CN102554915A - Robot for taking out foreign matters from ventilation duct of air conditioner of train - Google Patents
Robot for taking out foreign matters from ventilation duct of air conditioner of train Download PDFInfo
- Publication number
- CN102554915A CN102554915A CN2012100040029A CN201210004002A CN102554915A CN 102554915 A CN102554915 A CN 102554915A CN 2012100040029 A CN2012100040029 A CN 2012100040029A CN 201210004002 A CN201210004002 A CN 201210004002A CN 102554915 A CN102554915 A CN 102554915A
- Authority
- CN
- China
- Prior art keywords
- switching
- over
- joint
- manipulator
- drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a robot for taking out foreign matters from a ventilation duct of the air conditioner of a train. The robot is characterized in that a rotary pan tilt unit is installed at the connection between a mechanical arm and a robot body, the other end of the mechanical arm is provided with two manipulator clamp plates, and a pan tilt unit motor is installed in the robot body to drive the rotary pan tilt unit to rotate; and the mechanical arm includes a direction-changing driving section group for controlling the manipulator clamp plates to rotate to each direction, the front end of the direction-changing driving section group is connected with the manipulator clamp plates via a manipulator fixing bracket, the direction-changing driving section group is provided therein with a manipulator controlling mechanism for controlling the two manipulator clamp plates to open or close, the manipulator controlling mechanism is connected with the manipulator clamping plates via a rotation shaft group, and the rear end of the direction-changing driving section group is connected with the rotary pan tilt unit. The inventive robot can move forward/backward and leftward/rightward, pick up various objects, and be controlled by a notebook computer, and has good working effect, stable equipment performance, convenient operation, high efficiency, simple and compact structure, light weight and good portability.
Description
Technical field
The present invention relates to a kind of robot that is used for getting in the train air-conditioning pipeline thing.
Background technology
Along with the development of motor-car, bullet train, be more and more to standardize to the requirement of passenger train air conditioner ventilation pipeline.But in passenger train air conditioner ventilation pipeline installation, in service, there are foreign material to get in the airduct unavoidably, operation of air conditioner is brought certain harm.
Summary of the invention
The technical problem that the present invention will solve is; Defective to the prior art existence; Propose to get the thing robot in a kind of train air-conditioning pipeline, it has image and transmits, gets automatically multinomial functions such as thing, and available notebook computer is controlled; And good working effect, equipment performance are stable, easy to operate, efficient height, simple and compact structure, in light weight, easy to carry.
Technical solution of the present invention is, gets the thing robot in a kind of train air-conditioning pipeline, comprises vehicle body; A traveling crawler respectively is equipped with in the vehicle body both sides; The vehicle body front and back ends is equipped with camera and light respectively, and body structure also is equipped with mechanical arm, it is characterized in that; Rotary head is housed for said mechanical arm and vehicle body link and the mechanical arm other end is equipped with two manipulator clamping plate, and the horizontal stage electric machine of driven in rotation The Cloud Terrace rotation is housed in vehicle body; Said mechanical arm comprises that the switching-over that the mechanical hand splint of control rotates to all directions drives the joint group; Switching-over drives joint group front end and links to each other with the manipulator clamping plate through the manipulator fixed support; Being provided with two manipulator clamping plate of control in the said switching-over driving joint group opens or closed manipulator controlling organization; This manipulator controlling organization is connected with the manipulator clamping plate through the turning cylinder group, and said switching-over joint group rear end is connected with rotary head.
