CN107971998A - A kind of manipulator for pipe-dredging - Google Patents
A kind of manipulator for pipe-dredging Download PDFInfo
- Publication number
- CN107971998A CN107971998A CN201610931790.4A CN201610931790A CN107971998A CN 107971998 A CN107971998 A CN 107971998A CN 201610931790 A CN201610931790 A CN 201610931790A CN 107971998 A CN107971998 A CN 107971998A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- telescopic rod
- car body
- pipe
- hydraulic telescopic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator for pipe-dredging, including car body, car body is internally provided with motor, the output shaft of motor is fixedly connected with main shaft by shaft coupling, and one end of main shaft is fixedly connected with driving wheel, and the both ends of car body have been fixedly connected with bearing, the inner ring of bearing is fixedly connected with auxiliary spindle, one end of auxiliary spindle has been respectively fixedly connected with driven wheel and traveling is taken turns, and driven wheel is rotatablely connected by belt and driving wheel, and the surface for travelling wheel is fixedly connected with traveling bar.Invention achieves the power source for providing car body traveling, the effect grabbed thing and put thing to crawl arm is reached, traveling wheel can be effectively avoided to appear in the phenomenon skidded in pipeline, crawl arm can effectively be strengthened can preferably capture object in dark pipeline, the influence that car body can not drive to the top of object and cause pipe-dredging not can be effectively reduced, so as to effectively solve the problems, such as artificial dredging pipeline to health injury and efficiency.
Description
Technical field
The present invention relates to manipulator technical field, is specially a kind of manipulator for pipe-dredging.
Background technology
Some holding functions of human hand and arm can be imitated, object or operation instrument are captured, carried by fixed routine
Automatic pilot.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can replace people
Heavy labor to realize the mechanization of production and automation, can be operated under hostile environment to protect personal safety, thus extensively
It is general to be applied to the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator is a kind of new device to grow up during mechanization, automated production.In modern production mistake
Cheng Zhong, manipulator are widely applied in automatic assembly line, and the development and production of robot become in high-tech sector, fast
The emerging technology that speed grows up, it more promotes the development of manipulator so that manipulator can be better achieved with
Mechanization and the combination of automation.Although manipulator is flexible like that not as good as human hand, it has can continuous repeated work
And work, do not know fatigue, be fearless of danger, the characteristics of strength of snatch weight is bigger than people hand-power, therefore, manipulator has been subject to many
The attention of department, and applied more and more widely.
Pipe-dredging is commonly used a kind of maintenance service in people's daily life, refers generally to family's sewer line dredging,
Closet pipe is dredged, and industrial pipeline dredging cleaning, the pipeline that industrial pipeline is dredged compares because of the dredging machine difference of duct size
Greatly, the pipelines of 100MM once are dredged as family's dredging sewer.To big line pipe road dredging vehicle, high-pressure sewer flushing vehicle
To do.Pipe-dredging (dredging pipeline) services：When generally referring to line clogging or impeded drainage, method physically or chemically is used
Pipeline is recovered proper drainage or improve the service of drainage condition.
Since pipe-dredging is substantially all by manually completing, but efficiency is low, and the smell in pipeline allows worker to be difficult to bear
By hidden danger can be brought to health by working long hours, more and more ripe with the development of manipulator, it is possible to by manipulator
Applied in pipe-dredging, instead of manually dredging, work efficiency is improved.
The content of the invention
It is an object of the invention to provide a kind of manipulator for pipe-dredging, possesses motor and drives traveling by belt
Wheel rotates traveling, and the 3rd hydraulic telescopic rod carries out the advantages of crawl is put down to crawl arm by capturing wire to object, solves
Artificial dredging pipeline injures health and the problem of efficiency.
