CN108442507A - A kind of sewer discharge outlet cleaning robot - Google Patents
A kind of sewer discharge outlet cleaning robot Download PDFInfo
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- CN108442507A CN108442507A CN201810544061.2A CN201810544061A CN108442507A CN 108442507 A CN108442507 A CN 108442507A CN 201810544061 A CN201810544061 A CN 201810544061A CN 108442507 A CN108442507 A CN 108442507A
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- platform
- connecting rod
- hydraulic cylinder
- cleaning
- axis pin
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
- E03F9/002—Cleaning sewer pipes by mechanical means
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Manipulator (AREA)
Abstract
A kind of sewer discharge outlet cleaning robot, it is related to a kind of robot, include walking mechanism, rotating mechanism, elevating mechanism, cleaning mechanism and platform, walking mechanism includes four serial-parallel mirror pedipulators, and every pedipulator is made of connecting rod, axis pin, hydraulic cylinder, turning joint, leg connecting rod and ball pair；Connecting rod constitutes a four-bar mechanism being mutually parallel two-by-two, and is linked together by axis pin with a turning joint；Hydraulic cylinder there are two being also connected between turning joint and four-bar mechanism；The top of turning joint is connected to by axis pin on platform, also there is hydraulic cylinder connection between turning joint and platform；Leg connecting rod is connected in ball pair.The walking that the present invention passes through the control realization robot to leg mechanical structure.When reaching the sewer discharge outlet to be cleared up, when four leg ends are motionless, it is equivalent to parallel institution, pedipulator and elevating mechanism also have the mutual cooperation of rotating mechanism, and the cleaning mechanism of carrying is driven to realize the cleaning to sewer discharge outlet.
Description
Technical field
The present invention relates to a kind of robots, and robot is cleared up more particularly to a kind of sewer discharge outlet.
Background technology
The atrocious weathers such as heavy rain are being encountered, thunderstorm gale leads to the tree that some road drainage ports are blown off by strong wind
Leaf, rubbish block sewer discharge outlet, cause water on urban streets excessive.If without dredging in time, to will result in traffic stifled
Plug interrupts, and influences the trip of people.And artificially clear up there are worker workload is big, it spends human and material resources, and effect
And it is unsatisfactory, also there is certain life danger.It is core that how safety timely carries out cleaning to water channel discharge outlet
Problem, for the problem, the present invention provides a kind of robots cleared up automatically the inlet of sewer, have structure letter
Singly, the features such as being easy to protection, intelligence, the consuming that can be used manpower and material resources sparingly, especially under severe weather conditions, effective generation
Manual work is replaced.
Invention content
The purpose of the present invention is to provide a kind of sewer discharge outlet to clear up robot, and the present invention passes through to leg machinery knot
The walking of robot is realized in the control of structure.When reaching the sewer discharge outlet to be cleared up, when four leg ends are motionless, it is equivalent to
Parallel institution, pedipulator and elevating mechanism also have the mutual cooperation of rotating mechanism, and the cleaning mechanism of carrying is driven to realize to lower water
The cleaning of road discharge outlet.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of sewer discharge outlet cleaning robot, the cleaning robot includes walking mechanism, rotating mechanism, elevator
Structure, cleaning mechanism and platform, walking mechanism include four serial-parallel mirror pedipulators, and every pedipulator is by connecting rod, axis pin, hydraulic pressure
Cylinder, living hinge, leg connecting rod and ball pair composition；Connecting rod constitutes a four-bar mechanism being mutually parallel two-by-two, and with one turn
Dynamic hinge is linked together by axis pin；Hydraulic cylinder there are two being also connected between turning joint and four-bar mechanism；Turning joint
Top is connected to by axis pin on platform, also there is hydraulic cylinder connection between turning joint and platform；Leg connecting rod is connected in ball pair,
It is contacted with ground；Four pedipulators of mechanism are installed on the quadrangle of platform, and structure is identical；Rotating mechanism and elevating mechanism
Positioned at the top of platform, by motor, motor cover, bearing, bearing block, belt wheel, transmission belt, connecting plate, splined shaft, spline housing, liquid
Cylinder pressure forms；Cleaning mechanism is located at the lower section of platform, is made of hydraulic cylinder, connecting rod, axis pin, power shovel；Rotating mechanism and lifting
Mechanism is separately connected cleaning mechanism, and connects with power shovel in cleaning mechanism.