Said switching-over drives the joint group and comprises that successively first switching-over drives joint, second switching-over and drives that joint, the 3rd switching-over drive joint, the 4th switching-over drives joint and the 5th switching-over drives joint; Said first switching-over drives the joint bottom and is fixed on the rotary head top; First switching-over drives joint and second switching-over and drives joint and drive nodal axisn through second switching-over and is connected and makes second switching-over drive joint can to rotate up and down around the second driving nodal axisn that commutates; And drive in second switching-over and to be provided with the second switching-over joint drive motors and the second switching-over joint travelling gear in the joint, second switching-over joint travelling gear one end and the second switching-over joint drive motors output shaft are connected and the second switching-over joint travelling gear other end and the second switching-over joint driving nodal axisn link to each other; Second switching-over drives joint and the 3rd switching-over and drives joint and drive nodal axisn through the 3rd switching-over and is connected and makes the 3rd switching-over drive joint can to rotate up and down around the 3rd driving nodal axisn that commutates; And drive in second switching-over and to be provided with the 3rd switching-over joint drive motors and the 3rd switching-over joint travelling gear in the joint, the 3rd switching-over joint travelling gear one end and the 3rd switching-over joint drive motors output shaft are connected and the 3rd switching-over joint travelling gear other end and the 3rd switching-over joint driving nodal axisn link to each other; Said the 4th switching-over drives and is provided with the 5th switching-over joint drive plate in the joint; The 3rd switching-over drives and is provided with the 4th switching-over joint drive motors in the joint; Said the 3rd switching-over drives joint and drives joint with the 4th switching-over and is connected through the 4th switching-over joint driving joint, and the 4th switching-over joint driving joint two ends connect the 5th switching-over joint drive plate and the 4th switching-over joint drive motors respectively and the 4th switching-over is driven saves to commutate around the 4th and save the driving joint left-right rotation; Said the 5th switching-over drives joint and is installed on the 4th switching-over driving joint.
Said manipulator controlling organization comprises motion cylindrical shell, motion tooth bar, robot movement motor and robot movement drive of motor gear; The output shaft of robot movement motor is connected with the motion tooth bar through robot movement drive of motor gear; One end of motion tooth bar is connected to the motion cylindrical shell, and this motion cylindrical shell links to each other with the turning cylinder group.
Said manipulator controlling organization places the 5th switching-over to drive in the joint.
The manipulator travel(l)ing rest that said turning cylinder group comprises manipulator first turning cylinder, manipulator second turning cylinder, manipulator the 3rd turning cylinder, connect manipulator first turning cylinder and manipulator controlling organization be connected manipulator first turning cylinder with manipulator second turning cylinder and be connected manipulator second turning cylinder and the manipulator active plate of manipulator the 3rd turning cylinder.
Mechanical mechanism operation principle of the present invention is following:
Referring to Fig. 3; Start travel driving motor 38 shown in Figure 3, drive propel driving shaft 41 rotations through 39,40 rotations of umbrella shape driven wheel, propel driving shaft 41 drives Athey wheel 42; Athey wheel 42 rotations drive crawler belt 4 motions, then can realize all around walking of vehicle body 1; Start horizontal stage electric machine 37, turntable 36 rotations; Start back camera lighting system electric rotating machine 34, back camera 7, light 4,5 rotate up and down;
Referring to Fig. 4, start shown in Figure 4 before camera lighting system electric rotating machine 43, back camera 20, light 18,19 rotate up and down; Start the second switching-over joint drive motors 46, then the second switching-over driving joint 10 moves up and down; Start the 3rd switching-over joint drive motors 47, then the 3rd switching-over driving joint 11 moves up and down; Start the 4th switching-over joint drive motors 50, then the 4th switching-over drives joint 12 left rotation and right rotation; Start robot movement motor 53, then mechanical clamping plate 16,17 open or close up.Control circuit of the present invention comprises first level shifting circuit; Second level shifting circuit; Single-chip microcomputer; The 12V DC power supply circuit; The 24V DC power supply circuit; Camera and illuminating lamp control circuit; The first reversing motor drive circuit; The second reversing motor drive circuit; The 3rd reversing motor drive circuit; The 4th reversing motor drive circuit; The 5th reversing motor drive circuit; Left lateral is walked the drive motor drives circuit; Right lateral is walked the drive motor drives circuit; Front camera and rear camera and lighting system pitching drive circuit; Each camera and lighting control circuit; These circuit can concentrate in the control circuit box that is installed in the car body, and associated tracks such as its control signal output line and power line are connected with load accordingly through plug receptacle or plug (like durable and " Aviation Connector " good leak tightness), and:
The signal input part that the output of the serial ports of notebook computer is connected to single-chip microcomputer through first level shifting circuit and second level shifting circuit of interface circuit successively with signal cable;
The multi-way control signals output of said single-chip microcomputer connects with the control signal input of following drive circuit respectively:
Camera and illuminating lamp control circuit, each reversing motor drive circuit, front camera and rear camera and lighting system pitching drive circuit, each camera and lighting control circuit;
Can also between the multi-way control signals output of the above single-chip microcomputer and said each drive circuit, the driving buffer circuit be set;
The back level signal controlling end of said camera and illuminating lamp control circuit is respectively with said body forward structure camera, body forward structure illuminating lamp, body tail camera, body tail illuminating lamp, video acquisition card connection, and the output signal of said camera is delivered to notebook computer (show or store) through video frequency collection card;
Each the switching-over joint driving of said mechanical arm saves drive circuit saves drive motors respectively with the switching-over of corresponding group power supply terminal connection;
Said 12V DC power supply circuit each operating circuit of single-chip microcomputer left side in Fig. 5 provides working power and to single-chip microcomputer working power is provided through Voltage stabilizing module, and 24V DC power supply circuit each operating circuit of single-chip microcomputer right side in Fig. 5 provides working power.
