CN107829492A - A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot - Google Patents
A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot Download PDFInfo
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- CN107829492A CN107829492A CN201711071993.1A CN201711071993A CN107829492A CN 107829492 A CN107829492 A CN 107829492A CN 201711071993 A CN201711071993 A CN 201711071993A CN 107829492 A CN107829492 A CN 107829492A
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- toe
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- pin components
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
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- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
- E03F7/106—Accessories, e.g. hose support
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot, including for being bonded sewer pipe inwall and causing six mechanical pin components of the Robot sewer pipe movement, this six mechanical pin components are arranged to two groups of leg groups of symmetrically walking, and the top of this six mechanical pin components is respectively and movably connected on same chassis, so that the top installation site of this six mechanical pin components is maintained at the same horizontal plane；Whole robot is set to be walked in inner-walls of duct using walking mechanism of the present invention, robot of the present invention integrates " cleaning dredging " function, instead of the artificial dredging for carrying out underground piping, mechanical pin components can radially outward open along pipeline, mechanical pin components is reliably contacted on the inner-walls of duct of different-diameter, improve a kind of adaptability for being used to dredge the small intelligent robot of sewer pipe, robot of the invention is without manually entering well work, automaticity is high, improves security.
Description
Technical field
The present invention relates to robot field, is applied to dredging sewer pipe small intelligent machine more specifically to one kind
The walking mechanism of device people.
Background technology
With the development of society, the modernization construction in city, substantial amounts of municipal sewer is installed under road surface.Whenever having
During a large amount of precipitation snowfalls, government department all tissue dredging in advance, cleaning sewer, and can be run into dredging, cleaning very intractable
The problem of, such as：Pipeline specifications are uneven, different, and some pipelines even can not enter people, and existing cleaning tool can not be realized
Dredging completely, artificial dredging price are high.Therefore due to caused by the above reason dredging it is unfavorable, result in very heavy rains it
When, road surface Cheng He, market place builet below the ground and parking lot are even more so tragic that one cannot bear to look at it, according to incompletely statistics, every year because caused by lower water is unfavorable
Direct losses are up to billions of members.
Urban sewage Pipeline dredger on China domestic market is the legacy equipment of design production in one's early years, can only be played
The effect of indirect labor's dredging, high human cost is spent in dredging sewer, and legacy equipment has using limitation
Property it is big, dredge effect difference the shortcomings that.Application number CN201710113390.7 is disclosed " a kind of pipe-dredging machine people ", including by
Cutting mechanism, walking mechanism and the obstacle deflector set gradually after forward direction；The cutting mechanism is used to blend the obstruction in pipeline
Thing；The walking mechanism includes to radially expand to inner-walls of duct along pipeline contacting, and for making the Robot pipeline
The road wheel vertically moved；The obstacle deflector is used for the obturator collected after blending and discharged it outside pipeline.It is but such
The resistance to compression degree and stationarity of robot are not sufficiently stable, and can not effectively be worked in inclement weather, for control system
Protection it is also not tight enough.Application number CN201510539376.4 " a kind of pipe-dredging machine people ", including it is main body, first annular
Mounting bracket and the second annular mounting frame, blade and blade gear motor, drill bit and drill bit gear motor, six high pressure water vats and six
Individual gear motor, 12 road wheels, it is characterised in that：Described main body is cylindrical body structure, described first
Annular mounting frame and the second annular mounting frame are the cylindrical body knot of annular coil structures, described annular ring diameters and main body
Structure diameter is identical；First annular mounting bracket is fixedly mounted in the middle part of main body, and the second annular mounting frame is fixedly mounted on body top,
The axis of first annular mounting bracket and the second annular mounting frame overlaps with the axis direction of main body；Described blade gear motor hangs down
Directly it is fixedly mounted in main body axis direction in the diametric(al) of first annular mounting bracket；Described drill bit gear motor perpendicular to
Main body axis direction is fixedly mounted in the diametric(al) of the second annular mounting frame；Described blade gear motor and drill bit gear
Motor configuration is identical, is provided with mounting bracket, work water inlet and two working gears, and described mounting bracket is separately mounted to the
On one annular mounting frame and the second annular mounting frame, work water inlet is high-pressure water inlet, the main shaft and blade of described blade
Working gear axial restraint connection in gear motor, main shaft and the working gear axle in drill bit gear motor of described drill bit
To being fixedly connected；Described blade and the axis direction of drill bit and the axis direction of main body overlap；Six described drivings
Gear motor is provided with the first body cradle, the second body cradle, two drive gears, driving water inlet；Six described sliding tooths
Three gear motors in wheel motor are hingedly mounted in main body by the first body cradle respectively, along main body even circumferential point
Cloth, and it is located at first annular mounting bracket bottom；Three other gear motors pass through the be hinged installation of the first body cradle respectively
In main body, it is distributed along main body even circumferential, and be located at the second annular mounting frame bottom；The cylinder body of six described high pressure water vats
Be respectively articulated with the main body, and positioned at the surface of each gear motor, the piston of each high pressure water vat respectively with
The second body cradle in each gear motor is hinged；Each two is separately mounted in 12 described road wheels
The both sides of each gear motor, and be axially fixedly connected with a drive gear in gear motor, road wheel
The axis direction of axis direction and drive gear overlaps.This apparatus structure is complicated, the precise degrees requirement for parts
It is too high, it is also necessary to certain resource provision is provided, this configuration for adverse circumstances and other resources be proposed it is higher will
Ask.
