CN106475992A - A kind of robot is sent into structure - Google Patents
A kind of robot is sent into structure Download PDFInfo
- Publication number
- CN106475992A CN106475992A CN201611074628.1A CN201611074628A CN106475992A CN 106475992 A CN106475992 A CN 106475992A CN 201611074628 A CN201611074628 A CN 201611074628A CN 106475992 A CN106475992 A CN 106475992A
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- CN
- China
- Prior art keywords
- robot
- plate
- sent
- loading
- grabbing device
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot to be sent into structure, including bracing frame, weight-loading rod, grabbing device, pushing device, fixed plate, gripper shoe, baffle plate, installing hole, base, guide rail, loading plate, load bearing seat, mounting plate, ring for fixing, button and bottom plate, described installing hole is opened in the surface of fixed plate；Described baffle plate is welded on the centre position of gripper shoe；Described loading plate is arranged on the top of base；Described bottom plate is arranged on the middle part of load bearing seat and mounting plate；Described grabbing device includes mechanical arm, mounting seat, handgrip, crawl main body and rotating disk, and described mounting seat is connected with crawl main body by mechanical arm.The setting by grabbing device for the present invention, conveniently robot is placed on guide rail, is conveniently operated, by fixed plate, the setting of gripper shoe, baffle plate and installing hole, improves bearing capacity, convenient dismounting, reduce cost of manufacture, by the setting of rotating disk, so that grabbing device can be rotated.
Description
Technical field
The invention belongs to feeding technical field of structures, more particularly, to a kind of robot is sent into structure.
Background technology
At present, the tubular body being applied in gap or pipe is sent into equipment Development slowly, and related document and patent are less.Mesh
Before, there is extensive demand to the feeding equipment of tubular body, the such as detection of the occasion such as underground or irregular passage and glove.Especially
It is some special occasions, such as the ruins scene after earthquake occurring, caving in, and the equipment detecting and rescue is sent into and stitches into ruins
Gap works, and expands as far as possible and searches and rescues scope, strives for the search and rescue time, it appears particularly important.With scientific and technological development, by advanced
Science and technology, science and technology is searched and rescued and is widely used in Post disaster relief, and some science such as such as life-detection instrument search and rescue equipment.Although
Advanced life-detection instrument can search sign of life, but their range has significant limitation.Most life
Survey meter can only detect on ruins top layer, and the depth of detection is limited, can not deeply detect the life letter within ruins
Number, and the internal complicated chaotic environment in ruins has a strong impact on quality and the precision of signal, is allowed to effectively to be searched and rescued.
Have many narrow spaces in ruins, these narrow spaces for people and rescue dogs, very narrow and small thus can not enter
Inside is rescued.In order to meet the needs of disaster ruins rescue works, lot of domestic and international research institution has all carried out substantial amounts of
Research work, is applied to that the caterpillar type robot of disaster ruins site environment, polymorphic robot, bio-robot etc. are all types of to be searched
Rescue robot to be developed.But these search and rescue robots are mainly nonetheless focused upon surface searches and rescues it is impossible to go deep into gap.At present,
Search-and-rescue work within ruins typically all relies on tiny tubular body (as " snake eye " life-detection instrument) or snake-shaped robot, this
Class robot or survey meter are very limited due to lacking feeder, the distance going deep into ruins gap, therefore tubular body are sent
Entering equipment has a urgent demand, Chinese Application No. 201510134195.3, a kind of tubulose being applied in gap or pipe
Body is sent into robot, drive mechanism, feed mechanism and the support installed including the machine human organism of encircling type, robot internal body
Opening mechanism；Described machine human organism is similar to ship shape by three lobe identical body module compositions, described body module, three lobe machines
Module is hinged by hinge at edge, and two lobes that two ends fold pass through adjustable threaded；It is provided with body module and lead
Wheel seat, equipped with guide wheel on wheel stand, guide wheel makes the motion held stationary of robot.The present invention is applied to diameter of phi 10～Φ 14mm
Rigidity or the tubular body with certain flexibility, can comprise in the gap space of Φ 80mm circular section in sectional dimension, by many
Individual machine person cooperative work completes to be sent into work.Robot can carry extended function module, realizes to gap interior volume situation
Inspection, detection, be particularly suited for seismic ruins gap search and rescue, detect etc. field.But, existing feeding structure exists not
Convenient dismounting, it has not been convenient to be placed on robot on slideway, supports unstable problem.
Therefore, a kind of invention robot feeding structure seems very necessary.
Content of the invention
The present invention is to solve to be inconvenient to dismantle it has not been convenient to be placed on robot on slideway present in known technology,
The unstable problem of support and provide a kind of robot to be sent into structure.
