构321的结构并不局限于此，本领域技术人员可以根据本实施例的教导选择其他的合适的回转机构321。
进一步的，在某些实施例中，如图1至9所示，所述举升机构322一端与所述回转机构321的回转板3212连接，所述举升机构322另一端与所述抽吸机构323的第一伸缩管3231连接，所述举升机构322用于驱动所述抽吸机构323进行举升，通过举升机构322实现对抽吸机构323的上下俯仰，增加作业的范围，适应不同的工况，提高作业效率。
优选的，在本实施例中，如图1至9所示，所述举升机构322选用举升油缸，所述举升油缸一端与所述回转机构321的回转板3212一端连接，所述举升油缸另一端与所述抽吸机构323的第一伸缩管3231连接。需要说明的是，本实施例的举升机构322的结构并不局限于此，本领域技术人员可以根据本实施例的教导选择其他的合适的举升机构322。
进一步的，在某些实施例中，如图1至9所示，所述抽吸机构323用于抽吸物料。所述抽吸机构323包括抽吸嘴3234、多级伸缩管以及伸缩驱动部件；所述抽吸嘴3234一端连接于所述伸缩管的进料口211，抽吸嘴3234的另一端与破碎后的物料接触，且所述抽吸嘴3234与所述伸缩管的进料口211相连通。抽吸嘴3234内部具有强大的负压,可将抽吸嘴3234前端的物料吸入，被吸入的物料经过伸缩管,最后通过第二抽吸管5进入沉降箱21，动力装置1上的真空机构14工作时产生强大气流，使第一抽吸管4、沉降箱21、第二抽 吸管5、第一伸缩管3231、第二伸缩管3232、抽吸嘴3234内形成强大的负压,从而将物料从抽吸嘴3234吸入沉降箱21内。
进一步的，在某些实施例中，如图1至9所示，多级所述伸缩管之间相互滑动嵌套，且多级所述伸缩管之间相互连通；所述伸缩驱动部件用于驱动多级所述伸缩管进行伸缩，从而使得抽吸机构323可以进行前后伸缩，增加作业的范围，适应不同的工况，提高作业效率。需要说明的是，本实施例的抽吸机构323的结构并不局限于此，本领域技术人员可以根据本实施例的教导选择其他的合适的抽吸机构323。
具体的，在本实施例中，如图1至9所示，多级所述伸缩管包括第一伸缩管3231以及第二伸缩管3232，所述第一伸缩管3231与所述第二伸缩管3232滑动连接，且所述第二伸缩管3232嵌套于所述第一伸缩管3231的内壁，所述抽吸嘴3234连接于所述第二伸缩管3232的进料口211，且所述抽吸嘴3234与所述第二伸缩管3232的进料口211相连通。需要说明的是，在本实施例中并不限制多级伸缩管的数量，根据实际工况需求而定。在其他实施例轴，多级伸缩管还包括第三伸缩管、第四伸缩管等等。
具体的，在本实施例中，如图1至9所示，所述伸缩驱动部件包括第一伸缩油缸3233，所述第一伸缩油缸3233的一端固定连接于所述第一伸缩管3231的外壁上，所述第一伸缩油缸3233的另一端固定连接于所述第二伸缩管3232的外壁上。
进一步的，在某些实施例中，如图1至9所示，所述抽吸挖掘机器人3还包括第三控制系统，所述第三控制系统设置于所述抽吸机构323的第一伸缩管3231上，所述第三控制系统用于控制所述抽吸挖掘机器人3的运行。具体的，在本实施例中，可以采用远距离遥控技术远程控制抽吸挖掘机器人3进行作业,也可以通过操作人员在作业点附近进行遥控控制或者有线控制，也可以通过操作人员直接控制抽吸挖掘机器人3进行作业，保证操作的可靠性。