A kind of sewer discharge outlet clears up robot, and the hydraulic cylinder of the cleaning mechanism connects power shovel.
A kind of sewer discharge outlet clears up robot, four pedipulators and rotation, lifting, cleaning mechanism it
Between be connected with each other cooperation.
Advantages of the present invention is with effect：
The walking that the present invention passes through the control realization robot to leg mechanical structure.When the sewer discharge outlet to be cleared up of arrival
When, when four leg ends are motionless, it is equivalent to parallel institution, can be made when 12 hydraulic cylinder works in four pedipulators
Robot realizes lifting and side-sway function, and is lifted and moved with the cleaning mechanism below moving platform, then coordinates on platform
The rotating mechanism of side can make cleaning mechanism carry out 360 degree rotation.Final pedipulator and elevating mechanism also have the phase of rotating mechanism
Mutually cooperation can drive the cleaning mechanism of carrying to realize the cleaning to sewer discharge outlet.
1, leg of the present invention on body, is avoiding contacting with water without driving element, all driving parts, can be in water
Walking, is easy to protect；
2, four pedipulator decouplings of the invention are good, and control is simple and convenient；
3, for the present invention when four pedipulator foot ends are relative to ground non-displacement, upper end body is equivalent to the dynamic flat of parallel institution
Platform makes somatic movement using the driving of 12 leg hydraulic cylinders, drives refuse collector movement, is not increasing additional driving
When can realize rubbish collection cleaning.
4, there are rotating mechanism and elevating mechanism on body of the present invention, rotating mechanism is convenient for reciprocal cleaning；Elevating mechanism in order to
The obstacle climbing ability of quadruped robot is improved, it is too low away from ground otherwise to collect garbage apparatus.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the leg structure schematic diagram of the present invention.
Component in figure：1- motors；2- motor covers；3- small pulleys；4- transmission belts；5- spline housings；6- big belt wheels；7- splines
Axis；8- bearing blocks A；9- bearings A；10- connecting plates；11- hydraulic cylinders A；12- bearings B；13- bearing blocks B；14- platforms；15- connecting rods
A；16- axis pin A, 17- hydraulic cylinders B；18- axis pins B；19- connecting rods B；20- connecting rods C；21- axis pins C；22- axis pins D；23- power shovels；
24- axis pins E；25- turning joints；26- hydraulic cylinders C；27- axis pins F；28- axis pins G；29- connecting rods D；30- connecting rods E；31- connecting rods F；
32- hydraulic cylinders D；33- axis pins H；34- ball pairs；35- leg connecting rods；36- connecting rods G；37- hydraulic cylinders F；38- axis pins J;39- axis pins K.
Specific implementation mode
The present invention is described in detail for illustrated embodiment below in conjunction with the accompanying drawings.
A kind of road ponding descaling machine device people being easy to protection of the present invention, cleaning robot is by walking mechanism and rotating mechanism
It includes four serial-parallel mirror pedipulators, every pedipulator to also have cleaning mechanism and platform composition, walking mechanism with elevating mechanism
All it is made of connecting rod, axis pin, hydraulic cylinder, living hinge, leg connecting rod and ball pair.Wherein connecting rod constitutes one and is mutually parallel two-by-two
Double four-bar mechanisms, and linked together by axis pin with a turning joint.Also connect between turning joint and double four-bar mechanisms
It connects there are two hydraulic cylinder, is used for the coordinated movement of various economic factors.The top of turning joint is connected to by axis pin on platform, turning joint and platform
Between also have hydraulic cylinder connection, be used for mechanism side-sway.Leg connecting rod is connected in ball pair and is contacted with ground for walking.Mechanism
Four pedipulators are averagely mounted on the quadrangle of platform, and mechanical structure having the same.Rotating mechanism and elevating mechanism are located at
The top of platform, by motor, motor cover, bearing A, bearing block A, small pulley, big belt wheel, transmission belt, connecting plate A, splined shaft, flower
Key set, hydraulic cylinder A compositions.Cleaning mechanism is located at the lower section of platform by hydraulic cylinder B, connecting rod B, connecting rod C, axis pin A, axis pin B, axis pin
C, power shovel forms.Rotating mechanism and elevating mechanism drive cleaning mechanism to be rotated and lifted respectively, for adjusting descaling machine
The orientation of power shovel in structure.When orientation determines, by the hydraulic cylinder B of cleaning mechanism drive power shovel carry out rubbish cleaning and
Topple over.It in the scale removal process of rubbish, cooperates between four pedipulators and rotation, lifting, cleaning mechanism, determines machine jointly
The orientation of tool shovel and the clearing function for realizing power shovel.When robot at work, entire mechanism is mutually coordinated, in pedipulator and
Under the mutual cooperation of each mechanism, clean-up task can be effectively completed.