To achieve the above object, the present invention provides following technical solution：A kind of manipulator for pipe-dredging, including car
Body, the car body are internally provided with motor, and the output shaft of the motor is fixedly connected with main shaft, the master by shaft coupling
One end of shaft is fixedly connected with driving wheel, and the both ends of the car body have been fixedly connected with bearing, and the inner ring of the bearing is fixed
Auxiliary spindle is connected with, one end of the auxiliary spindle has been respectively fixedly connected with driven wheel and traveling is taken turns, and the driven wheel passes through belt
It is rotatablely connected with driving wheel, the surface of the traveling wheel is fixedly connected with traveling bar.
Fuel tank is fixedly connected with the top of the car body, one end of the fuel tank is fixedly connected with the first camera, described
The both sides of fuel tank have been fixedly connected with the first lighting lamp, and the top of the fuel tank is fixedly connected with the first hydraulic pump, respectively
Two hydraulic pumps, the 3rd hydraulic pump and support column, are fixedly connected with the first hydraulic telescopic rod at the top of the support column, and described first
One end of hydraulic telescopic rod is fixedly connected with the second hydraulic telescopic rod, and one end of second hydraulic telescopic rod is fixedly connected with
Three hydraulic telescopic rods.
The second hydraulic telescopic rod bottom is fixedly connected with mechanical arm, is offered away at the center of the mechanical arm
Wire hole, the bottom of the mechanical arm are fixedly connected with opening and closing arm, wire casing, institute are fixedly connected with the inside of the opening and closing arm
The bottom for stating opening and closing arm is hinged with crawl arm by axis pin, and the crawl arm side is fixedly connected with section ring, the table of the section ring
Face is fixedly connected with crawl wire, the crawl wire be each passed through wire casing and walk wire hole and with the 3rd hydraulically extensible
The bottom of bar is fixedly connected.
Preferably, the bottom of the traveling bar is fixedly connected with anti-slop serrations.
Preferably, one end of the car body is provided with winding displacement pipe, and reinforcing rib is fixedly connected with the top of the car body, described
The top of reinforcing rib is fixedly connected with the surface of the first hydraulic telescopic rod.
Preferably, the hydraulic fluid port of first hydraulic telescopic rod, the second hydraulic telescopic rod and the 3rd hydraulic telescopic rod passes through
Hydraulic fluid port of the hydraulic oil pipe respectively with the first hydraulic pump, the second hydraulic pump and the 3rd hydraulic pump connects.
Preferably, the bottom of the mechanical arm has been respectively fixedly connected with second camera and the second lighting lamp.
Preferably, the surface of the crawl wire is socketed with return spring, the both ends of the return spring respectively with section
Ring is fixedly connected with wire casing.
Compared with prior art, beneficial effects of the present invention are as follows：
1st, the present invention has reached the power source for providing car body traveling, has passed through by setting motor to drive traveling wheel to rotate
Set the 3rd hydraulic telescopic rod to control the folding and unfolding for capturing wire, reach the effect grabbed thing and put thing to crawl arm.
2nd, the present invention can make car body in dark conditions can by setting the first camera and the first lighting lamp
Advance, by setting anti-slop serrations, can effectively avoid traveling wheel from appearing in the phenomenon skidded in pipeline, by setting the second shooting
Head and the second lighting lamp, can effectively strengthen crawl arm can preferably capture object in dark pipeline, pass through setting
First hydraulic telescopic rod and the second hydraulic telescopic rod, can effectively reduce car body can not drive to the top of object and cause pipeline
The influence do not dredged, so as to effectively solve the problems, such as artificial dredging pipeline to health injury and efficiency.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is mechanical arm front view of the present invention；
Fig. 3 takes turns front view for present invention traveling.