Such scheme adopts notebook computer control, has the operating platform of intellectuality, automation and software implementation, and device volume is little, flexible and convenient to use, and it is in time convenient to walk, get thing accurate positioning, shooting and video recording, can directly generate video files.
Fig. 6,7, the 8th, the practical circuit diagram of block diagram shown in Figure 5.
Among Fig. 6, the instruction after the J1 output conversion, J2 connects the serial ports of notebook computer (host computer).
Among Fig. 7, U1 is the main control chip of robot, and the run action of robot and the collection of various ambient parameters and processing all will be carried out processed through this microprocessor.
J3 is the power input of control circuit part, obtains stable+5V voltage carrying out voltage stabilizing through integrated voltage stabilizing chip.
JP1 is a hardware watchdog, and its main effect is at microprocessor because fortuitous event is out of control back from new startup microprocessor, thereby the operation of assurance system is safe and reliable.
JP4 is the gang socket of camera, and the switching of camera is to realize through the shutoff of triode Q4, Q7, Q3, Q8 and conducting.
JP6 is the gang socket of light, and the switching of light is to realize through the shutoff of triode Q1, Q5, Q2, Q6 and conducting.And the power of light is regulated to regulate through PWM and is realized.
U10 is used for isolating microprocessor and motor-driven effect among the figure.
J1 is the line interface of drive part and microprocessor portion among Fig. 8.
J2, J3 are the integrated regulators of drive circuit, for motor-driven provides stable voltage.
U1, U2 are the drive circuit of large-current electric machine, and wherein switching-over saves motor, movable motor, and horizontal stage electric machine is all driven by them.
U14, U15 are the drive circuit of little current motor, and the electric rotating machine of camera is driven by this circuit.
Know that by above the present invention gets the thing robot in the train air-conditioning pipeline, but the motion of its all around; Can pick up various objects; Available notebook computer is controlled, and good working effect, equipment performance are stable, easy to operate, efficient height, simple and compact structure, in light weight, easy to carry.
Description of drawings
Fig. 1 is the machine shape structural representation of an embodiment of the present invention;
Fig. 2 is a device forward sight structural representation shown in Figure 1;
Fig. 3 is the structural representation (band broken section) of device shown in Figure 1;
Fig. 4 is the forward sight structural representation (band broken section) of device shown in Figure 1;
Fig. 5 is the control circuit block diagram of a kind of embodiment;
Fig. 6 is a kind of embodiment main control chip circuit diagram of single-chip microcomputer among Fig. 5;
Fig. 7 is a kind of embodiment circuit of camera and illuminating lamp control circuit among Fig. 5;
Fig. 8 is a kind of embodiment circuit of first level shifting circuit among Fig. 5, second level shifting circuit and 12V DC power supply circuit, 24V DC power supply circuit, Voltage stabilizing module;
Fig. 9 is a kind of embodiment circuit of sensor signal processing circuit among Fig. 5;
Figure 10 does one group of circuit in the drive circuit of motor drive power supply by the 24V DC power supply circuit among Fig. 5;
Figure 11 does one group of circuit in the drive circuit of motor drive power supply by the 12V DC power supply circuit among Fig. 5;
In the accompanying drawings:
The 1-vehicle body, the 2-antenna, the 3-right-hand track chiain,
4-left side crawler belt, 5, the 6-rear lighting lamp, camera behind the 7-
The 8-Aviation Connector, 9-first switching-over drives joint, and 10-second switching-over drives joint,
11-the 3rd switching-over drives joint, and 12-the 4th switching-over drives joint,
13-the 5th switching-over drives joint, and 14,15-manipulator fixed support,
16,17-manipulator clamping plate, 18, the 19-front lamp,
Camera before the 20-, 21,22-key lighting lamp,
23-master's camera, 24,25-manipulator travel(l)ing rest,
26,27-manipulator first turning cylinder, 28,29-manipulator second turning cylinder,
30,31-manipulator the 3rd turning cylinder, 32,33-manipulator active plate
Camera lighting system electric rotating machine behind the 34-, camera lighting system swing pinion behind the 35-,
The 36-rotary head, the 37-horizontal stage electric machine, the 38-travel driving motor,
39,40-umbrella shape driven wheel, the 41-propel driving shaft