Embodiment 1
The present invention provides a kind of there is the road of four serial-parallel mirror pedipulators to clear up robot, including walking mechanism, rotation
Mechanism, elevating mechanism and cleaning mechanism.Walking mechanism includes four serial-parallel mirror pedipulators, and four pedipulators are averagely mounted on flat
The quadrangle of platform.For wherein one, turning joint 25 is connected to one jiao of platform 14 by axis pin K39, is formed in junction
One revolute pair is connected on platform 14, and the inside of turning joint 25 is connect with one end of hydraulic cylinder F36 by axis pin J38, shape
At revolute pair.When the end ball pair 34 of four pedipulators remains stationary as, when hydraulic cylinder F36 stretches, entire mechanism can complete side
It swings and makees.Turning joint 25 is also connected by axis pin J38 with pair four-bar mechanisms simultaneously, double four-bar mechanisms be by 2 groups of connecting rod D25,
31 4 connecting rod E26, connecting rod F 27, connecting rod G connecting rods connect composition with axis pin.Between turning joint 25 and double four-bar mechanisms,
It is also associated with hydraulic cylinder C26 and hydraulic cylinder D32, connection type is that one end of hydraulic cylinder C26 is connected in turning joint 25 below
Axis pin E24 on, the other end is connected on the axis pin G28 between double four-bar mechanisms.One end of hydraulic cylinder D37 is connected to rotating hinge
On axis pin F27 above in chain 25, works as hydraulic cylinder C26 and hydraulic cylinder on the axis pin H33 that the other end is connected on double four-bar mechanisms
The ball pair 34 for coordinating to contact by leg connecting rod 35 and with ground when D37 is flexible is lifted and is swung forward, before so that pedipulator is accomplished
Lift leg in side's takes a step to act.Rotating mechanism is located on platform 14, and motor 1 is connected with motor cover 2, motor cover 2 and 14 phase of platform
Even.Small pulley 3 is connected with 1 output shaft of motor, and is connected with big belt wheel 6 by transmission belt 4, and big belt wheel 6 is connected to spline housing 5
On.Small pulley 3 is driven when motor 1 rotates, and big belt wheel 6 is transmitted to by transmission belt 4, and big belt wheel 6 can drive spline when rotating
Set 5 rotates together, and lower part and the bearing B12 of spline housing 5 coordinate, and are fixed by bearing block B13, and bearing block B13 is fixed on platform
On.It is matched with splined shaft 7 in spline housing 5, internal matched splined shaft 7 can be driven to turn together when spline housing 5 rotates
It is dynamic.Elevating mechanism cooperates with rotating mechanism, and the top of splined shaft 7 is connected with bearing A9, and bearing A9 is outer to be matched with bearing block A8
It closes, bearing block A8 is connected with connecting plate 10, and the end of connecting plate 10 is connected with hydraulic cylinder A11, can band when hydraulic cylinder A11 works
Dynamic connecting plate 10 moves, and connecting plate 10 drives splined shaft 7 to do linear motion up and down by bearing block A8 and bearing A9 again.Cleaning
Mechanism is located at the lower section of platform 14, and connecting rod A15 is fixed in the end of splined shaft 7, and passes through the upper end of axis pin D22 and power shovel 23
Connection, the lower end of power shovel 23 are connect by axis pin C21 with connecting rod B19, and connecting rod B19 is connect by axis pin B18 with connecting rod C20,
Connecting rod C20 is connect by axis pin D22 with the upper end of power shovel 23.The upper end of hydraulic cylinder B17 passes through axis pin A16 and connecting rod A15 phases
Even, lower end is connected by axis pin B18.Power shovel 23 can be driven to rotate centainly by axis pin and connecting rod when hydraulic cylinder B17 is flexible
Angle realizes the function of lifting and fall, accomplishes the collection of rubbish and topple over.In the course of work of robot, rotating mechanism
Direction for determining power shovel, elevating mechanism are used to determine the height of power shovel, and cleaning mechanism is by power shovel in perpendicular
Certain operating angle is presented.Four pedipulators in walking mechanism are used not only for walking, it may also be used for the lifting of mechanism, side
Pendulum plays the role of assisting other three mechanisms.Under the mutual cooperation of each mechanism, the orientation of power shovel just can determine that, realize
The operation function of robot.