The present invention is adopted the technical scheme that by solving technical problem present in known technology：A kind of robot is sent into
Structure includes bracing frame, weight-loading rod, grabbing device, pushing device, fixed plate, gripper shoe, baffle plate, installing hole, base, guide rail,
Loading plate, load bearing seat, mounting plate, ring for fixing, button and bottom plate, described installing hole is opened in the surface of fixed plate；Described
Baffle plate be welded on the centre position of gripper shoe；Described loading plate is arranged on the top of base；Described bottom plate is arranged on
Load bearing seat and the middle part of mounting plate；Described grabbing device includes mechanical arm, mounting seat, handgrip, crawl main body and rotating disk,
Described mounting seat is connected with crawl main body by mechanical arm；Described crawl main body is connected with mounting plate by rotating disk.
Described pushing device includes carrying out mouth, containment vessel, push rod, cylinder, link, carries out groove and cuts somebody's hair, described
Carry out the lower left that mouth is opened in containment vessel；Described cutting somebody's hair is connect with cylinders by push rod；Described implementation groove is arranged on
The left side of link.
Described rotating disk is arranged on the top of pushing device, is conducive to making grabbing device can rotate, and improves work efficiency.
Described cylinder is concrete to be conducive to improving and is released effect using no bounce cylinder, time-consuming, improves using effect
Rate.
Described push rod specifically adopts hydraulic stem, is conducive to conveniently operating, and improves service life, reduces maintenance cost.
Described bracing frame is arranged on below base, is conducive to improving bearing capacity, convenient dismounting, and reduction is fabricated to
This.
Described handgrip is arranged in mounting seat, is conducive to conveniently robot being placed on guide rail, is conveniently operated.
Described weight-loading rod is arranged on the position to the left of loading plate by ring for fixing and button, is conducive to increasing balance
Can, prevent accident.
Described guide rail is laid on loading plate, is conducive to coordinating pushing device to make robot can enter line slip, convenient
Stop in suitably place.
The present invention has the advantages and positive effects that：
The setting by grabbing device for the present invention, conveniently robot is placed on guide rail, is conveniently operated, by solid
The setting of fixed board, gripper shoe, baffle plate and installing hole, improves bearing capacity, convenient dismounting, reduces cost of manufacture, by rotating disk
Setting, makes grabbing device can rotate.
Brief description
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of the grabbing device of the present invention.
Fig. 3 is the structural representation of the pushing device of the present invention.
In figure：
1- bracing frame, 2- weight-loading rod, 3- grabbing device, 31- mechanical arm, 32- mounting seat, 33- handgrip, 34- captures main body,
35- rotating disk, 4- pushing device, 41- carries out mouth, 42- containment vessel, 43- push rod, 44- cylinder, 45- link, and 46- carries out groove,
47- cuts somebody's hair, 5- fixed plate, 6- gripper shoe, 7- baffle plate, 8- installing hole, 9- base, 10- guide rail, 11- loading plate, 12- load bearing seat,
13- mounting plate, 14- ring for fixing, 15- button, 16- bottom plate.
Specific embodiment
Below in conjunction with accompanying drawing, the present invention is described further：
Embodiment：
As shown in accompanying drawing 1 is to accompanying drawing 3
The present invention provides a kind of robot to be sent into structure to include bracing frame 1, weight-loading rod 2, grabbing device 3, pushing device 4,
Fixed plate 5, gripper shoe 6, baffle plate 7, installing hole 8, base 9, guide rail 10, loading plate 11, load bearing seat 12, mounting plate, ring for fixing 14,
Button 15 and bottom plate 16, described installing hole 8 is opened in the surface of fixed plate 5；Described baffle plate 7 is welded on gripper shoe 6
Centre position；Described loading plate 11 is arranged on the top of base 9；Described bottom plate 16 is arranged on load bearing seat 12 and mounting plate
13 middle part；Described grabbing device 3 includes mechanical arm 31, mounting seat 32, handgrip 33, crawl main body 34 and rotating disk 35,
Described mounting seat 32 is passed through mechanical arm 31 and is connected with crawl main body 34；Described crawl main body 34 passes through rotating disk 35 and pop-up
Plate 13 is connected.
Described pushing device 4 includes carrying out mouth 41, containment vessel 42, push rod 43, cylinder 44, link 45, carries out groove 46
With cut somebody's hair 47, described carries out the lower left that mouth 41 is opened in containment vessel 42；Described cuts somebody's hair 47 by push rod 43 and cylinder 44
It is connected；Described carries out the left side that groove 46 is arranged on link 45.
Described rotating disk 35 is arranged on the top of pushing device 4, is conducive to making grabbing device 3 can rotate, and improves work
Efficiency.
Described cylinder 44 specifically adopts no bounce cylinder, is conducive to improving and releases effect, time-consuming, improves using effect
Rate.
