CN108405505A - A kind of subway ventilation and fire control smoke exhausting pipe detection sweeping robot - Google Patents
A kind of subway ventilation and fire control smoke exhausting pipe detection sweeping robot Download PDFInfo
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- CN108405505A CN108405505A CN201810218575.9A CN201810218575A CN108405505A CN 108405505 A CN108405505 A CN 108405505A CN 201810218575 A CN201810218575 A CN 201810218575A CN 108405505 A CN108405505 A CN 108405505A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/0492—Heavy-type cleaning devices, e.g. crawlers with plural cleaning members
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of subway ventilation and fire control smoke exhausting pipe detection sweeping robots, are related to sweeping robot technical field, are mainly made of walking mechanism, clearing apparatus and control device.The applicable ability of the robot pipeline of the present invention is strong, it is good to clean effect.
Description
Technical field
The present invention relates to sweeping robot technical field more particularly to a kind of subway ventilation and fire control smoke exhausting pipe detection are clear
Sweep robot.
Background technology
Subway ventilation air-conditioning duct can accumulate many dusts, germ and radiation etc. in long-term use, these nuisances
Matter just polluted air in air supply process, be sucked for a long time by human body, will endanger public health, meeting is easy in air hose
The harmful substances such as a large amount of deleterious particle and dust, dust mite, bacterium, virus and carbon radiation are grown and gather, after air-conditioning is opened,
It will be blown to interior during air-supply with the dust and germ being attached on dirt filtrating screen in air hose, once touch human body
Skin is deposited in respiratory tract after being inhaled into vivo, it is possible to make one to generate sneezing, skin disturb itch, have a stuffy nose, asthma etc. no
It is suitable, or even respiratory disease can be caused, seriously endanger health.Based on this, pipeline cleaning robot comes into being.State
Application in terms of inherent pipeline cleaning robot is started late, and technology is still immature；Domestic pipeline makes extremely lack of standardization, pipeline rule
Lattice are more, and often have the case where reducing so that common sweeping robot is difficult using on pipeline cleaning at home.How to design
A kind of subway ventilation being applicable in domestic air pipe cleaning and fire control smoke exhausting pipe detection sweeping robot are to be solved by this invention
Technical problem.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of subway ventilations and fire control smoke exhausting being applicable in domestic air pipe cleaning
Pipe detection sweeping robot.
The present invention is realized by following technological means solves above-mentioned technical problem：
A kind of subway ventilation and fire control smoke exhausting pipe detection sweeping robot, including control device, walking mechanism and clearing apparatus；
The walking mechanism includes rack, interior storehouse is equipped in the rack, there are four carry out for the lower part installation of the rack
Band foot, four crawler belts are symmetrically set to rack both sides two-by-two enough；Four crawler belt foot structures are identical, described
Crawler belt includes driving motor, main drive wheel and two secondary driving wheels enough, is connected between the main drive wheel and two secondary driving wheels
It is connected to crawler belt, outside support plate, the outside support plate are also equipped between the main drive wheel and two secondary driving wheels
Positioned at side of the crawler belt foot far from rack, the output shaft of the driving motor is connected with main drive wheel；The rack includes
Center-pole, two first axles, two second hinges, four flat connecting rods and two long connecting rods, described two first axles
It is symmetrically installed on center-pole, described two long connecting rods are symmetrically set to the both sides of center-pole, the long connecting rod
Both ends are all equipped with crawler belt foot by swinging kick, and two second hinges are respectively hinged at the middle part of two long connecting rods, described
Two second hinges connected with first axle by flat connecting rod, and the flat connecting rod and two first axles and two
The connection type of second hinge is all hinged；
The clearing apparatus includes five shaft mechanical arms, vacuum absorption device and dust arrester, the vacuum absorption device sum aggregate
Dirt device connects, and the vacuum absorption device and dust arrester are all disposed within the rear ends Nei Cang, and the five shaft mechanical arms include first
Pedestal, second base, third pedestal, the 4th pedestal and the 5th pedestal, the second base are rotatably mounted on the first bottom