Claims (3)
1. a kind of sewer discharge outlet clears up robot, which is characterized in that the cleaning robot includes walking mechanism, rotation
Mechanism, elevating mechanism, cleaning mechanism and platform, walking mechanism include four serial-parallel mirror pedipulators, and every pedipulator is by even
Bar, axis pin, hydraulic cylinder, living hinge, leg connecting rod and ball pair composition；Connecting rod constitutes a four bar machines being mutually parallel two-by-two
Structure, and linked together by axis pin with a turning joint；Hydraulic pressure there are two being also connected between turning joint and four-bar mechanism
Cylinder；The top of turning joint is connected to by axis pin on platform, also there is hydraulic cylinder connection between turning joint and platform；Leg connecting rod
It is connected in ball pair, is contacted with ground；Four pedipulators of mechanism are installed on the quadrangle of platform, and structure is identical；Rotation
Mechanism and elevating mechanism are located at the top of platform, by motor, motor cover, bearing, bearing block, belt wheel, transmission belt, connecting plate, flower
Key axis, spline housing, hydraulic cylinder composition；Cleaning mechanism is located at the lower section of platform, is made of hydraulic cylinder, connecting rod, axis pin, power shovel；
Rotating mechanism and elevating mechanism are separately connected cleaning mechanism, and connect with power shovel in cleaning mechanism.
2. a kind of sewer discharge outlet according to claim 1 clears up robot, which is characterized in that the cleaning mechanism
Hydraulic cylinder connects power shovel.
3. a kind of sewer discharge outlet according to claim 1 clears up robot, which is characterized in that four pedipulators
Cooperation is connected with each other between rotation, lifting, cleaning mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810544061.2A CN108442507A (en) | 2018-05-31 | 2018-05-31 | A kind of sewer discharge outlet cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810544061.2A CN108442507A (en) | 2018-05-31 | 2018-05-31 | A kind of sewer discharge outlet cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108442507A true CN108442507A (en) | 2018-08-24 |
Family
ID=63205789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810544061.2A Pending CN108442507A (en) | 2018-05-31 | 2018-05-31 | A kind of sewer discharge outlet cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108442507A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080252247A1 (en) * | 2005-03-30 | 2008-10-16 | Tmsuk Co. Ltd | Quadruped Walking Robot |
| CN102514648A (en) * | 2011-12-09 | 2012-06-27 | 上海交通大学 | Four-leg walking robot with isotropic series-parallel legs |
| CN106149860A (en) * | 2016-06-23 | 2016-11-23 | 安庆市蒲公英水电安装工程有限公司 | A kind of Municipal footpath irrigation canals and ditches upkeep operations robot |
| CN107829492A (en) * | 2017-11-04 | 2018-03-23 | 杭州同筹网络科技有限公司 | A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot |
| CN108001560A (en) * | 2017-12-19 | 2018-05-08 | 浙江工业大学 | A kind of six degree of freedom quadruped robot |
-
2018
- 2018-05-31 CN CN201810544061.2A patent/CN108442507A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080252247A1 (en) * | 2005-03-30 | 2008-10-16 | Tmsuk Co. Ltd | Quadruped Walking Robot |
| CN102514648A (en) * | 2011-12-09 | 2012-06-27 | 上海交通大学 | Four-leg walking robot with isotropic series-parallel legs |
| CN106149860A (en) * | 2016-06-23 | 2016-11-23 | 安庆市蒲公英水电安装工程有限公司 | A kind of Municipal footpath irrigation canals and ditches upkeep operations robot |
| CN107829492A (en) * | 2017-11-04 | 2018-03-23 | 杭州同筹网络科技有限公司 | A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot |
| CN108001560A (en) * | 2017-12-19 | 2018-05-08 | 浙江工业大学 | A kind of six degree of freedom quadruped robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180824 |