In figure：1 car body, 2 motors, 3 main shafts, 4 driving wheels, 5 bearings, 6 auxiliary spindles, 7 driven wheels, 8 travelings
Wheel, 9 traveling bars, 10 fuel tanks, 11 first cameras, 12 first lighting lamps, 13 first hydraulic pumps, 14 second hydraulic pressure
Pump, 15 the 3rd hydraulic pumps, 16 support columns, 17 first hydraulic telescopic rods, 18 second hydraulic telescopic rods, 19 the 3rd hydraulic pressure are stretched
Wire hole, 22 opening and closing arms, 23 wire casings, 24 crawl arms, 25 section rings, 26 crawl steel are walked in contracting bar, 20 mechanical arms, 21
Silk thread, 27 anti-slop serrations, 28 winding displacement pipes, 29 reinforcing ribs, 30 hydraulic oil pipes, 31 second cameras, 32 second lighting lamps,
33 return springs.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution 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, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
- 3 are please referred to Fig.1, a kind of manipulator for pipe-dredging, including car body 1, one end of car body 1 are provided with winding displacement
Pipe 28, provides pipe protection, the top of car body 1 is fixedly connected with reinforcing rib 29, reinforcing rib 29 for each control line and connecting line
Top is fixedly connected with the surface of the first hydraulic telescopic rod 17, and car body 1 is internally provided with motor 2, and the output shaft of motor 2 passes through
Shaft coupling is fixedly connected with main shaft 3, and one end of main shaft 3 is fixedly connected with driving wheel 4, and the both ends of car body 1 are fixedly connected with
There is bearing 5, the inner ring of bearing 5 is fixedly connected with auxiliary spindle 6, and one end of auxiliary spindle 6 has been respectively fixedly connected with driven wheel 7 and traveling
Wheel 8, by setting motor 2 to drive traveling wheel 8 to rotate, has reached the power source for providing car body 1 traveling, driven wheel 7 passes through skin
Band is rotatablely connected with driving wheel 4, traveling wheel 8 surface be fixedly connected with traveling bar 9, traveling bar 9 bottom be fixedly connected with it is anti-
Slip teeth 27, by setting anti-slop serrations 27, can effectively avoid traveling wheel 8 from appearing in the phenomenon skidded in pipeline.
The top of car body 1 is fixedly connected with fuel tank 10, can be the first hydraulic pump 13, the second hydraulic pump 14 and the 3rd hydraulic pressure
Pump 15 provides hydraulic oil, and one end of fuel tank 10 is fixedly connected with the first camera 11, and the both sides of fuel tank 10 have been fixedly connected with the
One lighting lamp 12, by setting the first camera 11 and the first lighting lamp 12, can make car body 1 in dark conditions can
Enough to advance, the top of fuel tank 10 is fixedly connected with the first hydraulic pump 13, the second hydraulic pump 14, the 3rd hydraulic pump 15 and support respectively
Column 16, the top of support column 16 are fixedly connected with the first hydraulic telescopic rod 17, and one end of the first hydraulic telescopic rod 17 is fixedly connected
There is the second hydraulic telescopic rod 18, by setting the first hydraulic telescopic rod 17 and the second hydraulic telescopic rod 18, can effectively reduce car
The influence that body 1 can not drive to the top of object and cause pipe-dredging not, one end of the second hydraulic telescopic rod 18, which is fixed, to be connected
The 3rd hydraulic telescopic rod 19 is connected to, by setting the 3rd hydraulic telescopic rod 19 to control the folding and unfolding for capturing wire 16, is reached
To the effect grabbed thing and put thing of crawl arm 24, the first hydraulic telescopic rod 17, the second hydraulic telescopic rod 18 and the 3rd hydraulic telescopic rod
19 hydraulic fluid port is connected by hydraulic fluid port of the hydraulic oil pipe 30 respectively with the first hydraulic pump 13, the second hydraulic pump 14 and the 3rd hydraulic pump 15
It is logical.
