CN106892017A - A kind of bipacking-auger drives closed conduit walking robot - Google Patents
A kind of bipacking-auger drives closed conduit walking robot Download PDFInfo
- Publication number
- CN106892017A CN106892017A CN201710143078.2A CN201710143078A CN106892017A CN 106892017 A CN106892017 A CN 106892017A CN 201710143078 A CN201710143078 A CN 201710143078A CN 106892017 A CN106892017 A CN 106892017A
- Authority
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- China
- Prior art keywords
- auger
- closed conduit
- bipacking
- walking robot
- loading plate
- 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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- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000002708 enhancing effect Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 210000004072 lung Anatomy 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/036—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members screw type, e.g. Archimedian screw
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to environmental geotechnical technical field, disclose a kind of bipacking-auger and drive closed conduit walking robot, including：Two augers, loading plate, driving structure and infrared image pickup devices be arrangeding in parallel；The auger is rotatably mounted on the loading plate；The driving structure is fixed on the loading plate, is connected with auger transmission；The infrared image pickup device is fixed on the loading plate.The present invention provides a kind of bipacking-auger and drives closed conduit walking robot, improves the efficiency of the exploration of closed conduit situation and rope threading operation, simplifies operation difficulty.
Description
Technical field
The present invention relates to environmental geotechnical technical field, more particularly to a kind of bipacking-auger drives closed conduit walking robot.
Background technology
Closed conduit is " pipeline type " river course, and water is can't see in top, excellent with what fortune water was saved with moisture evaporation is reduced
Gesture.It is weak yet with residential environments protective awareness, often dumped rubbish waste from part closed conduit inspection socket, pollute dark channel water
Source.Additionally, tiny silt easily enters closed conduit, cause closed conduit bottom sludge sanitary fill serious, if desilting not in time, easily causes water
Stream is moderate, and fortune water saves decline with the obvious advantage.
Need to obtain the detailed condition of the debris such as mud, rubbish in closed conduit in closed conduit desilting engineering, or need steel wire
Paragraph between the adjacent inspection socket of rope through over culvert, but because closed conduit is long and narrow and closed, cause difficulty of construction very big.
The content of the invention
The present invention provides a kind of bipacking-auger and drives closed conduit walking robot, solve in closed conduit in the prior art condition detection and
Rope threading operation difficulty is big, the low technical problem of efficiency.
In order to solve the above technical problems, closed conduit walking robot is driven the invention provides a kind of bipacking-auger, including：It is parallel
Two augers, loading plate, driving structure and the infrared image pickup devices for setting；
The auger is rotatably mounted on the loading plate；
The driving structure is fixed on the loading plate, is connected with auger transmission；
The infrared image pickup device is fixed on the loading plate.
Further, the infrared image pickup device connects monitor terminal by cable.
Further, the driving structure is two sets, corresponds to drive two augers respectively.
Further, the driving structure includes：Bevel gear wheel, bevel pinion and driving element；
The bevel gear wheel is engaged with the auger；
The driving element is driven with the bevel gear wheel by the bevel pinion and is connected.
Further, the driving structure also includes：Remote terminal；
The remote terminal is connected with the driving element.
Further, the driving element includes：Reducing motor；
The reducing motor is connected with bevel pinion transmission；The bevel pinion is engaged with the bevel gear wheel.
Further, the infrared image pickup device is thermal camera.
Further, also include：Pull rope；
The pull rope is connected with the loading plate.
Further, the pull rope is steel wire rope.
One or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage：
The bipacking-auger provided in the embodiment of the present application drives closed conduit walking robot, and infrared photography is carried by two augers
Equipment, creeps into closed conduit, the situation of the debris such as mud, rubbish in shooting closed conduit, easy to operate efficient；Auger is by drilling
Form, realization moves forward and backward operation, the complex environment in closed conduit can be fully adapted to, for various mud, debris accumulation
Situation can keep good locomotivity, so as to realize efficient shooting operation.Meanwhile, multiple twin lung model can be in rollover
Under Deng extreme situation, possess traveling ability, further enhancing closed conduit exploration ability；By driving element and by bevel gear wheel
The drive mechanism constituted with bevel pinion, realizes the high efficiency drive of auger, so as to lift transmission efficiency and reliability.By two sets
Driving structure each independently drives an auger, can realize different rotating speed outputs, so as to realize the complexity such as turning avoidance
Traveling is acted, so that the traveling ability being further lifted in closed conduit.Closed conduit rope can be efficiently realized by setting pull rope
Rope threading operation.