Camera lighting system electric rotating machine before the 42-Athey wheel, 43-,
44-second switching-over drives nodal axisn, and 45-second switching-over drives the joint travelling gear,
The 46-second switching-over joint drive motors, 47-the 3rd switching-over joint drive motors,
48-the 3rd switching-over drives the joint travelling gear, and 49-the 3rd switching-over drives nodal axisn,
50-the 4th switching-over joint drive motors, 51-the 4th switching-over drives the joint driving joint,
52-the 5th switching-over joint drive plate, 53-robot movement motor,
54-robot movement drive of motor gear, 55-motion tooth bar,
56-motion cylindrical shell.
The specific embodiment
Like Fig. 1-shown in Figure 4, get the thing robot in a kind of train air-conditioning pipeline, comprise vehicle body 1; A traveling crawler (2,3) respectively is equipped with in vehicle body 1 both sides, and vehicle body 1 front and back ends is equipped with camera 20 respectively; 7 and light, and vehicle body 1 front end also is equipped with mechanical arm, and rotary head 36 is housed for said mechanical arm and vehicle body 1 link and the mechanical arm other end is equipped with two manipulator clamping plate 16; 17, and the horizontal stage electric machine 37 of driven in rotation The Cloud Terrace 36 rotations is housed in vehicle body 1; Said mechanical arm comprises that the switching-over that the mechanical hand splint of control rotates to all directions drives the joint group, and switching-over drives joint group front end through manipulator fixed support 14,15 and manipulator clamping plate 16; 17 link to each other; Be provided with two manipulator clamping plate 16,17 of control in the said switching-over driving joint group and open or closed manipulator controlling organization, this manipulator controlling organization is through turning cylinder group and manipulator clamping plate 16; 17 connect, and said switching-over joint group rear end is connected with rotary head 36.
Said switching-over drives the joint group and comprises that successively first switching-over drives joint 9, second switching-over and drives joint the 10, the 3rd switching-over and drive joint the 11, the 4th switching-over and drive joint the 12 and the 5th switching-over and drive joint 13; Said first switching-over drives joint 9 bottoms and is fixed on rotary head 36 tops; First switching-over drives joint 9 and second switching-over and drives joint 10 and drive nodal axisn 44 through second switching-over and is connected and makes second switching-over drive joint 10 can to rotate up and down around the second driving nodal axisn 44 that commutates; And drive in second switching-over and to be provided with the second switching-over joint drive motors 46 and the second switching-over joint travelling gear, 45, the second switching-over joint travelling gears 45 1 ends in the joint 10 and the second switching-over joint drive motors output shaft is connected and second switching-over joint travelling gear 45 other ends and second switching-over save driving nodal axisn 44 and link to each other; Second switching-over drives joint 10 and the 3rd switching-over and drives joint 11 and drive nodal axisn 49 through the 3rd switching-over and is connected and makes the 3rd switching-over drive joint 11 can to rotate up and down around the 3rd driving nodal axisn 49 that commutates; And drive in second switching-over and to be provided with the 3rd switching-over joint drive motors 47 and the 3rd switching-over joint travelling gear 48, the three switching-over joint travelling gears 48 1 ends in the joint 10 and the 3rd switching-over joint drive motors 47 output shafts are connected and the 3rd switching-over joint travelling gear 48 other ends and the 3rd commutate that driving nodal axisn 49 links to each other; Said the 4th switching-over drives and is provided with the 5th switching-over joint drive plate 52 in the joint 12; The 3rd switching-over drives and is provided with the 4th switching-over joint drive motors 50 in the joint 11; Said the 3rd switching-over drives joint 11 and drives joint 12 with the 4th switching-over and is connected through the 4th switching-over joint driving joint 51, and the 4th switching-over joint driving joint 51 two ends connect the 5th switching-over joint drive plate 52 and the 4th switching-over joint drive motors 50 respectively and make the 4th switching-over driving save 12 can commutate around the 4th and save driving joint 51 left-right rotation; Said the 5th switching-over drives joint 13 and is installed on the 4th switching-over driving joint 12.