The content of the invention
In view of this, it is an object of the invention to provide it is a kind of be used for dredge sewer pipe small intelligent robot and
A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot, without manually entering well work, automaticity is high,
Security is improved, while is suitable for different tube diameters pipeline and the working environment of pipeline complexity, realizes high efficiency, high quality
Pipe-dredging work.
In order to achieve the above object, the present invention provides following technical scheme：
It is a kind of to be used to dredge the small intelligent robot of sewer pipe, including set gradually from top to bottom cleaning mechanism,
Chassis and a kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot；
The cleaning mechanism is used for the obturator cleared up in pipeline；
The chassis is used to connect the cleaning mechanism and the walking mechanism；
A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot of the present invention includes being bonded in pipeline
Wall and a plurality of mechanical pin components for causing the Robot pipeline movement.
Preferably, the cleaning mechanism includes drill unit, rotary unit, fragmentation cell and power unit, the drilling
Unit is connected with the rotary unit by arm seat, and the rotary unit includes the second Power Component and driving arm seat, and institute
State rotary unit to be connected by the second Power Component with the fragmentation cell, the power unit passes through institute with the rotary unit
State driving arm seat connection.
Preferably, the drill unit is included described in bidirectional drill, the turning arm being connected with the bidirectional drill and driving
The first Power Component that turning arm rotates.
Preferably, the rotary unit also includes big arm and connecting rod, and second Power Component drives the big arm
Rotate, the big arm lower end is fixedly connected with the driving arm seat, and the big arm upper end and one end of the arm seat are consolidated
Fixed connection, the connecting rod lower end is pivotally connected with the pitman shaft rotary shaft and passes through the pitman shaft bearing sleeve and the big arm
Connection, the small end and the arm seat other end are pivotally connected, and second Power Component passes through the connecting-rod bearing
Set drives the pitman shaft rotary shaft with the connecting rod that links, and is rolled over greatly by the way that connecting rod drive is described.
Preferably, the fragmentation cell includes arm, and the arm passes through second Power Component and the actuating arm
Seat is fixedly connected, and described arm one end sets liquid discharge device, and the other end is connected by feed tube with liquid storage box, the arm
Upside is provided with upper arm, and the sensor of collection pipeline surrounding environment is provided with the upper arm.
Preferably, the power unit includes the rotary shaft being connected with the driving arm seat and the driving rotary shaft rotates
Rotating wheel, described rotary shaft one end with it is described driving arm seat be connected, the other end is fixedly connected with the lower plate on the chassis.
Preferably, every mechanical pin components by provided for the mechanical pin components the first motor body of power with
The upper plate on the chassis is fixedly connected with lower plate, and a plurality of mechanical pin components are arranged to two groups of leg groups of symmetrically walking, and often
Mechanical pin components before group walking leg group includes one, mechanical pin components in mechanical pin components and one after one；
Every mechanical pin components include thigh parts and lower leg component, the thigh parts upper end and described the
First motor shaft of one motor body is fixedly connected, and passes through the second motor between the thigh parts bottom and the lower leg component
Second motor shaft of body is fixedly connected；First motor body is used to drive thigh parts upper end to carry out around first motor shaft
Rotary motion, the second motor body are used to drive thigh parts bottom to be rotated around second motor shaft.So
Realizing lower leg component can swing up and down motion around thigh parts, that is, realize the step action to personalize.
Preferably, the thigh parts include bending connector and gim peg, by described between the bending connector
Gim peg is fixedly connected；
The lower leg component includes leg connector and the toe part being connected with the leg connector, and the leg connects
Fitting is connected by shock absorbing apparatus with the lower leg component, and the shock absorbing apparatus includes spring and damping fixture, the damping
Fixture include be arranged on the upper transverse axis on the lower leg component, under horizontally and vertically, the upper transverse axis and the lower transverse axis one
End is fixed on the lower leg component, and the other end is connected by the longitudinal axis, and the spring is set in outside the longitudinal axis.
Preferably, the toe part includes toe part after two front toe parts and one, and the front toe part passes through front foot
Toe hydraulic control device is connected with the lower leg component, and the rear toe part passes through rear toe hydraulic control device and the shank
Part connects, and the front toe part passes through the connector of front toe first and the connector of the front toe second and the leg
Connector connects, and the rear toe part passes through the rear connector of toe first and the rear connector of toe second and the leg
Portion's connector connection.
Preferably, the bidirectional drill includes the big drill bit being connected with the turning arm and is connected with the big drill bit small
Drill bit, the big drill bit includes wammel chassis and along the equally distributed big drill blade of wammel chassis external circumferential, described small
Drill bit includes bradawl chassis and along the equally distributed small drill blade of bradawl chassis external circumferential.