具体的，在本实施例中，通过动力装置1向抽吸挖掘机器人3提供液压 动力，从而驱动抽吸挖掘机器人3进行作业。优选的，在本实施例中，通过动力装置1的液压系统13为抽吸挖掘机器人3提供液压动力，抽吸挖掘机器人3通过油管与应急救援设备的液压系统13连通。在其他实施例中，也可以单独设有动力装置1为抽吸挖掘机器人3提供液压动力。具体的，在本实施例中，如图1至9所示，抽吸挖掘机器人3还包括液压阀组机构324，液压阀组机构324设置于抽吸机构323的第一伸缩管3231上，通过液压阀组机构324用于控制抽吸挖掘机器人3上的液压管路。
具体的，在本实施例中的抽吸挖掘机器人3，所述抽吸挖掘装置32设置于所述第三移动底盘31上，所述第三移动底盘31用于驱动所述抽吸挖掘机器人3行走；所述抽吸挖掘装置32包括回转机构321、举升机构322以及抽吸机构323；所述回转机构321设置于所述第三移动底盘31上，所述回转机构321一端与所述第三移动底盘31连接，所述回转机构321另一端与所述抽吸机构323连接，所述回转机构321用于驱动所述抽吸机构323进行回转；通过回转机构321对抽吸机构323进行左右回转，增加作业的范围，适应不同的工况，提高作业效率。所述举升机构322一端与所述回转机构321连接，所述举升机构322另一端与所述抽吸机构323连接，所述举升机构322用于驱动所述抽吸机构323进行举升，通过举升机构322实现对抽吸机构323的上下俯仰，增加作业的范围，适应不同的工况，提高作业效率，提高抢险的时效性。所述抽吸机构323用于抽吸挖掘物料，从而实现抽吸挖掘的远程作业，扩大作业范围，适应不同的工况。
请参阅图1至图9，本实施例还涉及一种应急救援设备，包括抽吸挖掘机器人3、气固分离装置2、动力装置1、第一抽吸管4以及第二抽吸管5；所述动力装置1与所述气固分离装置2之间通过管线连接，所述气固分离装置2与所述抽吸挖掘机器人3之间通过管线连接，或者所述动力装置1与所述抽吸挖掘机器人3之间通过管线连接，动力装置1直接向抽吸挖掘机器人3提供液压动力以及抽吸负压动力；具体的，在本实施例中，如图1至9所示， 所述动力装置1用于向所述气固分离装置2以及所述抽吸挖掘机器人3提供液压动力，动力装置1与气固分离装置2通过油管连接，抽吸挖掘机器人3与气固分离装置2通过油管连接；在其他实施例中，动力装置1与气固分离装置2之间通过油管连接，动力装置1与抽吸挖掘机器人3之间通过油管连接，使得动力装置1为气固分离装置2以及抽吸挖掘机器人3提供液压动力，从而驱动气固分离装置2以及抽吸挖掘机器人3进行作业。
进一步的，在本实施例中，如图1至9所示，所述动力装置1还用于向所述气固分离装置2以及所述抽吸挖掘机器人3提供抽吸负压动力；所述动力装置1与所述气固分离装置2之间通过所述第一抽吸管4可拆卸连接，所述气固分离装置2与所述抽吸挖掘机器人3之间通过所述第二抽吸管5可拆卸连接。所述抽吸挖掘机器人3用于抽吸挖掘坍塌的建筑物；动力装置1为气固分离装置2以及抽吸挖掘机器人3提供抽吸负压动力，使得气固分离装置2内以及抽吸挖掘机器人3内形成强大的负压,从而使得抽吸挖掘机器人3将物料吸入气固分离装置2内。所述气固分离装置2用于存储所述抽吸挖掘机器人3抽吸挖掘的坍塌建筑物，当气固分离装置2中装满物料时，先把第一抽吸管4以及第二抽吸管5上的快拆机构拆下，然后气固分离装置2转运进行卸料。进一步的，所述气固分离装置2还用于净化所述气固分离装置2内的气体，避免污二次染空气。需要说明的是，在本实施例中的物料可以为坍塌的建筑物、水泥钢筋、泥土等。