Said manipulator controlling organization comprises motion cylindrical shell 56, motion tooth bar 55, robot movement motor 53 and robot movement drive of motor gear 54; The output shaft of robot movement motor 53 is connected with motion tooth bar 55 through robot movement drive of motor gear 54; One end of motion tooth bar 55 is connected to motion cylindrical shell 56, and this motion cylindrical shell 56 links to each other with the turning cylinder group.
Said manipulator controlling organization places the 5th switching-over to drive in the joint 13.
Said turning cylinder group comprises manipulator first turning cylinder 26,27, manipulator second turning cylinder 28,29, manipulator the 3rd turning cylinder 30; 31, the manipulator travel(l)ing rest 24,25 that connects manipulator first turning cylinder 26,27 and manipulator controlling organization be connected manipulator first turning cylinder 26; 27 with manipulator second turning cylinder 28,29 and connect manipulator second turning cylinder 28,29 and manipulator the 3rd turning cylinder 30; 31 manipulator active plate 32,33.
Referring to Fig. 5, control circuit of the present invention comprises that first level shifting circuit, second level shifting circuit, single-chip microcomputer, 12V DC power supply circuit, 24V DC power supply circuit, camera and illuminating lamp control circuit, the first reversing motor drive circuit, the second reversing motor drive circuit, the 3rd reversing motor drive circuit, the 4th reversing motor drive circuit, the 5th reversing motor drive circuit, left lateral are walked the drive motor drives circuit, right lateral is walked drive motor drives circuit, front camera and rear camera and lighting system pitching drive circuit, each camera and lighting control circuit; These circuit can concentrate in the control circuit box that is installed in the car body, and associated tracks such as its control signal output line and power line are connected with load accordingly through plug receptacle or plug (like durable and " Aviation Connector " good leak tightness), and:
The signal input part that the output of the serial ports of notebook computer is connected to single-chip microcomputer through first level shifting circuit and second level shifting circuit of interface circuit successively with signal cable;
The multi-way control signals output of said single-chip microcomputer connects with the control signal input of following drive circuit respectively:
Camera and illuminating lamp control circuit,
Each reversing motor drive circuit,
Front camera and rear camera and lighting system pitching drive circuit,
Each camera and lighting control circuit;
Can also between the multi-way control signals output of the above single-chip microcomputer and said each drive circuit, the driving buffer circuit be set;
The back level signal controlling end of said camera and illuminating lamp control circuit is respectively with said body forward structure camera, body forward structure illuminating lamp, body tail camera, body tail illuminating lamp, video acquisition card connection, and the output signal of said camera is delivered to notebook computer (show or store) through video frequency collection card;
Each the switching-over joint driving of said mechanical arm saves drive circuit saves drive motors respectively with the switching-over of corresponding group power supply terminal connection;
Said 12V DC power supply circuit each operating circuit of single-chip microcomputer left side in Fig. 5 provides working power and to single-chip microcomputer working power is provided through Voltage stabilizing module, and 24V DC power supply circuit each operating circuit of single-chip microcomputer right side in Fig. 5 provides working power.
Such scheme adopts notebook computer control, has the operating platform of intellectuality, automation and software implementation, and device volume is little, flexible and convenient to use, and it is in time convenient to walk, get thing accurate positioning, shooting and video recording, can directly generate video files.
Fig. 6,7, the 8th, the practical circuit diagram of block diagram shown in Figure 5.