It is hinged successively between the second base, third pedestal, the 4th pedestal and the 5th pedestal on seat, the first base, the
It is separately installed with first motor, the second motor, third motor, the 4th on two pedestals, third pedestal, the 4th pedestal and the 5th pedestal
Motor and the 5th motor, the output shaft of the first motor are mounted in second base, driving second base rotation, and described the
Two motors, third motor, the 4th motor are separately mounted to second base and third pedestal, third pedestal and the 4th pedestal, the 4th
The hinged place of pedestal and the 5th pedestal, is equipped with hairbrush on the 5th pedestal, the 5th motor by synchronous pulley and
Synchronous belt is connected with hairbrush, and the first base, second base, third pedestal and the 4th are respectively arranged on the base with first and hit
Needle, the second striker, third striker and the 4th striker, on the second base, third pedestal, the 4th pedestal and the 5th pedestal point
It is not provided with the first limit switch, the second limit switch, third limit switch and the 4th limit switch, first striker,
Second striker, third striker and the 4th striker respectively with the first limit switch, the second limit switch, third limit switch and the 4th
Limit switch is arranged in a one-to-one correspondence；
The control device includes induction module, and the induction module includes laser range finder, ultrasonic sensor and camera shooting
Head, the laser range finder are set to the front ends Nei Cang, to sniffing robot front obstacle, the ultrasonic sensor conduct
Environment sensing device realizes cognitive ability of the robot to global context and the recognition capability to barrier, and camera is as auxiliary
Robot is identified in environment sensing device, cooperation ultrasonic sensor；Information merges decision-making module, is set to interior
It in storehouse, connect with the induction module, is instructed for being sent to Motor execution module after the information for receiving induction module acquisition,
Control the action of robot；Motor execution module, the Motor execution module include mobile control card, chassis driving motor, machine
Tool arm controls motor, hair brush motor and vacuum pump, and the mobile control card is arranged in interior storehouse, the mobile control card and information
Decision-making module connection is merged, the instruction of decision-making module is merged for receiving information, then chassis driving motor, mechanical arm are controlled
The action of motor, hair brush motor and vacuum pump is controlled, and the chassis driving motor control machine people's walking is made, the machine
Tool arm controls the action of Motor controlling machine device people's cleaning machine arm, realizes that the control for cleaning position, the hair brush motor control are clear
The rotation of brooming brush, the vacuum pump control vacuum absorption device work, adsorbs dust；Wireless relay module is laid
In in pipeline, the wireless telecommunications of robot and remote control terminal are realized；Remote control terminal is set to remote work station, leads to
It crosses wireless relay module and information fusion decision-making module communicates wirelessly, transmission order, Huo Zhejie are carried out to situ machine people
Receive the state packet of situ machine people；
The first base is mounted on interior storehouse, and elevating lever is equipped on the interior storehouse, is also equipped on the interior storehouse
Electric pushrod, the upper end of the electric pushrod and the middle part of elevating lever are hinged, and the upper end of the elevating lever is rotatably pacified
Equipped with camera module, ultrasonic sensor, camera and LED light are installed in the camera module；
Preferably, a kind of described subway ventilation and fire control smoke exhausting pipe detection sweeping robot, the center-pole are screw rod,
Setting is there are two stop nut on the center-pole, and described two stop nuts are located at the upper of two first axles
Side.
Preferably, a kind of described subway ventilation and fire control smoke exhausting pipe detection sweeping robot, the both sides of the crawler belt
It is fitted with tube wall detection sensor.
Preferably, a kind of described subway ventilation and fire control smoke exhausting pipe detection sweeping robot, the camera packet
Include infrared camera and RGB cameras.
Preferably, a kind of described subway ventilation and fire control smoke exhausting pipe detection sweeping robot, the 4th pedestal
On be provided with supporting rack, infrared camera is installed on the supporting rack.
Preferably, a kind of described subway ventilation and fire control smoke exhausting pipe detection sweeping robot, the control device is also
It including power module, is set in robot in storehouse, for being powered to entire control system.