进一步的，在某些实施例中，如图1至9所示，所述动力装置1包括第一移动底盘11、动力机构12、液压系统13以及真空机构14；所述动力机构12、所述液压系统13以及所述真空机构14分别设置于所述第一移动底盘11上，所述第一移动底盘11用于驱动所述动力装置1行走。优选的，在本实施例中，所述第一移动底盘11选用履带式第一移动底盘11。由于履带式第一移动底盘11接地面积比较大，不会对支撑力薄弱的坍塌建筑物产生二次破坏；爬坡度大，机动灵活，通过性强，方便抢险；且不轻易下陷，在行走过程中 能够轻松地通过松软、泥泞的路面。此外,由于履带板上有花纹且能安装履刺，因此在泥泞或上坡等路面上能牢牢地抓住地面，不会造成滑转，使用范围更广。在其他实施例中，第一移动底盘11还可以选用轮式第一移动底盘11等，具体根据作业需求而定。
进一步的，在某些实施例中，如图1至9所示，所述动力机构(发动机)用于向所述动力装置1提供动力；所述液压系统13用于向所述动力装置1、所述气固分离装置2以及所述抽吸挖掘机器人3提供液压动力，液压系统13通过油管分别与动力装置1、所述气固分离装置2以及所述抽吸挖掘机器人3连接，具体的，在本实施例中，第一移动底盘11、第二移动底盘22以及第三移动底盘31均由液压驱动，由动力机构(发动机)驱动液压系统13的液压油泵提供压力油。
进一步的，在某些实施例中，如图1至9所示，所述真空机构14用于向所述气固分离装置2以及所述抽吸挖掘机器人3提供抽吸负压动力。优选的，在本实施例中，所述真空机构14为真空风机。在其他实施例中，真空机构14还可以为真空泵。具体的，真空风机的进风口141与第一抽吸管4的一端可拆卸连接，第一抽吸管4的另一端与沉降箱21上的出气口212可拆卸连接，第二抽吸管5的一端与沉降箱21上的进料口211可拆卸连接，第二抽吸管5的另一端与抽吸机构323上的第一伸缩管3231可拆卸连接；当真空风机工作时，产生强大气流，使得第一抽吸管4、沉降箱21、第二抽吸管5以及抽吸机构323内形成强大的负压,从而使得抽吸机构323将物料从抽吸嘴3234吸入沉降箱21内。
进一步的，在某些实施例中，如图1至9所示，所述动力装置1还包括空气压缩机15，所述空气压缩机15设置于所述动力机构12上，所述空气压缩机15用于向所述应急救援设备的气固分离装置2提供压缩空气。具体的，在本实施例中，由动力机构12(发动机)驱动空气压缩机15提供压缩空气，空气压缩机15通过高压气管与沉降箱21内的气罐2335连接；从而向反吹喷 嘴2333提供所需的压缩空气。
进一步的，在某些实施例中，如图1至9所示，所述动力装置1还包括多个卷盘机构16，多个所述卷盘机构16分别设置于所述第一移动底盘11上，多个所述卷盘机构16分别用于收放所述动力装置1上的管路。具体的，通过多个卷盘机构16可以快速收放动力装置1上的油管、高压气管等管路，从而提高工作效率，提高抢险的时效性。
具体的，在本实施例中，所述卷盘机构16包括绞盘支架以及绞盘卷筒，所述绞盘卷筒连接于所述绞盘支架上，且所述绞盘卷筒可相对于所述绞盘支架旋转。
进一步的，在某些实施例中，如图1至9所示，所述动力装置1还包括第一控制系统，所述第一控制系统设置于所述第一移动底盘11上，所述第一控制系统用于控制所述动力装置1的运行。具体的，在本实施例中，可以采用远距离遥控技术远程控制动力装置1进行作业,也可以通过操作人员在作业点附近进行遥控控制或者有线控制，也可以通过操作人员直接控制动力装置1进行作业，保证操作的可靠性。
具体的，在本实施例中的动力装置1，通过液压系统13向动力装置1、气固分离装置2以及抽吸挖掘机器人3提供液压动力，通过真空机构14向气固分离装置2以及抽吸挖掘机器人3提供抽吸负压动力，从而驱动气固分离装置2以及抽吸挖掘机器人3进行作业，省时省力，降低劳动强度，提高作业效率，提高抢险的时效性；且第一移动底盘11接地面积比较大，不会对支撑力薄弱的坍塌建筑物产生二次破坏；爬坡度大，通过性强，机动灵活，方便抢险。