According to above-mentioned technical scheme, it is recognised that a kind of small intelligent machine for being used to dredge sewer pipe of the present invention
Device people, including cleaning mechanism, chassis and one kind for setting gradually from top to bottom are applied to dredging sewer pipe small intelligent machine
The walking mechanism of device people；Cleaning mechanism is used for the obturator cleared up in pipeline；Chassis is used to connect cleaning mechanism and walking mechanism；
Walking mechanism includes that inner-walls of duct can be bonded and causes a plurality of mechanical pin components of Robot pipeline movement.One kind of the present invention
Small intelligent robot for dredging sewer pipe can be changed using cleaning mechanism to the physical property of object, by original
This hard object reduces intensity, and originally soft object is hardened and becomes frangible, easy to clean；Make whole machine using walking mechanism
Device people can walk in inner-walls of duct, and robot of the invention integrates " cleaning-dredging " function, can replace artificial carry out
The dredging of underground piping, in addition, the mechanical pin components of walking mechanism can radially outward open along pipeline, make mechanical pin components can
The contact leaned on improves a kind of adaptation for being used to dredge the small intelligent robot of sewer pipe on the inner-walls of duct of different-diameter
Property, without manually entering well work, automaticity is high for robot of the invention, improves security, while be suitable for different pipes
The working environment of footpath pipeline and pipeline complexity, realize the pipe-dredging work of high efficiency, high quality.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the dimensional structure diagram of robot of the present invention；
Fig. 2 is the side view of robot of the present invention；
Fig. 3 is the rearview of robot of the present invention；
Fig. 4 is the unit structural representation of the cleaning mechanism of robot of the present invention；
Fig. 5 is chassis and the structural representation of walking mechanism of robot of the present invention；
Fig. 6 is chassis and the top view of walking mechanism of robot of the present invention；
Fig. 7 is the structural representation of the mechanical pin components of robot of the present invention；
Fig. 8 is the diagrammatic cross-section of the mechanical pin components of robot of the present invention；
Fig. 9 is the structural representation of robot thigh parts of the present invention and lower leg component；
Figure 10 is the structural representation of the leg connector of robot of the present invention；
Figure 11 is the structural representation of the front toe of robot of the present invention；
Figure 12 is the structural representation of the rear toe of robot of the present invention；
Figure 13 is the gait figure of robot of the present invention；
Figure 14 is the structural representation at the maximum deflection angle between the front toe part of robot of the present invention and rear toe part；
Figure 15 is the structural representation at the minimum bend angle between the front toe part of robot of the present invention and rear toe part；
Wherein, marked in accompanying drawing as follows：
1- chassis, 2- machinery pin components, 3- bidirectional drills, 4- turning arms, the big arms of 5-, 6- driving arm seats, 7- arm seats,
8- connecting rods, 9- pitman shaft rotary shafts, 10- pitman shaft bearing sleeves, 11- arms, 12- liquid discharge devices, 13- feed tubes, 14- upper arm, 15-
Rotary shaft, 16- rotating wheels, 17- liquid storage boxes, 18- upper plates, 19- lower plates, 20- the first motor bodies, 21- thigh parts, 211-
Bending connector, 212- gim pegs, 2111- connection support, 22- lower leg components, 23- the second motor bodies, 25- legs connector,
253- side-nip pieces, 2531- through holes, 254- support bases, 255- sidepiece connecting seats, 256- support posts, 26- toe parts, 27-
Spring, 28- damping fixtures, the upper transverse axis of 2801-, the 2802- longitudinal axis, transverse axis under 2803-, 261- front toe parts, the sides of 2611- first
Connect up seat, 2612- the first lateral connection seats, 2613- front toes bottom surface, toe part after 262-, 2621- second connects on the side
Joint chair, 2622- the second lateral connection seats, toe bottom surface after 2623-, 281- front toe hydraulic control devices, toe liquid after 282-
Pressure control device, the connector of 2511- front toes first, the connector of 2512- front toes second, the connector of toe first after 2521-,
The connector of toe second after 2522-, 101- turning arm motors, the reductors of 102- first, 103- wrist motor gearboxes, 201- connect
Bar servomotor, the reductors of 202- second, the big drill bits of 301-, the small drill bits of 302-, 3011- wammels chassis, the big drill blades of 3012-,
3021- bradawls chassis, the small drill blades of 3022-.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
As shown in figures 1 to 6, the present invention provides a kind of specific implementation for being used to dredge the small intelligent robot of sewer pipe
Example, including cleaning mechanism, chassis 1 and one kind for setting gradually from top to bottom are applied to dredging sewer pipe small intelligent machine
The walking mechanism of people, cleaning mechanism are used for the obturator cleared up in pipeline, and cleaning mechanism includes drill unit, rotary unit, broken
Broken unit and power unit, drill unit are connected with rotary unit by arm seat 7, rotary unit include the second Power Component and
Arm seat 6 is driven, and rotary unit is connected with fragmentation cell by the second Power Component, power unit passes through driving with rotary unit
Arm seat 6 is connected, and cleaning mechanism is driven integrally-built rotary motion by power unit, drill unit, rotary unit and broken
Unit is sequentially connected, so that robot, which has, preferably coordinates cleaning ability.