Preferably, a kind of described subway ventilation and fire control smoke exhausting pipe detection sweeping robot, the control device is also
It including trunk module distributor, is set in robot in storehouse, the laying for controlling wireless relay module.
Preferably, a kind of described subway ventilation and fire control smoke exhausting pipe detection sweeping robot, the hairbrush include
Hairbrush shaft and bristle, the hair brushing cloth are set to around hairbrush shaft, and the hairbrush shaft passes through synchronous pulley and synchronization
Band and the connection of the 5th motor.
The advantage of the invention is that：1. walking mechanism swings branch without complicated transmission mechanism, walking mechanism using low formula of setting
Support four caterpillar belt structures, the not no complicated displacement control mechanism of the Athey wheel of this structure type, crawler belt energy autonomous modification when obstacle detouring
The step obstacle of climbing several times higher than crawler belt wheel footpath；Crawler belt can keep more contacts area with ground, so that load is evenly distributed with, can obtain
Maximum tractive force is obtained, smaller walking mechanism size can be used under identical loading condition；Meanwhile realizing robot rectangle
The versatility of pipeline and circular pipe, pipeline cleaning robot using four independently drive low set pivoted axle crawler belt foot vehicle with walking machine
Structure, every crawler belt both sides are equipped with tube wall detection sensor, and machine, which enters, crawler belt foot is automatically adjusted according to pipeline section shape laterally
Angle is arranged, the adhesive force and obstacle climbing ability that increase crawler belt and wall surface are conducive to；2. entire mechanical arm position adjustment is flexible so that
It cleans without dead angle, help to improve sweeping efficiency and cleans quality, further, the dust that vacuum absorption device will be hit down in air hose
It is sucked out, dust particles are collected by dust arrester, avoid dust from flying；3. control system is to the cognitive ability of global context and right
The recognition capability of barrier is strong, and Data Detection is accurate, can be worked normally under dark surrounds, need not carry out data using cable
Transmission is suitble to complicated pipeline environment.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram of walking mechanism of the present invention.
Fig. 3 is the structural schematic diagram of clearing apparatus of the present invention.
Fig. 4 is the structure diagram of control device of the present invention.
Fig. 5 is storehouse internal structure schematic diagram in the present invention.
Fig. 6 is the structural schematic diagram of the 5th base position of the invention.
Fig. 7 is the structural schematic diagram of crawler belt of the present invention foot.
Fig. 8 is the structural schematic diagram of camera module of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
A kind of subway ventilation and fire control smoke exhausting pipe detection sweeping robot, including control device, walking mechanism and cleaning
Device；
The walking mechanism includes rack 1, and interior storehouse 2 is equipped in the rack 1, and the lower part of the rack 1 is equipped with four
A crawler belt foot 3, described four crawler belt foots 3 are symmetrically set to 1 both sides of rack, described four crawler belt 3 structure phases of foot two-by-two
Together, the described crawler belt foot 3 includes driving motor 4, main drive wheel 5 and two secondary driving wheels 6, the main drive wheel 5 and two
It is connected with crawler belt 7 between secondary driving wheel 6, outside support plate is also equipped between the main drive wheel 5 and two secondary driving wheels 6
8, the outside support plate 8 is located at 3 sides far from rack 1 of crawler belt foot, the output shaft of the driving motor 4 and main driving
5 connection of wheel, the rack 1 include 11, four 12 and of flat connecting rod of the second hinge of first axle 10, two of center-pole 9, two
Two long connecting rods 13, described two first axles 10 are symmetrically installed on center-pole 9, and described two long connecting rods 13 are symmetrical
The both sides for being set to center-pole 9, the both ends of the long connecting rod 13 are all equipped with crawler belt foot 3 by swinging kick 14, described two
A second hinge 11 is respectively hinged at the middle part of two long connecting rods 13, and described two second hinges 11 pass through 12 He of flat connecting rod
First axle 10 connects, and the flat connecting rod 12 and the connection type of two first axles 10 and two second hinges 11 is all
It is hinged；
Before robot enters pipeline, operator adjusts center-pole according to the actual conditions of pipeline in advance, by first axle, flat
Flat connecting rod, second hinge, long connecting rod and a series of transmissions of swinging kick so that the crawler belt of robot both sides is laterally flared enough, horizontal
Distance increases, and so that the holding of the tube wall of crawler belt foot face and different inner diameters is come into full contact with, realizes its adaptation function.Walking mechanism is without multiple