Among Fig. 6, the instruction after the J1 output conversion, J2 connects the serial ports of notebook computer (host computer).
Among Fig. 7, U1 is the main control chip of robot, and the run action of robot and the collection of various ambient parameters and processing all will be carried out processed through this microprocessor.
J3 is the power input of control circuit part, obtains stable+5V voltage carrying out voltage stabilizing through integrated voltage stabilizing chip.
JP1 is a hardware watchdog, and its main effect is at microprocessor because fortuitous event is out of control back from new startup microprocessor, thereby the operation of assurance system is safe and reliable.
JP4 is the gang socket of camera, and the switching of camera is to realize through the shutoff of triode Q4, Q7, Q3, Q8 and conducting.
JP6 is the gang socket of light, and the switching of light is to realize through the shutoff of triode Q1, Q5, Q2, Q6 and conducting.And the power of light is regulated to regulate through PWM and is realized.
U10 is used for isolating microprocessor and motor-driven effect among the figure.
J1 is the line interface of drive part and microprocessor portion among Fig. 8.
J2, J3 are the integrated regulators of drive circuit, for motor-driven provides stable voltage.
U1, U2 are the drive circuit of large-current electric machine, and wherein switching-over saves motor, movable motor, and horizontal stage electric machine is all driven by them.
U14, U15 are the drive circuit of little current motor, and the electric rotating machine of camera is driven by this circuit.
According to the inventionly be used for getting in the train air-conditioning pipeline thing Robotics parameter and have:
1, drive part index: machine displacement is greater than 100 meters; Irregular slalom thing obstacle clearing capability is greater than 10cm.
2, monitor portion index: camera 800 everythings are plain; 120 ° of pitching rotations.
3, controller weight is less than 3kg.
Claims (5)
1. get the thing robot in a train air-conditioning pipeline, comprise vehicle body (1), a traveling crawler (2 respectively is equipped with in vehicle body (1) both sides; 3), vehicle body (1) front and back ends is equipped with camera (20,7) and light respectively; And vehicle body (1) front end also is equipped with mechanical arm, it is characterized in that, rotary head (36) is housed said mechanical arm and vehicle body (1) link and the mechanical arm other end is equipped with two manipulator clamping plate (16; 17), and the horizontal stage electric machine (37) of driven in rotation The Cloud Terrace (36) rotation is housed in vehicle body (1); Said mechanical arm comprises that the switching-over that the mechanical hand splint of control (16,17) rotates to all directions drives the joint group, and switching-over drives joint group front end through manipulator fixed support (14; 15) link to each other with manipulator clamping plate (16,17), said switching-over drives and is provided with two manipulator clamping plate (16 of control in the joint group; 17) open or closed manipulator controlling organization; This manipulator controlling organization connects through turning cylinder group and manipulator clamping plate (16,17), and said switching-over joint group rear end is connected with rotary head (36).
2. according to getting the thing robot in the said train air-conditioning pipeline of claim 1; It is characterized in that; Said switching-over drives the joint group and comprises that successively first switching-over drives joint (9), second switching-over and drives joint (10), the 3rd switching-over and drive joint (11), the 4th switching-over and drive joint (12) and drive with the 5th switching-over and save (13); Said first switching-over drives joint (9) bottom and is fixed on rotary head (36) top; First switching-over drives joint (9) and second switching-over and drives joint (10) and drive nodal axisn (44) through second switching-over and is connected and second switching-over is driven save (10) to rotate up and down around the second driving nodal axisn (44) that commutates; And drive in second switching-over and to be provided with the second switching-over joint drive motors (46) and the second switching-over joint travelling gear (45) in the joint (10), the second switching-over joint travelling gear (45) one ends are connected with the second switching-over joint drive motors output shaft and second switching-over joint travelling gear (45) other end and second commutates saves driving nodal axisn (44) and links to each other; Second switching-over drives joint (10) and the 3rd switching-over and drives joint (11) and drive nodal axisn (49) through the 3rd switching-over and is connected and the 3rd switching-over is driven save (11) to rotate up and down around the 3rd driving nodal axisn (49) that commutates; And drive in second switching-over and to be provided with the 3rd switching-over joint drive motors (47) and the 3rd switching-over joint travelling gear (48) in the joint (10), the 3rd switching-over joint travelling gear (48) one ends are connected with the 3rd switching-over joint drive motors (47) output shaft and the 3rd switching-over saves travelling gear (48) other end and the 3rd driving nodal axisn (49) that commutates and links to each other; Said the 4th switching-over drives and is provided with the 5th switching-over joint drive plate (52) in the joint (12); The 3rd switching-over drives and is provided with the 4th switching-over joint drive motors (50) in the joint (11); Said the 3rd switching-over drives joint (11) and drives joint (12) with the 4th switching-over and is connected through the 4th switching-over joint driving joint (51), and the 4th switching-over joint driving joint (51) two ends connect the 5th switching-over joint drive plate (52) and the 4th switching-over joint drive motors (50) respectively and make the 4th switching-over driving save (12) can commutate around the 4th and save driving joint (51) left-right rotation; Said the 5th switching-over drives joint (13) and is installed on the 4th switching-over driving joint (12).