进一步的，在某些实施例中，如图1至9所示，所述气固分离装置2包括沉降箱21、第二移动底盘22、多级过滤机构23、阻挡机构24、卸料机构25、卸料门26以及第一驱动机构251；所述沉降箱21设置于所述第二移动底盘22上，所述第二移动底盘22用于驱动所述气固分离装置2行走。优选的， 在本实施例中，所述第二移动底盘22选用履带式第二移动底盘22。由于履带式第二移动底盘22接地面积比较大，不会对支撑力薄弱的坍塌建筑物产生二次破坏；爬坡度大，机动灵活，通过性强，方便抢险；且不轻易下陷，在行走过程中能够轻松地通过松软、泥泞的路面。此外,由于履带板上有花纹且能安装履刺，因此在泥泞或上坡等路面上能牢牢地抓住地面，不会造成滑转，使用范围更广。在其他实施例中，第二移动底盘22还可以选用轮式第二移动底盘22等，具体根据作业需求而定。
进一步的，在某些实施例中，如图1至9所示，所述沉降箱21包括进料口211以及出气口212，所述进料口211设置于所述沉降箱21一侧的上端，所述出气口212设置于所述沉降箱21另一侧的上端；进料口211与出气口212相对设置。具体的，从抽吸机构323吸入的物料通过第二抽吸管5从进料口211高速抛射入沉降箱21内，经过多级过滤机构23的过滤净化，使得净化后的空气从出气口212排入第一抽吸管4，然后进入进风口141，最后净化的空气从排气口142排入大气，避免污染大气。
进一步的，在某些实施例中，如图1至9所示，多级所述过滤机构分别设置于所述沉降箱21内，多级所述过滤机构分别用于过滤净化所述沉降箱21内的气体。所述阻挡机构24设置于所述沉降箱21内，所述阻挡机构24位于多级所述过滤机构的前端，此区域形成块状颗粒分离区，所述阻挡机构24用于阻挡从所述进料口211抛射进来的物料，从而避免从进料口211高速抛射进来的物料砸坏沉降箱21内的部件。
进一步的，在某些实施例中，如图1至9所示，所述阻挡机构24包括多个链条，多个所述链条分别垂直设置于靠近所述进料口211的所述沉降箱21内，多个所述链条的一端分别连接于所述沉降箱21内的顶部。具体的，当高速抛射的大型颗粒物料打击到竖直安装的链条上时，颗粒的动能传递给链条，链条产生摆动吸收其动能，颗粒失去动能竖直沉降，从而避免从进料口211高速抛射进来的颗粒物料砸坏沉降箱21内的部件。
进一步的，在某些实施例中，如图1至9所示，多级所述过滤机构包括第一过滤机构231、第二过滤机构232以及第三过滤机构233，第一过滤机构231、第二过滤机构232以及第三过滤机构233构成粉尘分离区，所述阻挡机构24位于所述第一过滤机构231的前端，所述第一过滤机构231位于所述第二过滤机构232的前端，所述第二过滤机构232位于所述第三过滤机构233的前端。所述第一过滤机构231用于过滤物料中的轻飘物，所述第二过滤机构232用于过滤分离物料中的较大粒径的颗粒，所述第三过滤机构233用于过滤物料中的粉尘。经过多级过滤机构23一级一级地进行过滤，从而进一步过滤净化沉降箱21内的空气，避免污染空气。
进一步的，在某些实施例中，如图1至9所示，所述第一过滤机构231包括第一过滤网2311、第二过滤网2312以及阻挡板2313，所述第一过滤网2311一端与所述沉降箱21的内壁顶部连接，所述第一过滤网2311的另一端与所述第二过滤网2312的一端连接，所述第二过滤网2312的另一端与所述阻挡板2313连接，所述阻挡板2313与所述沉降箱21的内壁连接。具体的，在本实施例中，如图1至9所示，所述第一过滤网2311与所述第二过滤网2312呈L型倒置连接。具体的，第一过滤网2311以及第二过滤网2312用于过滤塑料袋、树叶等轻飘物。阻挡板2313起到阻挡作用，阻挡从进料口211高速抛射进来的颗粒物料，避免砸坏沉降箱21内的部件。