Miscellaneous transmission mechanism, walking mechanism set four caterpillar belt structure of formula swinging support using low, and the Athey wheel of this structure type is not multiple
Miscellaneous displacement control mechanism, crawler belt energy autonomous modification climbs the step obstacle of several times higher than crawler belt wheel footpath when obstacle detouring；Crawler belt and ground
Face can keep more contacts area, and load is made to be evenly distributed with, and can obtain maximum tractive force, can be used under identical loading condition compared with
Small walking mechanism size；Meanwhile the versatility of robot rectangular duct and circular pipe is realized, pipeline cleaning robot is adopted
With four independently drive it is low set pivoted axle crawler belt foot walking mechanism, every crawler belt both sides are equipped with tube wall detection sensor, machine
Enter to automatically adjust crawler belt foot according to pipeline section shape and laterally arrange angle, be conducive to the adhesive force for increasing crawler belt and wall surface and
Obstacle climbing ability.
The clearing apparatus includes five shaft mechanical arms, vacuum absorption device 15 and dust arrester 16, the vacuum suction
Device 15 and dust arrester 16 connect, and the vacuum absorption device 15 and dust arrester 16 are all disposed within 2 rear end of interior storehouse, and described five
Shaft mechanical arm includes first base 17, second base 18, third pedestal 19, the 4th pedestal 20 and the 5th pedestal 21, and described
Two pedestals 18 are rotatably mounted in first base 17, the second base 18, third pedestal 19, the 4th pedestal 20 and the
It is hinged successively between five pedestals 21, the first base 17, second base 18, third pedestal 19, the 4th pedestal 20 and the 5th
First motor 22, the second motor 23, third motor 24, the 4th motor 25 and the 5th motor 26, institute are separately installed on pedestal 21
The output shaft for stating first motor 22 is mounted in second base 18, and driving second base 18 rotates, second motor 23, the
Three motors 24, the 4th motor 25 are separately mounted to second base 18 and third pedestal 19, third pedestal 19 and the 4th pedestal 20,
The hinged place of four pedestals 20 and the 5th pedestal 21, hairbrush 27 is equipped on the 5th pedestal 21, and the 5th motor 26 is logical
It crosses synchronous pulley 28 and synchronous belt 29 and hairbrush 27 to connect, the first base 17, second base 18, third pedestal 19 and the
It is respectively arranged with the first striker 30, the second striker, third striker and the 4th striker on four pedestals 20, the second base 18,
It is respectively arranged with the first limit switch 31, the second limit switch, third on third pedestal 19, the 4th pedestal 20 and the 5th pedestal 21
Limit switch and the 4th limit switch（Due to the second striker, third striker and the 4th striker and the second limit switch, third limit
Switch and the 4th limit switch cooperation principle are identical, so the first striker and the first limit switch have only been marked in attached drawing, second
It is not marked in striker, third striker, the 4th striker, the second limit switch, third limit switch and the 4th limit switch figure）, institute
The first striker 30, the second striker, third striker and the 4th striker stated respectively with the first limit switch 31, the second limit switch,
Third limit switch and the 4th limit switch are arranged in a one-to-one correspondence；
Five shaft mechanical arms drive the revolution of entire mechanical arm to act by first motor, and first base is equipped with the first striker, the
Two pedestals are equipped with the first limit switch, when revolution, when the first striker encounters the first limit switch revolution stop, not do it is super
The more action of stroke；Second motor drives the revolution action of the above mechanical arm of second base, second base to be hit equipped with the second axis
Needle is equipped with the second limit switch on third pedestal, when revolution, revolution stopping when the second striker encounters the second limit switch,
Not in the action for doing over-travel；Third motor drives the revolution action of the above mechanical arm of third pedestal, third pedestal to be equipped with
Third striker is equipped with third limit switch on the 4th pedestal, and when revolution, third striker turns round when encountering third limit switch
Stop, not in the action for doing over-travel；4th motor drives the revolution of the 4th above mechanical arm of pedestal to act, on the 4th pedestal
It is provided with the 4th striker, the 4th limit switch is provided on the 5th pedestal, when revolution, the 4th striker is encountered the 4th limit and opened
It turns round and stops when pass, not in the action for doing over-travel；The driving cleaning shaft revolution action of 5th motor, cleaning shaft drive hair
Brush carries out pipe-line purging；The present invention coordinates the walking of robot by first motor, can carry out cleaning position in horizontal direction
Adjustment by the second motor, third motor and the 4th motor clean the adjustment of position, entire mechanical arm position on vertical direction
It is flexible to set adjustment so that clean without dead angle, help to improve sweeping efficiency and clean quality.