Brief description of the drawings
The structural representation of the bipacking-auger driving closed conduit walking robot that Fig. 1 is provided for the present invention.
Specific embodiment
The embodiment of the present application drives closed conduit walking robot by providing a kind of bipacking-auger, solves in closed conduit in the prior art
Condition detection and rope threading operation difficulty are big, the low technical problem of efficiency；Simplified operation, the skill of lifting operation efficiency are reached
Art effect.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the application skill
The detailed description of art scheme, rather than the restriction to technical scheme, in the case where not conflicting, the embodiment of the present application with
And the technical characteristic in embodiment can be mutually combined.
Referring to Fig. 1, a kind of bipacking-auger drives closed conduit walking robot, including：Two augers 1, loading plate be arrangeding in parallel
4th, driving structure and infrared image pickup device 6.
The auger 1 is rotatably mounted on the loading plate 4；
The driving structure is fixed on the loading plate 4, is connected with the transmission of the auger 1；
The infrared image pickup device is fixed on the loading plate 4.
With auger 1 as travel configuration, the complex environment that mud debris are piled up in closed conduit is fully adapted to, it is ensured that efficiently advance,
So as to lift exploration efficiency.Coordinate infrared image pickup device specifically to perform in closed conduit to shoot, so as to realize on the whole efficient, reliable
Exploration operation.
Preferably, infrared image pickup device can in real time obtain the situation in closed conduit by one monitor terminal of connection of cable 7.
Further, the driving structure is two sets, corresponds to drive two augers 1 respectively such that it is able to by list
Solely the output of control rotating speed, realizes various compound actions, it is ensured that good by property.
Specifically, the driving structure includes：Bevel gear wheel 2, bevel pinion 3 and driving element 5.
The bevel gear wheel 2 is engaged with the auger 1；The driving element 5 passes through the bevel pinion 3 and the auger
The transmission of gear 2 is connected, and exports reliable and stable power.
Preferably, the driving structure also includes：Remote terminal；The remote terminal is connected with the driving element 5.
Outside closed conduit, monitor terminal is coordinated to realize that remote control traveling and closed conduit shoot, adaptability of the enhancing to closed conduit environment.
The driving element 5 includes：Reducing motor；The reducing motor is connected with the transmission of the bevel pinion 3；It is described small
Bevel gear 3 engages with the bevel gear wheel 2.Other actuators can also according to actual needs be passed through.
The infrared image pickup device 6 is thermal camera, lifts shooting effect.
Further, the robot also includes：Pull rope 8；The pull rope 8 is connected with the loading plate 4, so that,
Rely on the good of auger and the purpose that rope in closed conduit is connected is reached by performance；Also, when walking robot failure cannot
During traveling, it can by force be hauled out by closed conduit by the pull rope 8.
Preferably, the pull rope is steel wire rope, it is ensured that structural strength.
One or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage：
The bipacking-auger provided in the embodiment of the present application drives closed conduit walking robot, and infrared photography is carried by two augers
Equipment, creeps into closed conduit, the situation of the debris such as mud, rubbish in shooting closed conduit, easy to operate efficient；Auger is by drilling
Form, realization moves forward and backward operation, the complex environment in closed conduit can be fully adapted to, for various mud, debris accumulation
Situation can keep good locomotivity, so as to realize efficient shooting operation.Meanwhile, multiple twin lung model can be in rollover
Under Deng extreme situation, possess traveling ability, further enhancing closed conduit exploration ability；By driving element and by bevel gear wheel
The drive mechanism constituted with bevel pinion, realizes the high efficiency drive of auger, so as to lift transmission efficiency and reliability.By two sets
Driving structure each independently drives an auger, can realize different rotating speed outputs, so as to realize the complexity such as turning avoidance
Traveling is acted, so that the traveling ability being further lifted in closed conduit.Closed conduit rope can be efficiently realized by setting pull rope
Rope threading operation.