进一步的，在某些实施例中，如图1至9所示，所述气固分离装置2还包括分离箱27、第一隔板部件271以及第二隔板部件272；所述分离箱27设置于靠近所述出气口212一侧的所述沉降箱21内，所述第一隔板部件271以及所述第二隔板部件272分别设置于所述沉降箱21内，所述第一隔板部件271位于所述分离箱27的下方，具体的，在本实施例中，所述分离箱27的底部与所述第一隔板部件271之间设有第二密封部件，第二密封部件起到密封作用。所述第二隔板部件272位于所述第一隔板部件271的下方，且第二隔板部件272位于靠近阻挡板2313的一侧。所述第一隔板部件271与所述沉降箱 21连接，所述第二隔板部件272竖直向下与所述第一隔板部件271连接。
进一步的，在某些实施例中，如图1至9所示，所述第二过滤机构232包括多个除尘板2321，多个所述除尘板2321分别倾斜间隔设置于所述沉降箱21内，具体的，多个除尘板2321的倾斜角度分别为30°至60°；优选的，在本实施例中，如图1至9所示，多个除尘板2321的倾斜角度分别为45°，多个所述除尘板2321分别位于所述第二隔板部件272的下方，多个所述除尘板2321分别与所述沉降箱21连接。具体的，当密度小的气流急剧转向，密度较大的颗粒在惯性的作用竖直向下运动，从而对粒径较大粉尘起到分离作用，减少了第三过滤机构233的滤筒2331的过滤负荷。
进一步的，在某些实施例中，如图1至9所示，所述第三过滤机构233包括多个滤筒2331、进气管道2332、多个反吹喷嘴2333以及控制开关2334；多个所述滤筒2331分别安装于所述第一隔板部件271上，所述第一隔板部件271上以及所述分离箱27的底部上分别设有多个通孔，通过设有通孔以便压缩空气通过。
进一步的，在某些实施例中，如图1至9所示，所述第三过滤机构233还包括气罐2335，所述进气管道2332设置于所述分离箱27内，所述气罐2335与所述进气管道2332通过管路连接，所述空气压缩机15与所述气罐2335通过高压气管连接，气罐2335用于存储压缩空气。多个所述反吹喷嘴2333分别安装于所述进气管道2332上，多个所述反吹喷嘴2333分别与多个所述滤筒2331对应连通，所述控制开关2334设置于所述进气管道2332上。所述控制开关2334设置于所述进气管道2332上，优选的，在本实施例中，控制开关2334选用电磁阀。
进一步的，在某些实施例中，如图1至9所示，所述气固分离装置2还包括第二控制系统、第一压力传感器214以及第二压力传感器215，所述第二控制系统设置于所述第二移动底盘22上；在其他实施例中，所述第二控制系统设置于所述沉降箱21上；所述第二控制系统用于控制所述气固分离装置2 的运行。具体的，在本实施例中，可以采用远距离遥控技术远程控制气固分离装置2进行作业,也可以通过操作人员在作业点附近进行遥控控制或者有线控制，也可以通过操作人员直接控制气固分离装置2进行作业，保证操作的可靠性。