The control device includes induction module, and the induction module includes laser range finder 32, ultrasonic sensor
33 and camera 34, the laser range finder 32 is set to 2 front end of interior storehouse, described super to sniffing robot front obstacle
Sonic sensor 33 is used as environment sensing device, realizes cognitive ability of the robot to global context and the identification energy to barrier
Power, camera 34 are used as auxiliary environment perceptron, cooperation ultrasonic sensor 33 that robot is identified；Information
Decision-making module 35 is merged, is set in interior storehouse 2, is connect with the induction module, in the information for receiving induction module acquisition
Motor execution module is sent afterwards and is instructed, the action of robot is controlled；Motor execution module, the Motor execution module include moving
Dynamic control card 36, chassis driving motor 37, mechanical arm control motor 38, hair brush motor 39 and vacuum pump 40, the mobile control
Card 36 is arranged in interior storehouse 3, and the mobile control card 36 merges the connection of decision-making module 35 with information, determines for receiving information fusion
The instruction of plan module 35, then to the dynamic of chassis driving motor 37, mechanical arm control motor 38, hair brush motor 39 and vacuum pump 40
It is controlled, the chassis driving motor 37 controls machine people's walking and makees, and the mechanical arm control motor 38 controls machine
The control for cleaning position is realized in the action of people's cleaning machine arm, and the hair brush motor 39 controls the rotation of brush sweeper, described true
The 40 control vacuum absorption device work of sky pump, adsorbs dust；Wireless relay module 41, is laid in pipeline, realizes machine
The wireless telecommunications of device people and remote control terminal 42；Remote control terminal 42, is set to remote work station, passes through wireless relay mould
Block 41 and information fusion decision-making module communicate wirelessly, and carry out transmission order to situ machine people, or receive situ machine
The state packet of people；
The data of sensor are acquired by robot in pipeline, and by data by being wirelessly transmitted in trunk module, with
Air hose LAN is that transmission platform is transmitted to host computer again, and host computer obtains information of the robot in air hose, and host computer will be controlled
Signal processed controls detection and cleaning of the robot in pipeline by WIFI network, and whole system is passed with WiFi wireless networks
Transmission of data realizes that wireless communication of the robot in air hose is controlled with robot, the air hose monitoring system based on the WIFI communication technologys
System is to carry out wireless coverage using WiFi technology, can thus make computer and other electronic equipments fast in a local network
Speed sends or receives data information, can be realized without connection.
The first base 17 is mounted on interior storehouse 2, and elevating lever 43, the interior storehouse 2 are equipped on the interior storehouse 2
On be also equipped with electric pushrod 44, hinged, the described elevating lever in the upper end of the electric pushrod 44 and the middle part of elevating lever 43
43 upper end is rotatably equipped with camera module 45, be equipped in the camera module 45 ultrasonic sensor 33,
Camera 34 and LED light 46；
Electric pushrod drives elevating lever to move up and down, and then adjusts camera in the camera angle of vertical direction, camera module
It is rotated on elevating lever, adjusts camera camera angle in the horizontal direction so that detection angle flexible adjustment, conveniently.