Second hydraulic telescopic rod, 18 bottom is fixedly connected with mechanical arm 20, and the bottom of mechanical arm 20 is respectively fixedly connected with
There is 31 and second lighting lamp 32 of second camera, can be effective by setting 31 and second lighting lamp 32 of second camera
Enhancing crawl arm 24 can preferably capture object in dark pipeline, and wire hole is offered away at the center of mechanical arm 20
21, the bottom of mechanical arm 20 is fixedly connected with opening and closing arm 22, and the inner side of opening and closing arm 22 is fixedly connected with wire casing 23, opening and closing
The bottom of arm 22 is hinged with crawl arm 24 by axis pin, and 24 side of crawl arm is fixedly connected with section ring 25, and the surface of section ring 25 is consolidated
Surely crawl wire 26 is connected with, the surface of crawl wire 26 is socketed with return spring 33 so that crawl arm 24 is putting down thing
After body can return, the both ends of return spring 33 are fixedly connected with section ring 25 and wire casing 23 respectively, and crawl wire 26 divides
Wire casing 23 and wire hole 21 Chuan Guo not be walked and be fixedly connected with the bottom of the 3rd hydraulic telescopic rod 19, stabilization is provided for crawl arm
Grasp force so that effectively solve the problems, such as artificial dredging pipeline to health injury and efficiency.
Operation principle：When clearing up pipeline, power supply is connected, protection is provided to control line and connecting line by winding displacement pipe 28, opens
Dynamic motor 2, the first camera 11 and the first lighting lamp 12, motor 2 drive 8 rotation traveling of traveling wheel to advance by belt, when
Before car body 1 reaches object, flexible positioning is carried out for 17 fuel feeding of the first hydraulic telescopic rod by starting the first hydraulic pump 13, starts the
Two hydraulic pumps 14 are 18 fuel feeding of the second hydraulic telescopic rod, while start 31 and second lighting lamp 32 of second camera, to crawl
Arm 24 is observed, and when 24 bottom of crawl arm reaches object bottom, is stopped the second hydraulic telescopic rod 18, is started the 3rd hydraulic pump 15,
For 19 fuel feeding of the 3rd hydraulic telescopic rod, the 3rd hydraulic telescopic rod 19 is shunk, and crawl wire 26 moves upwards, pulls crawl
Arm 24 comes closer, while return spring 33 compresses, and clamps object, stops the 3rd hydraulic pump 15, starts motor 2 and inverts, so that
Drive traveling wheel 8 to rotate traveling to retreat to pipeline external, start the 3rd hydraulic pump 15 so that the 3rd hydraulic telescopic rod 19 is stretched downwards
Go out, in the case where return spring 33 compresses set-back action, drive crawl arm 24 and crawl 26 return of wire, object is released.
In summary：This is used for the manipulator of pipe-dredging, drives traveling wheel 8 to rotate by belt by motor 2 and travels,
3rd hydraulic telescopic rod 19 carries out the advantages of crawl is put down to crawl arm 24 by capturing wire 26 to object, solves manually
The problem of dredging pipeline is to health injury and efficiency.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions.By sentence " including one ... the key element limited, it is not excluded that
Also there are other identical element in the process, method, article or apparatus that includes the element.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of changes, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of manipulator for pipe-dredging, including car body (1), it is characterised in that：Car body (1) is internally provided with
Motor (2), the output shaft of the motor (2) are fixedly connected with main shaft (3), one end of the main shaft (3) by shaft coupling
Driving wheel (4) is fixedly connected with, the both ends of the car body (1) have been fixedly connected with bearing (5), and the inner ring of the bearing (5) is consolidated
Surely auxiliary spindle (6) is connected with, one end of the auxiliary spindle (6) has been respectively fixedly connected with driven wheel (7) and traveling wheel (8), described
Driven wheel (7) is rotatablely connected by belt and driving wheel (4), and the surface of the traveling wheel (8) is fixedly connected with traveling bar (9)；
Fuel tank (10) is fixedly connected with the top of the car body (1), one end of the fuel tank (10) is fixedly connected with the first shooting
Head (11), the both sides of the fuel tank (10) have been fixedly connected with the first lighting lamp (12), the top difference of the fuel tank (10)
It is fixedly connected with the first hydraulic pump (13), the second hydraulic pump (14), the 3rd hydraulic pump (15) and support column (16), the support column
(16) the first hydraulic telescopic rod (17) is fixedly connected with the top of, one end of first hydraulic telescopic rod (17) is fixedly connected with
Second hydraulic telescopic rod (18), one end of second hydraulic telescopic rod (18) are fixedly connected with the 3rd hydraulic telescopic rod (19)；
Second hydraulic telescopic rod (18) bottom is fixedly connected with mechanical arm (20), at the center of the mechanical arm (20)
Wire hole (21) is offered away, the bottom of the mechanical arm (20) is fixedly connected with opening and closing arm (22), the opening and closing arm (22)
Inner side is fixedly connected with wire casing (23), and the bottom of the opening and closing arm (22) is hinged with crawl arm (24) by axis pin, described
Crawl arm (24) side is fixedly connected with section ring (25), and the surface of the section ring (25) is fixedly connected with crawl wire (26),
It is described crawl wire (26) be each passed through wire casing (23) and walk wire hole (21) and with the bottom of the 3rd hydraulic telescopic rod (19)
Portion is fixedly connected.