Drill unit includes first that bidirectional drill 3, the turning arm 4 being connected with bidirectional drill 3 and driving turning arm 4 rotate
Power Component, the first Power Component include turning arm motor 101, the first reductor 102 for being connected with turning arm motor 101 and with
The wrist motor gearbox 103 of first reductor 102 connection, and wrist motor gearbox 103 is connected with turning arm 101, it is two-way
Drill bit 3 includes the big drill bit 301 being connected with turning arm 4 and the small drill bit 302 being connected with big drill bit 301, and big drill bit 301 includes big
Bore chassis 3011 and include bradawl bottom along the equally distributed big drill blade 3012 of the external circumferential of wammel chassis 3011, small drill bit 302
Disk 3021 and along the equally distributed small drill blade 3022 of the external circumferential of bradawl chassis 3021, the design of bidirectional drill 3 can be more preferable
Processing be unable to the barrier of depth aspect and different structure, to form laddering scale removal process, wherein turning arm 4 is dynamic first
It is rotated under the control of power component, is cleared up with driving bidirectional drill 3 to complete the barrier of different angle.
Rotary unit also includes big arm 5 and connecting rod 8, and the second Power Component drives big arm 5 to rotate, the second Power Component
The second reductor 202 being connected including connecting rod servomotor 201 and with connecting rod servomotor 201, the big lower end of arm 5 and actuating arm
Seat 6 is fixedly connected, and the big upper end of arm 5 is fixedly connected with one end of arm seat 7, and the lower end of connecting rod 8 connects with the pivot of pitman shaft rotary shaft 9
Connect and be connected by pitman shaft bearing sleeve 10 with big arm 5, small end and the other end of arm seat 7 are pivotally connected, the second power packages
Part, with the connecting rod 8 that links, and drives big arm 5 to rotate by the drive link axle rotary shaft 9 of pitman shaft bearing sleeve 10 by connecting rod 8, and three
Axle links to complete the rotation of big arm 5, the collaboration of the control system and corresponding control module that are set by robot interior
Effect, with the anglec of rotation of big arm disclosure satisfy that will not produce rebuffed situation and can with amplitude as big as possible to
Target point approaches.
Fragmentation cell includes arm 11, and arm 11 is fixedly connected by the second Power Component with driving arm seat 6, arm 11 1
End sets liquid discharge device 12, and liquid discharge device 12 could be arranged to the form of water pistol, and it is other forms that can also set, as long as energy
Reach identical technique effect, the other end is connected by feed tube 13 with liquid storage box 17, it is preferred that liquid storage box
17 memory storage liquid nitrogen, for fragmentation cell by the way of liquid nitrogen spray, liquid nitrogen spray can make object temperature moment near subzero 100
More degree, make its physical property that small change occur, originally hard object can reduce intensity, originally soft object can be hardened and
Become frangible, liquid nitrogen can not be sprayed by the tamper that drill unit is directly cut into pipeline, to make it easier to be cut
Smash, the upside of arm 11 is provided with upper arm 14, and the sensor of collection pipeline surrounding environment is provided with upper arm 14, can be super
Sonic sensor or temperature sensor, for gathering the distance between robot and tamper or temperature or other ambient parameters.
Power unit includes the rotating wheel 16 that the rotary shaft 15 being connected with driving arm seat 6 and driving rotary shaft 15 rotate, rotation
The one end of rotating shaft 15 is connected with driving arm seat 6, and the other end is fixedly connected with the lower plate 19 on chassis 1, it is preferred that power unit can be adopted
With turbine and worm mechanism, namely revolving wormgear axle, revolving wormgear and rotation scroll bar cooperate to complete integrally-built rotation
Motion.
Chassis 1 is used to connect cleaning mechanism and a kind of vehicle with walking machine for being applied to dredging sewer pipe small intelligent robot
Structure, chassis 1 include upper plate 18 and lower plate 19, and upper plate 18 and the inside of lower plate 19 set the control system and module of control machine people,
The structure space of one side robot in itself, on the other hand also increase the shock resistance of robot.
A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot includes that pipeline can be bonded in the present invention
Inwall and a plurality of mechanical pin components 2 for causing the movement of Robot pipeline, every mechanical pin components 2 are by for mechanical pin components
First motor body 20 of 2 offer power is fixedly connected with the upper plate 18 and lower plate 19 on chassis 1, it is preferred that the first motor body 20 is set
It is set to the two-way upper plate 18 and lower plate 19 put step motor and motor cabinet, pass through the two-way motor shaft and chassis 1 for putting step motor
It is fixedly connected, and the two-way setting for putting step motor is so that mode of operation substantially increases efficiency.
Every mechanical pin components 2 include thigh parts 21 and lower leg component 22, preferably in order to save the same of raw material
When ensure stability, thigh parts 21 could be arranged to the two thigh parts framves in left and right, lead between the thigh parts frame of left and right two
The connection of thigh parts gim peg is crossed, material has on the one hand been saved, has on the other hand reduced the weight of robot, while can also protect
Of a relatively high flexibility and stability are demonstrate,proved, same reason, lower leg component 22 is it can also be provided that the lower leg component of left and right two
Frame, connected by the second motor body 23 between the lower leg component frame of left and right two, the one end of thigh parts 21 is solid with the first motor body 20
Fixed connection, the other end are fixedly connected with lower leg component 22 by the motor shaft of the second motor body 23, it is preferred that the second motor body 23
It could be arranged to put step motor, connected thigh parts 21 and lower leg component 22 by the motor shaft for putting step motor, machinery
The design of the doublejointed of pin components 2, adaptability of the mechanical pin components 2 to landform is greatly improved, while also make mechanical pin components 2 can
The contact leaned on is on the inner-walls of duct of different-diameter.