Preferably, the center-pole 9 is screw rod, and there are two stop nuts 47 for setting on the center-pole 9, described
Two stop nuts 47 are located at the upside of two first axles 10.
Preferably, the both sides of the crawler belt 7 are fitted with tube wall detection sensor 48.
Preferably, the camera 34 includes infrared camera 49 and RGB cameras 50.
Preferably, it is provided with supporting rack 51 on the 4th pedestal 20, infrared take the photograph is installed on the supporting rack 51
As head 49.
Preferably, the control device further includes power module 52, is set in robot in storehouse 2, for entirely controlling
System processed is powered.
Preferably, the control device further includes trunk module distributor 53, is set in robot in storehouse 2, for controlling
The laying of wireless relay module 41 processed.
Preferably, the hairbrush 27 includes hairbrush shaft 54 and bristle 55, and the bristle 55 is laid in hairbrush shaft
Around 54, the hairbrush shaft 54 is connected by synchronous pulley 28 and synchronous belt 29 and the 5th motor 26.
Walking mechanism sets four caterpillar belt structure of formula swinging support, this knot without complicated transmission mechanism, walking mechanism using low
The not complicated displacement control mechanism of the Athey wheel of configuration formula, crawler belt energy autonomous modification climbs several times higher than crawler belt wheel footpath when obstacle detouring
Step obstacle；Crawler belt can keep more contacts area with ground, so that load is evenly distributed with, maximum tractive force can be obtained, in phase
With smaller walking mechanism size can be used under loading condition；Meanwhile realizing the logical of robot rectangular duct and circular pipe
With property, pipeline cleaning robot using four independently drive low set pivoted axle crawler belt foot walking mechanism, every crawler belt both sides dress
There are tube wall detection sensor, machine to enter to automatically adjust crawler belt foot according to pipeline section shape and laterally arrange angle, be conducive to increase
Add the adhesive force and obstacle climbing ability of crawler belt and wall surface；Entire mechanical arm position adjustment is flexible so that cleans without dead angle, helps to carry
High sweeping efficiency and quality is cleaned, further, the dust hit down in air hose is sucked out vacuum absorption device, and dust arrester is by dust
Grain is collected, and avoids dust from flying；Cognitive ability of the control system to global context and the recognition capability to barrier are strong, number
It is accurate according to detection, it can work normally, need not be carried out data transmission using cable under dark surrounds, be suitble to complicated pipe ring
Border.
It should be noted that herein, if there are first and second or the like relational terms to be used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example is modified or equivalent replacement of some of the technical features；And these modification or
It replaces, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. a kind of subway ventilation and fire control smoke exhausting pipe detection sweeping robot, it is characterised in that：Including control device, vehicle with walking machine
Structure and clearing apparatus；
The walking mechanism includes rack, interior storehouse is equipped in the rack, there are four carry out for the lower part installation of the rack
Band foot, four crawler belts are symmetrically set to rack both sides two-by-two enough；Four crawler belt foot structures are identical, described
Crawler belt includes driving motor, main drive wheel and two secondary driving wheels enough, is connected between the main drive wheel and two secondary driving wheels
It is connected to crawler belt, outside support plate, the outside support plate are also equipped between the main drive wheel and two secondary driving wheels
Positioned at side of the crawler belt foot far from rack, the output shaft of the driving motor is connected with main drive wheel；The rack includes
Center-pole, two first axles, two second hinges, four flat connecting rods and two long connecting rods, described two first axles
It is symmetrically installed on center-pole, described two long connecting rods are symmetrically set to the both sides of center-pole, the long connecting rod
Both ends are all equipped with crawler belt foot by swinging kick, and two second hinges are respectively hinged at the middle part of two long connecting rods, described
Two second hinges connected with first axle by flat connecting rod, and the flat connecting rod and two first axles and two
The connection type of second hinge is all hinged；
The clearing apparatus includes five shaft mechanical arms, vacuum absorption device and dust arrester, the vacuum absorption device sum aggregate