进一步的，在某些实施例中，如图1至9所示，所述第一压力传感器214设置于靠近所述滤筒2331的所述沉降箱21的一侧，所述第二压力传感器215设置于靠近所述进气管道2332的所述沉降箱21的顶部，所述第一压力传感器214以及所述第二压力传感器215分别与所述第二控制系统电连接，所述第二控制系统与所述控制开关2334电连接。具体的，含尘气体经过多个滤筒2331的过滤后，净化气体由出气口212流出；过滤的粉尘粘附于滤筒2331的外侧，当滤筒2331粉尘过厚时，增加了过滤阻力，当第一压力传感器214以及第二压力传感器215的压差达到设计值时，第二控制系统发出信号给控制开关2334(电磁阀)开启，压缩空气从反吹喷嘴2333高速喷出，接近音速的气流吸引周边气体一起喷入滤筒2331内部，滤筒2331内部产生瞬时高压和振动，将滤筒2331外壁的粉尘振落，从而起到自清洁的作用。
进一步的，在某些实施例中，如图1至9所示，所述气固分离装置2还包括检修门28以及第三驱动机构281，所述检修门28设置于所述沉降箱21的顶部，所述检修门28位于所述分离箱27的上方，所述检修门28与所述沉降箱21活动连接，所述第三驱动机构281设置于所述检修门28的一侧，所述第三驱动机构281用于驱动打开或关闭所述检修门28。通过设有检修门28，方便对沉降箱21内的部件的检修。具体的，在本实施例中，所述第三驱动机构281为第三油缸，所述第三油缸一端与所述沉降箱21的外壁连接，所述第三油缸的另一端与所述检修门28连接。
具体的，在本实施例中的气固分离装置2，通过气固分离装置2对坍塌的建筑物进行集中处理转运，坍塌的建筑物从进料口211抛射入沉降箱21内存储，当高速抛射的大型颗粒物料打击到阻挡机构24时，颗粒的动能传递给阻 挡机构24，阻挡机构24产生摆动吸收其动能，颗粒失去动能竖直沉降，从而避免从进料口211高速抛射进来的颗粒物料砸坏沉降箱21内的部件，接着通过多级过滤机构23一级一级地进行过滤，从而进一步过滤净化沉降箱21内的空气。且通过气固分离装置2进行作业，省时省力，降低劳动强度，提高作业效率，提高抢险的时效性。
进一步的，在某些实施例中，如图1至9所示，所述卸料机构25设置于所述沉降箱21内的底部，所述卸料门26设置于所述沉降箱21的一侧，且所述卸料门26位于所述卸料机构25的一侧，所述卸料门26与所述沉降箱21活动连接。
进一步的，在某些实施例中，如图1至9所示，所述第一驱动机构251设置于所述卸料机构25一侧，所述第一驱动机构251用于向所述卸料机构25提供动力，所述卸料机构25用于将沉降箱21内的物料水平推出进行卸出。优选的，在本实施例中，所述第一驱动机构251选用液压马达。在其他实施例中，第一驱动机构251还可以选用电马达。
进一步的，在某些实施例中，如图1至9所示，所述气固分离装置2还包括第二驱动机构261，所述第二驱动机构261设置于所述卸料门26的一侧，所述第二驱动机构261用于驱动打开或关闭所述卸料门26。具体的，在本实施例中，所述第二驱动机构261为第二油缸，所述第二油缸一端与所述沉降箱21的外壁连接，所述第二油缸的另一端与所述卸料门26连接。
进一步的，在某些实施例中，如图1至9所示，所述气固分离装置2还包括第一密封部件，所述第一密封部件设置于所述卸料门26与所述沉降箱21之间，第一密封部件起到密封作用。
进一步的，在某些实施例中，如图1至9所示，所述气固分离装置2还包括落料槽213，所述落料槽213设置于所述沉降箱21的底部，所述卸料机构25设置于所述落料槽213内。
进一步的，在某些实施例中，如图1至9所示，所述气固分离装置2还 包括第一斜板29以及第二斜板291，所述第一斜板29倾斜地设置于所述沉降箱21内的一侧，所述第二斜板291倾斜地设置于所述沉降箱21内的另一侧，所述第一倾斜板与所述第二倾斜板相对设置。第一驱动机构251设设置于第二倾斜板的下方。通过设有第一斜板29以及第二斜板291方便物料快速落入落料槽213内。