As shown in figs. 7-9：Thigh parts 21 include two bending connectors 211 being arranged side by side and a gim peg
212, it is fixedly connected and is integrated by a gim peg 212 between two bending connector 211, every bending connector
211 be that the angle for being connected and being formed more than 90 ° less than 145 ° by two connection support 2111 forms.This spline structure is to imitate completely
The leg joint of people being capable of free bend so that the walking mechanism motion of robot is got up more quick, flexibly in the present invention.
As shown in Fig. 8~12：The leg connector 25 includes two pieces of side-nip pieces 253, for can be by the present invention
254, three pieces of four support bases sidepiece connecting seat 255, one support being supported on robot stabilizedly on sewer pipe inwall is vertical
Post 256 and one group of through hole 2531 for coordinating the lower transverse axis 2803 on damping fixture 28 to extend through；
The front toe part 261 includes the first lateral upper connecting base 2611, the first lateral connection seat 2612 and front toe bottom
Face 2613, the rear toe part 262 include the second lateral upper connecting base 2621, the second lateral connection seat 2622 and rear toe bottom surface
2623；
Wherein：The top of front toe hydraulic control device 281 upwards with the tip side of support post 256 on leg connector 25
Portion is hinged, and the bottom of front toe hydraulic control device 281 is cut with scissors downwards with the first lateral upper connecting base 2611 on front toe part 261
Connect；Sidepiece connecting seat 255 corresponding with leg connector 25 is be hinged upwards for the upper end of the first connector of front toe 2511, front foot
The bottom of the first connector of toe 2511 is be hinged with the first lateral upper connecting base 2611 on front toe part 261 downwards；Front toe
Sidepiece connecting seat 255 corresponding with leg connector 25 is be hinged upwards for the upper end of two connector 2512, and front toe second connects
The bottom of part 2512 is be hinged with the first lateral connection seat 2612 on front toe part 261 downwards；And the connector of front toe first
2511 upper ends are hinged with the upper end of the second connector of front toe 2512, i.e. the upper end of the first connector of front toe 2511 and front foot
The upper end of the second connector of toe 2512 is hinged on same sidepiece connecting seat 255；
The top of toe hydraulic control device 282 is cut with scissors with the tip-end-side of support post 256 on leg connector 25 upwards afterwards
Connect, the rear bottom of toe hydraulic control device 282 is be hinged with the second lateral upper connecting base 2621 on rear toe part 262 downwards；Afterwards
Sidepiece connecting seat 255 corresponding with leg connector 25 is be hinged upwards for the upper end of the first connector of toe 2521, rear toe the
The bottom of a connection piece 2521 is be hinged with the second lateral upper connecting base 2621 on rear toe part 262 downwards；Toe second connects afterwards
Sidepiece connecting seat 255 corresponding with leg connector 25 is be hinged upwards for the upper end of fitting 2522, the rear connector of toe second
2522 bottoms are be hinged with the second lateral connection seat 2622 on rear toe part 262 downwards；And the first connector of rear toe 2521
Upper end is hinged with the rear upper end of the second connector of toe 2522, i.e., after the upper end of toe the first connector 2521 and rear toe the
The upper end of two connector 2522 is hinged on same sidepiece connecting seat 255.
So front toe part 261 under the driving effect of front toe hydraulic control device 281 with the connector of front toe first
2511 and the tripod that is formed of the second connector of front toe 2512 carried out for rotating shaft around respective sides connecting seat 255 it is past up and down
Compound flip-flop movement；Toe first connects after toe part 262 is under the rear driving effect of toe hydraulic control device 282 after simultaneously
The tripod that part 2521 and the second connector of rear toe 2522 are formed is that rotating shaft is carried out up and down around respective sides connecting seat 255
Reciprocating flip-flop movement；Bending angular region can be so formed between front toe bottom surface 2613 and rear toe bottom surface 2623 is
145 °~225 °.
As shown in Fig. 8~9 and Figure 14~15：Lower leg component 22 include leg connector 25 and with leg connector 25
The toe part 26 of connection, leg connector 25 are connected by shock absorbing apparatus with lower leg component 22, and shock absorbing apparatus includes the He of spring 27
Fixture 28 is damped, damping fixture 28 includes upper transverse axis 2801, lower transverse axis 2803 and the longitudinal axis 2802, upper transverse axis 2801 and lower horizontal stroke
The one end of axle 2803 is fixed on lower leg component 22, and the other end is connected by the longitudinal axis 2802, in order to further increase stability, leg
Connector 25 is connected by side-nip piece 253 with lower leg component 22, is provided with side-nip piece 253 and lower leg component 22
The through hole 2531 matched somebody with somebody, lower transverse axis 2803 are fixed on lower leg component 22 by through hole 2531, and spring 27 is set in outside the longitudinal axis 2802.