Dirt device connects, and the vacuum absorption device and dust arrester are all disposed within the rear ends Nei Cang, and the five shaft mechanical arms include first
Pedestal, second base, third pedestal, the 4th pedestal and the 5th pedestal, the second base are rotatably mounted on the first bottom
It is hinged successively between the second base, third pedestal, the 4th pedestal and the 5th pedestal on seat, the first base, the
It is separately installed with first motor, the second motor, third motor, the 4th on two pedestals, third pedestal, the 4th pedestal and the 5th pedestal
Motor and the 5th motor, the output shaft of the first motor are mounted in second base, driving second base rotation, and described the
Two motors, third motor, the 4th motor are separately mounted to second base and third pedestal, third pedestal and the 4th pedestal, the 4th
The hinged place of pedestal and the 5th pedestal, is equipped with hairbrush on the 5th pedestal, the 5th motor by synchronous pulley and
Synchronous belt is connected with hairbrush, and the first base, second base, third pedestal and the 4th are respectively arranged on the base with first and hit
Needle, the second striker, third striker and the 4th striker, on the second base, third pedestal, the 4th pedestal and the 5th pedestal point
It is not provided with the first limit switch, the second limit switch, third limit switch and the 4th limit switch, first striker,
Second striker, third striker and the 4th striker respectively with the first limit switch, the second limit switch, third limit switch and the 4th
Limit switch is arranged in a one-to-one correspondence；
The control device includes induction module, and the induction module includes laser range finder, ultrasonic sensor and camera shooting
Head, the laser range finder are set to the front ends Nei Cang, to sniffing robot front obstacle, the ultrasonic sensor conduct
Environment sensing device realizes cognitive ability of the robot to global context and the recognition capability to barrier, and camera is as auxiliary
Robot is identified in environment sensing device, cooperation ultrasonic sensor；Information merges decision-making module, is set to interior
It in storehouse, connect with the induction module, is instructed for being sent to Motor execution module after the information for receiving induction module acquisition,
Control the action of robot；Motor execution module, the Motor execution module include mobile control card, chassis driving motor, machine
Tool arm controls motor, hair brush motor and vacuum pump, and the mobile control card is arranged in interior storehouse, the mobile control card and information
Decision-making module connection is merged, the instruction of decision-making module is merged for receiving information, then chassis driving motor, mechanical arm are controlled
The action of motor, hair brush motor and vacuum pump is controlled, and the chassis driving motor control machine people's walking is made, the machine
Tool arm controls the action of Motor controlling machine device people's cleaning machine arm, realizes that the control for cleaning position, the hair brush motor control are clear
The rotation of brooming brush, the vacuum pump control vacuum absorption device work, adsorbs dust；Wireless relay module is laid
In in pipeline, the wireless telecommunications of robot and remote control terminal are realized；Remote control terminal is set to remote work station, leads to
It crosses wireless relay module and information fusion decision-making module communicates wirelessly, transmission order, Huo Zhejie are carried out to situ machine people
Receive the state packet of situ machine people.
2. first base described in is mounted on interior storehouse, and elevating lever is equipped on the interior storehouse, is also installed on the interior storehouse
There is electric pushrod, the upper end of the electric pushrod and the middle part of elevating lever are hinged, and the upper end of the elevating lever is rotatable
Camera module is installed, ultrasonic sensor, camera and LED light are installed in the camera module；
A kind of subway ventilation and fire control smoke exhausting pipe detection sweeping robot according to claim 1, it is characterised in that：Institute
The center-pole stated is screw rod, is arranged on the center-pole there are two stop nut, described two stop nuts are located at
The upside of two first axles.
3. a kind of subway ventilation according to claim 1 and fire control smoke exhausting pipe detection sweeping robot, it is characterised in that：
The both sides of the crawler belt are fitted with tube wall detection sensor.
4. a kind of subway ventilation according to claim 1 and fire control smoke exhausting pipe detection sweeping robot, it is characterised in that：
The camera includes infrared camera and RGB cameras.