进一步的，在某些实施例中，如图1至9所示，所述卸料机构25有两个以上，所述第一驱动机构251有两个以上，两个以上所述卸料机构25分别设置于所述沉降箱21内的底部，两个以上所述第一驱动机构251分别对应设置于两个以上所述卸料机构25一侧，两个以上所述第一驱动机构251分别对应用于向两个以上所述卸料机构25提供动力。具体的，在本实施例中，所述卸料机构25包括传动轴252以及螺旋叶片253，所述传动轴252与所述第一驱动机构251传动连接，所述螺旋叶片253设置于所述传动轴252上。需要说明的是，在本实施例中，并不限制卸料机构25以及第一驱动机构251的数量。卸料机构25以及第一驱动机构251可以为一个，还可以为两个等。
具体的，在本实施例中的气固分离装置2，卸料时，停止真空机构14工作，先由第二驱动机构261提升打开卸料门26，接着第一驱动机构251驱动传动轴252，传动轴252驱动螺旋叶片253旋转，将物料沿水平方向卸出，卸出速度快，省时省力，降低劳动强度，工作效率高，提高抢险的时效性，且占用空间小。
具体的，在本实施例中的应急救援设备，抢险作业时，分别将动力装置1、气固分离装置2以及抽吸挖掘机器人3开到抢险作业点，气固分离装置2通过油管与动力装置1的液压系统13连接，抽吸挖掘机器人3通过油管与气固分离装置2连接，或者抽吸挖掘机器人3以及气固分离装置2分别通过油管与动力装置1的液压系统13连接，液压系统13为抽吸挖掘机器人3以及气固分离装置2提供液压动力，从而驱动抽吸挖掘机器人3以及气固分离装置2进行作业。动力装置1与气固分离装置2之间通过第一抽吸管4连接，气固 分离装置2与抽吸挖掘机器人3之间通过第二抽吸管5连接，动力装置1的真空机构14为所述抽吸挖掘机器人3以及气固分离装置2提供抽吸负压动力。真空机构14工作时产生强大气流，使第一抽吸管4、沉降箱21、第二抽吸管5、第一伸缩管3231、第二伸缩管3232以及抽吸嘴3234内形成强大的负压,从而将物料从抽吸嘴3234吸入沉降箱21内。大型颗粒物料从第一抽吸管4进入沉降箱21内，当高速抛射的大型颗粒物料打击到竖直安装的链条上时，颗粒的动能传递给链条，链条产生摆动吸收其动能，颗粒失去动能竖直沉降，从而避免从进料口211高速抛射进来的颗粒物料砸坏沉降箱21内的部件。接着通过多级过滤机构23一级一级地进行过滤净化，从而进一步过滤净化沉降箱21内的空气，净化的空气从排气口142排入大气，避免污染空气。
具体的，通过应急救援设备进行抢险作业，利用无机械接触的抽吸挖掘机器人3进行抽吸挖掘坍塌的建筑物，代替人工手刨模式，大大降低救援的劳动强度，缩短了被掩埋人员的抢救时间，省时省力，提高工作效率，提高抢险的时效性。且其作业距离远，可将动力装置1和气固分离装置2停放于坍塌建筑物旁边的空旷地点，遥控操作抽吸挖掘机器人3进行抽吸作业，最大作业距离超过200m。且不产生二次坍塌，抽吸挖掘机器人3重量轻(仅400kg)，履带式第二移动底盘22接地面积大，不会对支撑力薄弱的坍塌建筑物产生二次破坏；爬坡度大，通过性强，机动灵活。
需要说明的是，尽管在本文中已经对上述各实施例进行了描述，但并非因此限制本发明的专利保护范围。因此，基于本发明的创新理念，对本文所述实施例进行的变更和修改，或利用本发明说明书及附图内容所作的等效结构或等效流程变换，直接或间接地将以上技术方案运用在其他相关的技术领域，均包括在本发明的专利保护范围之内。

Claims (10)