Shock absorbing apparatus can absorb caused vibrations in motion process, and while reducing foot's complexity, it is stable to strengthen machine work
Property.Toe part 26 includes toe part 262 after two front toe parts 261 and one, and front toe part 261 passes through front toe hydraulic control
Device 281 is connected with lower leg component 22, and rear toe part 262 is connected by rear toe hydraulic control device 282 with lower leg component 22,
Front toe part 261 is connected by the first connector of front toe 2511 and the second connector of front toe 2512 with leg connector 25,
Toe part 262 is connected by rear the first connector of toe 2521 and the second connector of rear toe 2522 with leg connector 25 afterwards,
It is such be related to enable mechanical pin components 2 that there is minimum to curve inwardly 135 ° of angle as shown in figure 14, minimum is bent outwardly angle
145 ° as shown in figure 15, and so as to effectively be bonded sewer inwall, in the inner-walls of duct of any size, minimum fitting area is up to
72%, this significantly increases foot earth-grasping force, and good stability is provided to robot fuselage.
The a plurality of mechanical pin components 2 are arranged to two groups of leg groups of symmetrically walking, and every group of walking leg group includes one
Preceding mechanical pin components, mechanical pin components in mechanical pin components and one after one.Traditional wheeled or crawler belt is not suitable for mountain region
Enter with more obstacle ground and pipeline internal, and Hexapod Robot can be walked on these road surfaces and pipeline internal, turn round, across barrier
Hinder thing, the foot foothold area of six sufficient structures is small, and this make it that its mobility and adaptability to hollow mountain region is stronger, has more
Robot whole machine balancing degree can be also kept while high obstacle climbing ability, triped gait is the two groups of legs namely body of Hexapod Robot
The middle mechanical pin components of the preceding mechanical pin components of body side, rear mechanical pin components and opposite side, triangle support, that is, are in
The action of three legs in support triangle shape is just the same, is in swing phase or is in support phase.
Specifically：This six mechanical pin components 2 are arranged to two groups of leg groups of symmetrically walking, and this six mechanical pin components 2
Top be respectively and movably connected on same chassis 1, so that the top installation site of this six mechanical pin components 2 is maintained at
In same level；Wherein：Mechanical pin components before first group of walking leg group includes one first, mechanical pin components after one first
With one first in mechanical pin components, mechanical pin components before second group of walking leg group includes one second, machinery after one second
Mechanical pin components in pin components and one second, and machine in plane and first where the mechanical up and down direction of pin components before first
Between plane where the up and down direction of tool pin components, in first after plane and first where the mechanical up and down direction of pin components
It is 45 ° to form angle between plane where the mechanical up and down direction of pin components；And before second above and below mechanical pin components
In plane and second where activity direction between plane where the mechanical up and down direction of pin components, in second on mechanical pin components
Forming angle between plane where the mechanical up and down direction of pin components after plane and second where lower activity direction is
45°；The mechanical up and down direction of pin components and the up and down direction of mechanical pin components in second are in the same plane in first；
Before first before plane and second where the up and down direction of mechanical pin components plane where the mechanical up and down direction of pin components it
Between, plane where the mechanical up and down direction of pin components after plane and second where the mechanical up and down direction of pin components after first
Between to form angle be 90 °；So by mechanical leg after mechanical pin components, first before first in first group of walking leg group
In mechanical pin components in part and first, and second group of walking leg group second before mechanical pin components after mechanical pin components, second
With second in mechanical pin components respectively constitute triangular supports, to ensure robot center of gravity in triangle, have stable
Property, it is not easy to fall down.
Referring to accompanying drawing 13, during robot setting in motion, No. 1 pin components in left side, the pin components of left side 3 and right side 5 first
The triangle support of pin components, to ensure that robot center of gravity in triangle, has stability, is not easy to fall down.Preceding
When entering, the pin components of right side 4, the pin components of right side 6 and the pin components of left side 2 are lifted, and preparation is swung forward, due to right side 4
Pin components, the pin components of right side 6 and the pin components of left side 2 stride swing while, drive left side No. 1 pin components, the leg of left side 3
Part and the pin components of right side 5 have carried out the swing of certain angle, the pin components of left side 1, the pin components of left side 3 and right side 5
While robot body is supported, robot body also travels forward half of step-length S leg.Robot advances after half step-length S, right
The pin components of side 4, the pin components of right side 6 and the pin components of left side 2 are put down rapidly, take over No. 1 pin components in left side, the leg of left side 3
Part and the pin components of right side 5 form new gusseted so that the position of centre of gravity of robot is stably in the leg of right side 4
In the A-frame that part, the pin components of right side 6 and the three supporting leg parts of pin components of left side 2 are formed, the leg of left side 1
Part, the pin components of left side 3 and the pin components of right side 5 are lifted into swing state, carry out the preparation to step forth, the leg of left side 1
Part, the pin components of left side 3 and the pin components of right side 5 step forth swing, the pin components of right side 4, the pin components of right side 6 and a left side
The pin components of side 2 support robot body while drive robot body to make its half of step-length S that travels forward, above fortune again
Move as a whole cycle.