5. a kind of subway ventilation according to claim 1 and fire control smoke exhausting pipe detection sweeping robot, it is characterised in that：
It is provided with supporting rack on 4th pedestal, infrared camera is installed on the supporting rack.
6. a kind of subway ventilation according to claim 1 and fire control smoke exhausting pipe detection sweeping robot, it is characterised in that：
The control device further includes power module, is set in robot in storehouse, for being powered to entire control system.
7. a kind of subway ventilation according to claim 1 and fire control smoke exhausting pipe detection sweeping robot, it is characterised in that：
The control device further includes trunk module distributor, is set in robot in storehouse, the cloth for controlling wireless relay module
If.
8. a kind of subway ventilation according to claim 1 and fire control smoke exhausting pipe detection sweeping robot, it is characterised in that：
The hairbrush includes hairbrush shaft and bristle, and the hair brushing cloth is set to around hairbrush shaft, and the hairbrush shaft passes through
Synchronous pulley and synchronous belt and the connection of the 5th motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810218575.9A CN108405505B (en) | 2018-03-16 | 2018-03-16 | A kind of subway ventilation and fire control smoke exhausting pipe detection sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810218575.9A CN108405505B (en) | 2018-03-16 | 2018-03-16 | A kind of subway ventilation and fire control smoke exhausting pipe detection sweeping robot |
Publications (2)
| Publication Number | Publication Date |
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| CN108405505A true CN108405505A (en) | 2018-08-17 |
| CN108405505B CN108405505B (en) | 2019-08-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810218575.9A Active CN108405505B (en) | 2018-03-16 | 2018-03-16 | A kind of subway ventilation and fire control smoke exhausting pipe detection sweeping robot |
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| CN (1) | CN108405505B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940602A (en) * | 2018-11-27 | 2019-06-28 | 广东彩珀科教文化股份有限公司 | A kind of subway robot of packaged type intelligent sound control |
| CN112193341A (en) * | 2020-09-27 | 2021-01-08 | 安徽铜冠智能科技有限责任公司 | Mining crawler-type intelligent inspection robot system |
| CN113546932A (en) * | 2021-06-18 | 2021-10-26 | 江苏永胜海洋工程有限公司 | Novel ventilating duct cleaning robot and using method thereof |
| CN114029293A (en) * | 2021-10-27 | 2022-02-11 | 华能武汉发电有限责任公司 | Pipeline axial displacement device and cleaning device thereof |
| CN116195761A (en) * | 2023-02-16 | 2023-06-02 | 龙岩烟草工业有限责任公司 | Dipper cleaning device, cut tobacco dipping system and cut tobacco dipping method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105465549A (en) * | 2016-01-25 | 2016-04-06 | 李超 | Crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters |
| CN106862195A (en) * | 2017-02-21 | 2017-06-20 | 常州大学 | A kind of ventilation pipeline sweeping of varistructure |
| CN206632075U (en) * | 2017-02-28 | 2017-11-14 | 重庆交通大学 | Self-adapting pipe dredging device |
| CN107511374A (en) * | 2017-07-31 | 2017-12-26 | 中国十七冶集团有限公司 | A kind of smoke controlling pipeline cleaning robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940602A (en) * | 2018-11-27 | 2019-06-28 | 广东彩珀科教文化股份有限公司 | A kind of subway robot of packaged type intelligent sound control |
| CN112193341A (en) * | 2020-09-27 | 2021-01-08 | 安徽铜冠智能科技有限责任公司 | Mining crawler-type intelligent inspection robot system |
| CN113546932A (en) * | 2021-06-18 | 2021-10-26 | 江苏永胜海洋工程有限公司 | Novel ventilating duct cleaning robot and using method thereof |
| CN114029293A (en) * | 2021-10-27 | 2022-02-11 | 华能武汉发电有限责任公司 | Pipeline axial displacement device and cleaning device thereof |
| CN116195761A (en) * | 2023-02-16 | 2023-06-02 | 龙岩烟草工业有限责任公司 | Dipper cleaning device, cut tobacco dipping system and cut tobacco dipping method |
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| CN108405505B (en) | 2019-08-20 |
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