3. according to getting the thing robot in the said train air-conditioning pipeline of claim 1; It is characterized in that; Said manipulator controlling organization comprises motion cylindrical shell (56), motion tooth bar (55), robot movement motor (53) and robot movement drive of motor gear (54); The output shaft of robot movement motor (53) is connected with motion tooth bar (55) through robot movement drive of motor gear (54), and an end of motion tooth bar (55) is connected to motion cylindrical shell (56), and this motion cylindrical shell (56) links to each other with the turning cylinder group.
4. according to getting the thing robot in the said train air-conditioning pipeline of claim 2, it is characterized in that said manipulator controlling organization places the 5th switching-over to drive in the joint (13).
5. according to getting the thing robot in the said train air-conditioning pipeline of claim 1, it is characterized in that said turning cylinder group comprises manipulator first turning cylinder (26; 27), manipulator second turning cylinder (28,29), manipulator the 3rd turning cylinder (30,31), connection manipulator first turning cylinder (26; 27) with the manipulator travel(l)ing rest (24,25) of manipulator controlling organization be connected manipulator first turning cylinder (26,27) and manipulator second turning cylinder (28; 29) and connect manipulator second turning cylinder (28; 29) with the manipulator active plate (32,33) of manipulator the 3rd turning cylinder (30,31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100040029A CN102554915A (en) | 2012-01-06 | 2012-01-06 | Robot for taking out foreign matters from ventilation duct of air conditioner of train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100040029A CN102554915A (en) | 2012-01-06 | 2012-01-06 | Robot for taking out foreign matters from ventilation duct of air conditioner of train |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102554915A true CN102554915A (en) | 2012-07-11 |
Family
ID=46402197
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100040029A Pending CN102554915A (en) | 2012-01-06 | 2012-01-06 | Robot for taking out foreign matters from ventilation duct of air conditioner of train |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102554915A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102961876A (en) * | 2012-11-08 | 2013-03-13 | 陕西科技大学 | Toy automatic sorting dolly |
| CN103252768A (en) * | 2013-06-09 | 2013-08-21 | 姬志刚 | Robot capable of fetching and placing article in narrow pipeline |
| CN104532948A (en) * | 2014-12-25 | 2015-04-22 | 漳州市锦成电力设备有限公司 | Pipeline robot with garbage smashing and collecting function |
| CN108705845A (en) * | 2018-05-30 | 2018-10-26 | 浙江银采天实业有限公司 | The Frictioning device of compounding machine |
| CN109268618A (en) * | 2018-09-19 | 2019-01-25 | 陈东 | Inner condition of pipeline detects robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10180655A (en) * | 1996-12-19 | 1998-07-07 | Nkk Corp | Remover for foreign matter in pipe |
| CN1695906A (en) * | 2005-06-16 | 2005-11-16 | 武汉大学 | Detection robot |
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN201094961Y (en) * | 2007-11-06 | 2008-08-06 | 河北晶罡工程设备安装有限公司 | Central air-conditioning air duct clearing robot |
| CN201361870Y (en) * | 2008-11-07 | 2009-12-16 | 上海电机学院 | Gripper mechanical hand |
| CN101797748A (en) * | 2010-01-08 | 2010-08-11 | 武汉若比特机器人有限公司 | Multiple-degree-of-freedom anti-explosion mechanical arm |
-
2012