During robot setting in motion, it is ensured that robot center of gravity in triangle, has stability, be not easy all the time
Fall down.A kind of small intelligent robot for being used to dredge sewer pipe of the present invention can be to the physics of object using cleaning mechanism
Property is changed, and originally hard object is reduced into intensity, originally soft object is hardened and becomes frangible, easy to clean；Profit
Enable whole robot in inner-walls of duct row with a kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot
To walk, robot of the invention integrates " cleaning-dredging " function, can replace the artificial dredging for carrying out underground piping, in addition,
The mechanical pin components 2 of walking mechanism can radially outward open along pipeline, mechanical pin components 2 is reliably contacted in different-diameter
Inner-walls of duct on, improve it is a kind of be used for dredge sewer pipe small intelligent robot adaptability, robot of the invention
Without manually entering well work, automaticity is high, improves security, while is suitable for different tube diameters pipeline and pipeline complexity
Working environment, realize high efficiency, high quality pipe-dredging work.
It should also be noted that, herein, such as first and second or the like relational terms are used merely to one
Entity or operation make a distinction with another entity or operation, and not necessarily require or imply between these entities or operation
Any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant are intended to contain
Lid nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (2)
1. a kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot, it is characterised in that including for being bonded
Sewer pipe inwall and six mechanical pin components (2) for causing the Robot sewer pipe movement, this six mechanical legs
Part (2) is arranged to two groups of leg groups of symmetrically walking, and the top of this six mechanical pin components (2) is respectively and movably connected to same bottom
On disk (1), so that the top installation site of this six mechanical pin components (2) is maintained at the same horizontal plane；
Mechanical pin components before first group of walking leg group includes one first, machine in mechanical pin components and one first after one first
Tool pin components, mechanical pin components before second group of walking leg group includes one article second, mechanical pin components and one article the after one article second
Mechanical pin components in two, and mechanical pin components are living up and down in plane and first where the mechanical up and down direction of pin components before first
Between plane where dynamic direction, in first after plane and first where the mechanical up and down direction of pin components above and below mechanical pin components
It is 45 ° to form angle between plane where activity direction；
And the mechanical up and down direction place plane of pin components and the mechanical up and down direction institute of pin components in second before second
Between plane, the mechanical up and down direction of pin components after plane and second where the mechanical up and down direction of pin components in second
It is 45 ° that angle is formed between the plane of place；
The mechanical up and down direction of pin components and the up and down direction of mechanical pin components in second are in the same plane in first；
Before first before plane and second where the up and down direction of mechanical pin components plane where the mechanical up and down direction of pin components it
Between, plane where the mechanical up and down direction of pin components after plane and second where the mechanical up and down direction of pin components after first
Between to form angle be 90 °；
Wherein：First motor of the every mechanical pin components (2) by providing up and down power for the mechanical pin components (2)
Body (20) is fixedly connected with the upper plate (18) and lower plate (19) of the chassis (1),
Every mechanical pin components (2) includes thigh parts (21) and lower leg component (22), thigh parts (21) upper end
It is fixedly connected with the first motor shaft of the first motor body (20), thigh parts (21) bottom and the lower leg component
(22) it is fixedly connected between by the second motor shaft of the second motor body (23)；First motor body (20) is used to drive thigh parts
(21) upper end is rotated around first motor shaft, and the second motor body (23) is used to drive under thigh parts (21)
End is rotated around second motor shaft；
The every thigh parts (21) include two bending connectors (211) being arranged side by side and a gim peg (212), and two
It is fixedly connected and is integrated by a gim peg (212) between root bending connector (211)；Every bending connector
(211) it is that the angle for being connected and being formed more than 90 ° less than 145 ° by two connection support (2111) forms；
The lower leg component (22) includes leg connector (25) and the toe part being connected with the leg connector (25)
(26), the leg connector (25) is connected by shock absorbing apparatus with the lower leg component (22), and the shock absorbing apparatus includes bullet
Spring (27) and damping fixture (28),
The damping fixture (28) includes setting upper transverse axis (2801), lower transverse axis (2803) and the longitudinal axis (2802), the upper horizontal stroke
Axle (2801) and the lower transverse axis (2803) one end are fixed on the lower leg component (22), and the other end passes through the longitudinal axis
(2802) connect, the spring (27) is set in the longitudinal axis (2802) outside；
The toe part (26) includes toe part (262) after two front toe parts (261) and one, the front toe part (261)
It is be hinged by front toe hydraulic control device (281) and the lower leg component (22),
Toe part (262) is be hinged by rear toe hydraulic control device (282) and the lower leg component (22) after described,
The front toe part (261) passes through the connector of front toe first (2511) and the connector of the front toe second
It is (2512) be hinged with the leg connector (25),
Toe part (262) passes through the rear connector of toe first (2521) and the rear connector of toe second after described
(2522) it is be hinged with the leg connector (25).