A kind of 2. manipulator for pipe-dredging according to claim 1, it is characterised in that：The traveling bar (9)
Bottom is fixedly connected with anti-slop serrations (27).
A kind of 3. manipulator for pipe-dredging according to claim 1, it is characterised in that：The one of the car body (1)
End is provided with winding displacement pipe (28), and reinforcing rib (29), the top of the reinforcing rib (29) are fixedly connected with the top of the car body (1)
It is fixedly connected with the surface of the first hydraulic telescopic rod (17).
A kind of 4. manipulator for pipe-dredging according to claim 1, it is characterised in that：First hydraulically extensible
The hydraulic fluid port of bar (17), the second hydraulic telescopic rod (18) and the 3rd hydraulic telescopic rod (19) is by hydraulic oil pipe (30) respectively with
One hydraulic pump (13), the second hydraulic pump (14) are connected with the hydraulic fluid port of the 3rd hydraulic pump (15).
A kind of 5. manipulator for pipe-dredging according to claim 1, it is characterised in that：The mechanical arm (20)
Bottom be respectively fixedly connected with second camera (31) and the second lighting lamp (32).
A kind of 6. manipulator for pipe-dredging according to claim 1, it is characterised in that：The crawl wire
(26) surface is socketed with return spring (33), and the both ends of the return spring (33) are respectively with saving ring (25) and wire casing
(23) it is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610931790.4A CN107971998A (en) | 2016-10-24 | 2016-10-24 | A kind of manipulator for pipe-dredging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610931790.4A CN107971998A (en) | 2016-10-24 | 2016-10-24 | A kind of manipulator for pipe-dredging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107971998A true CN107971998A (en) | 2018-05-01 |
Family
ID=62003963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610931790.4A Pending CN107971998A (en) | 2016-10-24 | 2016-10-24 | A kind of manipulator for pipe-dredging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107971998A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108661163A (en) * | 2018-06-04 | 2018-10-16 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of pipe dredging machine people device and its control method |
| CN109571917A (en) * | 2018-12-29 | 2019-04-05 | 吉林省正轩车架有限公司 | Thermoforming batch-type furnace picks and places material manipulator terminal-collecting machine |
| CN112482552A (en) * | 2020-12-02 | 2021-03-12 | 安徽信息工程学院 | Intelligent city sewer dredging robot |
-
2016
- 2016-10-24 CN CN201610931790.4A patent/CN107971998A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108661163A (en) * | 2018-06-04 | 2018-10-16 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of pipe dredging machine people device and its control method |
| CN109571917A (en) * | 2018-12-29 | 2019-04-05 | 吉林省正轩车架有限公司 | Thermoforming batch-type furnace picks and places material manipulator terminal-collecting machine |
| CN112482552A (en) * | 2020-12-02 | 2021-03-12 | 安徽信息工程学院 | Intelligent city sewer dredging robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180501 |
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| WD01 | Invention patent application deemed withdrawn after publication |