- 2012-01-06 CN CN2012100040029A patent/CN102554915A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10180655A (en) * | 1996-12-19 | 1998-07-07 | Nkk Corp | Remover for foreign matter in pipe |
| CN1695906A (en) * | 2005-06-16 | 2005-11-16 | 武汉大学 | Detection robot |
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN201094961Y (en) * | 2007-11-06 | 2008-08-06 | 河北晶罡工程设备安装有限公司 | Central air-conditioning air duct clearing robot |
| CN201361870Y (en) * | 2008-11-07 | 2009-12-16 | 上海电机学院 | Gripper mechanical hand |
| CN101797748A (en) * | 2010-01-08 | 2010-08-11 | 武汉若比特机器人有限公司 | Multiple-degree-of-freedom anti-explosion mechanical arm |
Non-Patent Citations (3)
| Title |
|---|
| 刘小勇等: "管内异物抓取机械手机构设计与运动学研究", 《机械设计与制造》, no. 9, 31 December 2010 (2010-12-31), pages 10 - 11 * |
| 宋文骐等: "机械手的基本知识（三）", 《锻压机械》, no. 3, 31 December 1979 (1979-12-31), pages 33 - 35 * |
| 宋文骐等: "机械手的基本知识（四）", 《锻压机械》, no. 5, 31 December 1979 (1979-12-31), pages 43 - 44 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102961876A (en) * | 2012-11-08 | 2013-03-13 | 陕西科技大学 | Toy automatic sorting dolly |
| CN103252768A (en) * | 2013-06-09 | 2013-08-21 | 姬志刚 | Robot capable of fetching and placing article in narrow pipeline |
| CN104532948A (en) * | 2014-12-25 | 2015-04-22 | 漳州市锦成电力设备有限公司 | Pipeline robot with garbage smashing and collecting function |
| CN108705845A (en) * | 2018-05-30 | 2018-10-26 | 浙江银采天实业有限公司 | The Frictioning device of compounding machine |
| CN109268618A (en) * | 2018-09-19 | 2019-01-25 | 陈东 | Inner condition of pipeline detects robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102554915A (en) | Robot for taking out foreign matters from ventilation duct of air conditioner of train | |
| CN103963043A (en) | Intelligent robot for power station inspection and maintenance and control system thereof | |
| CN201516604U (en) | Modular track rocker-arm type colliery underground robotic explorer | |
| CN101893524B (en) | Air duct intelligent identifying, detecting and sampling robot | |
| CN101913144B (en) | Mobile mechanical arm | |
| CN108406726A (en) | A kind of wheel type movable machine explosive-removal robot | |
| CN105966485A (en) | Wheel type magnetic adsorption wall-climbing robot | |
| CN1907583A (en) | Multifunctional pipeline cleaning robot | |
| CN205485455U (en) | Vehicle chassis inspection robot control system | |
| CN103803100A (en) | Binary star eight-wheel lunar vehicle | |
| CN207037466U (en) | A kind of visual detection robot system applied to underground coal mine | |
| CN101704240B (en) | Robot for cleaning and disinfecting elevator shaft | |
| CN201600573U (en) | Cleaning robot controller of air duct system | |
| CN111390888A (en) | Double-drive type modular snake-shaped robot based on multi-sensor fusion and driving method | |
| CN111043448A (en) | Pipeline robot | |
| CN106078672B (en) | Mono-track intelligent inspection robot | |
| CN112828856A (en) | Novel tunnel multifunctional combined type inspection robot | |
| CN106976491A (en) | A kind of lightweight magnetic roller adsorption type wall climbing robot | |
| CN210653414U (en) | Wall-climbing robot | |
| CN205632714U (en) | Wheeled magnetism adsorbs wall climbing robot | |
| CN102896122A (en) | Multifunctional cleaning robot for pipeline | |
| CN102661740A (en) | Intelligent measurement robot | |
| CN202725567U (en) | Multifunctional pipeline cleaning robot | |
| CN102784778B (en) | All-terrain ducted dust-removal robot | |
| CN204054037U (en) | A kind of service robot with vision system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120711 |