It should be noted last that, above specific embodiment is merely illustrative of the technical solution of the present invention and unrestricted,
Although being described in detail to the present invention with reference to example, it will be understood by those within the art that, can be to the present invention
Technical scheme modify or equivalent, without deviating from the spirit and scope of technical solution of the present invention, it all should cover
In the middle of scope of the presently claimed invention.
Claims (9)
1. a kind of bipacking-auger drives closed conduit walking robot, it is characterised in that including：Two augers be arrangeding in parallel, loading plate,
Driving structure and infrared image pickup device；
The auger is rotatably mounted on the loading plate；
The driving structure is fixed on the loading plate, is connected with auger transmission；
The infrared image pickup device is fixed on the loading plate.
2. bipacking-auger as claimed in claim 1 drives closed conduit walking robot, it is characterised in that：The infrared image pickup device leads to
Cross cable connection monitor terminal.
3. bipacking-auger as claimed in claim 1 drives closed conduit walking robot, it is characterised in that：The driving structure is two
Set, corresponds to drive two augers respectively.
4. bipacking-auger as claimed in claim 1 drives closed conduit walking robot, it is characterised in that the driving structure includes：
Bevel gear wheel, bevel pinion and driving element；
The bevel gear wheel is engaged with the auger；
The driving element is driven with the bevel gear wheel by the bevel pinion and is connected.
5. bipacking-auger as claimed in claim 4 drives closed conduit walking robot, it is characterised in that the driving structure is also wrapped
Include：Remote terminal；
The remote terminal is connected with the driving element.
6. bipacking-auger as claimed in claim 5 drives closed conduit walking robot, it is characterised in that the driving element includes：
Reducing motor；
The reducing motor is connected with bevel pinion transmission；The bevel pinion is engaged with the bevel gear wheel.
7. bipacking-auger as claimed in claim 1 drives closed conduit walking robot, it is characterised in that：The infrared image pickup device is
Thermal camera.
8. bipacking-auger drives closed conduit walking robot as described in any one of claim 1~7, it is characterised in that also include：Traction
Rope；
The pull rope is connected with the loading plate.
9. bipacking-auger as claimed in claim 8 drives closed conduit walking robot, it is characterised in that：The pull rope is steel wire rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710143078.2A CN106892017A (en) | 2017-03-10 | 2017-03-10 | A kind of bipacking-auger drives closed conduit walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710143078.2A CN106892017A (en) | 2017-03-10 | 2017-03-10 | A kind of bipacking-auger drives closed conduit walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106892017A true CN106892017A (en) | 2017-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710143078.2A Pending CN106892017A (en) | 2017-03-10 | 2017-03-10 | A kind of bipacking-auger drives closed conduit walking robot |
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| CN (1) | CN106892017A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108506635A (en) * | 2017-09-27 | 2018-09-07 | 南京管科智能科技有限公司 | A kind of pipe robot |
| CN108636954A (en) * | 2018-03-15 | 2018-10-12 | 许琴 | Central air-conditioning pipe deashing robot |
| CN108848697A (en) * | 2018-09-11 | 2018-11-23 | 浮浩沂 | A kind of screw propulsion weed breaker |
| CN110182271A (en) * | 2019-06-14 | 2019-08-30 | 烟台工程职业技术学院(烟台市技师学院) | A kind of conveyor in mountainous region tool moving trolley |
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| CN110182271A (en) * | 2019-06-14 | 2019-08-30 | 烟台工程职业技术学院(烟台市技师学院) | A kind of conveyor in mountainous region tool moving trolley |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170627 |
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| RJ01 | Rejection of invention patent application after publication |