  1. 一种抽吸挖掘机器人，其特征在于：包括第三移动底盘以及抽吸挖掘装置；
    所述抽吸挖掘装置设置于所述第三移动底盘上，所述第三移动底盘用于驱动所述抽吸挖掘机器人行走；
    所述抽吸挖掘装置包括回转机构、举升机构以及抽吸机构；
    所述回转机构设置于所述第三移动底盘上，所述回转机构一端与所述第三移动底盘连接，所述回转机构另一端与所述抽吸机构连接，所述回转机构用于驱动所述抽吸机构进行回转；
    所述举升机构一端与所述回转机构连接，所述举升机构另一端与所述抽吸机构连接，所述举升机构用于驱动所述抽吸机构进行举升，所述抽吸机构用于抽吸挖掘物料。
  2. 根据权利要求1所述的抽吸挖掘机器人，其特征在于：所述回转机构包括回转支承以及回转板，所述回转支承的固定端与所述第三移动底盘连接，所述回转支承的回转端与所述回转板的一端连接，所述回转板的另一端与所述抽吸机构连接。
  3. 根据权利要求2所述的抽吸挖掘机器人，其特征在于：所述抽吸挖掘机器人还包括安装板，所述安装板设置于所述第三移动底盘上，所述安装板与所述第三移动底盘固定连接，所述回转支承的固定端安装于所述安装板上。
  4. 根据权利要求2所述的抽吸挖掘机器人，其特征在于：所述举升机构选用举升油缸，所述举升油缸一端与所述回转板一端连接，所述举升油缸另一端与所述抽吸机构连接。
  5. 根据权利要求1所述的抽吸挖掘机器人，其特征在于：所述抽吸机构包括抽吸嘴、多级伸缩管以及伸缩驱动部件；
    所述抽吸嘴连接于所述伸缩管的进料口，且所述抽吸嘴与所述伸缩管的进料口相连通；
    多级所述伸缩管之间相互滑动嵌套，且多级所述伸缩管之间相互连通；
    所述伸缩驱动部件用于驱动多级所述伸缩管进行伸缩。
  6. 根据权利要求5所述的抽吸挖掘机器人，其特征在于：多级所述伸缩管包括第一伸缩管以及第二伸缩管，所述第一伸缩管与所述第二伸缩管滑动连接，且所述第二伸缩管嵌套于所述第一伸缩管的内壁，所述抽吸嘴连接于所述第二伸缩管的进料口，且所述抽吸嘴与所述第二伸缩管的进料口相连通。
  7. 根据权利要求6所述的抽吸挖掘机器人，其特征在于：所述伸缩驱动部件包括第一伸缩油缸，所述第一伸缩油缸的一端固定连接于所述第一伸缩管的外壁上，所述第一伸缩油缸的另一端固定连接于所述第二伸缩管的外壁上。
  8. 根据权利要求1所述的抽吸挖掘机器人，其特征在于：所述第三移动底盘选用履带式第三移动底盘或轮式第三移动底盘。
  9. 根据权利要求1所述的抽吸挖掘机器人，其特征在于：所述抽吸挖掘机器人还包括控制系统，所述控制系统设置于所述抽吸机构上，所述控制系统用于控制所述抽吸挖掘机器人的运行。
  10. 一种应急救援设备，其特征在于：包括气固分离装置、动力装置以及
    如上述权利要求1至9中任意一项所述的抽吸挖掘机器人；
    所述动力装置与所述气固分离装置之间通过管线连接，所述气固分离装置与所述抽吸挖掘机器人之间通过管线连接；
    所述动力装置用于向所述气固分离装置以及所述抽吸挖掘机器人提供液压动力；
    所述动力装置还用于向所述气固分离装置以及所述抽吸挖掘机器人提供抽吸负压动力；
    所述气固分离装置用于存储所述抽吸挖掘机器人抽吸挖掘的坍塌建筑物；
    所述气固分离装置还用于净化所述气固分离装置内的气体。
PCT/CN2021/119394 2021-04-20 2021-09-18 一种抽吸挖掘机器人及其应急救援设备 WO2022222362A1 (zh)

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