2. according to a kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot described in claim 1, its
It is characterised by, the leg connector (25) includes two pieces of side-nip pieces (253), four support bases (254), three pieces of sidepieces companies
Joint chair (255), a support post (256) and the lower transverse axis (2803) on cooperation damping fixture (28) run through logical
The one group of through hole (2531) crossed；
The front toe part (261) includes the first lateral upper connecting base (2611), the first lateral connection seat (2612) and front toe
Bottom surface (2613), it is described after toe part (262) include the second lateral upper connecting base (2621), the second lateral connection seat (2622) and
Toe bottom surface (2623) afterwards；
Wherein：Front toe hydraulic control device (281) top upwards with support post (256) top on leg connector (25)
Sidepiece is hinged, front toe hydraulic control device (281) bottom downwards with the first lateral upper connecting base on front toe part (261)
(2611) it is hinged；The connector of front toe first (2511) upper end sidepiece connecting seat corresponding with leg connector (25) upwards
(255) be hinged, the connector of front toe first (2511) bottom downwards with the first lateral upper connecting base on front toe part (261)
(2611) it is hinged；The connector of front toe second (2512) upper end sidepiece connecting seat corresponding with leg connector (25) upwards
(255) be hinged, the connector of front toe second (2512) bottom downwards with the first lateral connection seat on front toe part (261)
(2612) it is hinged；And the connector of front toe first (2511) upper end is hinged with the connector of front toe second (2512) upper end；
Afterwards toe hydraulic control device (282) top upwards with support post (256) tip-end-side on leg connector (25)
It is be hinged, rear toe hydraulic control device (282) bottom downwards with the second lateral upper connecting base (2621) on rear toe part (262)
It is be hinged；The connector of toe first (2521) upper end sidepiece connecting seat (255) corresponding with leg connector (25) upwards afterwards
It is be hinged, the rear connector of toe first (2521) bottom downwards with the second lateral upper connecting base on rear toe part (262)
(2621) it is hinged；The connector of toe second (2522) upper end sidepiece connecting seat corresponding with leg connector (25) upwards afterwards
(255) be hinged, the rear connector of toe second (2522) bottom downwards with the second lateral connection seat on rear toe part (262)
(2622) it is hinged；And the rear connector of toe first (2521) upper end is hinged with the rear connector of toe second (2522) upper end；
So front toe part (261) under front toe hydraulic control device (281) driving effect with the connector of front toe first
(2511) carried out with the tripod that is formed of the connector of front toe second (2512) for rotating shaft around respective sides connecting seat (255)
Up-and-down reciprocating flip-flop movement；Simultaneously after toe part (262) under rear toe hydraulic control device (282) driving effect with the rear foot
The tripod that the connector of toe first (2521) and the connector of rear toe second (2522) are formed is that rotating shaft connects around respective sides
Joint chair (255) carries out up-and-down reciprocating flip-flop movement；So that institute between front toe bottom surface (2613) and rear toe bottom surface (2623)
It is 145 °~225 ° that bending angular region, which can be formed,.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711071993.1A CN107829492A (en) | 2017-11-04 | 2017-11-04 | A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711071993.1A CN107829492A (en) | 2017-11-04 | 2017-11-04 | A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot |
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| CN107829492A true CN107829492A (en) | 2018-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711071993.1A Pending CN107829492A (en) | 2017-11-04 | 2017-11-04 | A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963144A (en) * | 2017-11-23 | 2018-04-27 | 黄怡灵 | A kind of machinery foot |
| CN108442507A (en) * | 2018-05-31 | 2018-08-24 | 辽宁工业大学 | A kind of sewer discharge outlet cleaning robot |
| CN108820070A (en) * | 2018-08-16 | 2018-11-16 | 西南科技大学 | A kind of robot foot end structure |
| CN108820066A (en) * | 2018-06-28 | 2018-11-16 | 吉林大学 | A kind of mechanical foot of adjustable passive stabilization |
| CN109746931A (en) * | 2019-03-13 | 2019-05-14 | 厦门中高智能电器科学研究院有限公司 | A kind of polymorphic type foreign matter removing robot towards GIS cavity |
| CN110424526A (en) * | 2019-07-29 | 2019-11-08 | 厦门大学嘉庚学院 | Municipal sewer dredges robot |
| CN110539303A (en) * | 2019-08-01 | 2019-12-06 | 北京鲲鹏神通科技有限公司 | Humanoid walking robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206438595U (en) * | 2016-12-22 | 2017-08-25 | 广东交通职业技术学院 | A kind of municipal sewage system dredges the walking mechanism of robot |
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2017
- 2017-11-04 CN CN201711071993.1A patent/CN107829492A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206438595U (en) * | 2016-12-22 | 2017-08-25 | 广东交通职业技术学院 | A kind of municipal sewage system dredges the walking mechanism of robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963144A (en) * | 2017-11-23 | 2018-04-27 | 黄怡灵 | A kind of machinery foot |
| CN108442507A (en) * | 2018-05-31 | 2018-08-24 | 辽宁工业大学 | A kind of sewer discharge outlet cleaning robot |
| CN108820066A (en) * | 2018-06-28 | 2018-11-16 | 吉林大学 | A kind of mechanical foot of adjustable passive stabilization |
| CN108820070A (en) * | 2018-08-16 | 2018-11-16 | 西南科技大学 | A kind of robot foot end structure |
| CN109746931A (en) * | 2019-03-13 | 2019-05-14 | 厦门中高智能电器科学研究院有限公司 | A kind of polymorphic type foreign matter removing robot towards GIS cavity |
| CN110424526A (en) * | 2019-07-29 | 2019-11-08 | 厦门大学嘉庚学院 | Municipal sewer dredges robot |
| CN110539303A (en) * | 2019-08-01 | 2019-12-06 | 北京鲲鹏神通科技有限公司 | Humanoid walking robot |
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Application publication date: 20180323 |