Described push rod 43 specifically adopts hydraulic stem, is conducive to conveniently operating, and improves service life, reduces maintenance cost.
Described bracing frame 1 is arranged on below base 9, is conducive to improving bearing capacity, convenient dismounting, and reduction is fabricated to
This.
Described handgrip 33 is arranged in mounting seat 32, is conducive to conveniently robot being placed on guide rail 10, conveniently enters
Row work.
Described weight-loading rod 2 passes through ring for fixing 14 and button 15 is arranged on the position to the left of loading plate 11, is conducive to increasing
Balance quality, prevents accident.
Described guide rail 10 is laid on loading plate 11, is conducive to coordinating pushing device 4 to make robot can enter line slip,
Conveniently stop in suitably place.
Operation principle
The present invention in the course of the work, by adjusting rotating disk so that robot is placed on guide rail handgrip, then passes through gas
Robot is released on guide rail by cylinder, push rod and cutting somebody's hair, by fixed plate, gripper shoe, and base plate can be supportted by baffle plate and installing hole
Rise.
Using technical solutions according to the invention, or those skilled in the art is under the inspiration of technical solution of the present invention,
Design similar technical scheme, and reach above-mentioned technique effect, all fall into protection scope of the present invention.
Claims (9)
1. a kind of robot is sent into structure it is characterised in that this robot is sent into structure, including bracing frame (1), weight-loading rod (2),
Grabbing device (3), pushing device (4), fixed plate (5), gripper shoe (6), baffle plate (7), installing hole (8), base (9), guide rail
(10), loading plate (11), load bearing seat (12), mounting plate (13), ring for fixing (14), button (15) and bottom plate (16), described
Installing hole (8) is opened in the surface of fixed plate (5)；Described baffle plate (7) is welded on the centre position of gripper shoe (6)；Described
Loading plate (11) is arranged on the top of base (9)；Described bottom plate (16) is arranged on load bearing seat (12) and mounting plate (13)
Middle part；Described grabbing device (3) includes mechanical arm (31), mounting seat (32), handgrip (33), captures main body (34) and turns
Disk (35), described mounting seat (32) is passed through mechanical arm (31) and is connected with crawl main body (34)；Described crawl main body (34)
It is connected with mounting plate (13) by rotating disk (35).
2. robot as claimed in claim 1 is sent into structure it is characterised in that described pushing device (4) includes carrying out mouth
(41), containment vessel (42), push rod (43), cylinder (44), link (45), carry out groove (46) and cut somebody's hair (47), described implementation
Mouth (41) is opened in the lower left of containment vessel (42)；Described cut somebody's hair (47) are connected with cylinder (44) by push rod (43)；Institute
The implementation groove (46) stated is arranged on the left side of link (45).
3. robot as claimed in claim 1 is sent into structure it is characterised in that described rotating disk (35) is arranged on pushing device
(4) top.
4. robot as claimed in claim 2 is sent into structure it is characterised in that described cylinder (44) is specifically using no buffering
Cylinder.
5. robot as claimed in claim 1 is sent into structure it is characterised in that described bracing frame (1) is arranged on base (9)
Below.
6. robot as claimed in claim 1 is sent into structure it is characterised in that described handgrip (33) is arranged on mounting seat
(32) on.
7. robot as claimed in claim 1 is sent into structure it is characterised in that described weight-loading rod (2) passes through ring for fixing
And button (15) is arranged on the position to the left of loading plate (11) (14).
8. robot as claimed in claim 1 is sent into structure it is characterised in that described guide rail (10) is laid on loading plate
(11) on.
9. robot as claimed in claim 1 is sent into structure it is characterised in that described push rod (43) specifically adopts hydraulic pressure
Bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611074628.1A CN106475992A (en) | 2016-11-30 | 2016-11-30 | A kind of robot is sent into structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611074628.1A CN106475992A (en) | 2016-11-30 | 2016-11-30 | A kind of robot is sent into structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106475992A true CN106475992A (en) | 2017-03-08 |
Family
ID=58274286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611074628.1A Pending CN106475992A (en) | 2016-11-30 | 2016-11-30 | A kind of robot is sent into structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106475992A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111962635A (en) * | 2019-06-28 | 2020-11-20 | 吴洋 | Road surface ditch cover plate laying device for municipal works |
-
2016
- 2016-11-30 CN CN201611074628.1A patent/CN106475992A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111962635A (en) * | 2019-06-28 | 2020-11-20 | 吴洋 | Road surface ditch cover plate laying device for municipal works |
| CN111962635B (en) * | 2019-06-28 | 2021-10-22 | 淮北联诚网络科技有限公司 | Road surface ditch cover plate laying device for municipal works |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170308 |
|
| WD01 | Invention patent application deemed withdrawn after publication |