CN108481294A - A kind of Engineering Robot for environmental monitoring, reparation - Google Patents
A kind of Engineering Robot for environmental monitoring, reparation Download PDFInfo
- Publication number
- CN108481294A CN108481294A CN201810201733.XA CN201810201733A CN108481294A CN 108481294 A CN108481294 A CN 108481294A CN 201810201733 A CN201810201733 A CN 201810201733A CN 108481294 A CN108481294 A CN 108481294A
- Authority
- CN
- China
- Prior art keywords
- plate
- block
- fixed
- wheel
- bar
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses one kind being used for environmental monitoring, the Engineering Robot of reparation, its structure includes detection camera, connecting seat, dust cover, light compensating lamp, repair liquid ejector block, rotating seat, fixed iron plate, obstacle detecting device, engine base, movable crawler belt, wireless console, repair liquid conveyance conduit, dust cover sets there are two and is fixed by screws in detection camera respectively, the top of light compensating lamp, the right end of detection camera is movably connected in the left side of connecting seat by bearing, the present invention by equipped with obstacle detecting device, the switch inside equipment can be directly touched when encountering the barrier that needs are repaired, valve between pipeline is opened, reparation liquid is set to spray automatically, prevent naked eyes monitoring observation less than corner, being repaired for place that robot passes through can be made to make up, improve the efficiency and quality of reparation.
Description
Technical field
The present invention is a kind of Engineering Robot for environmental monitoring, reparation, belongs to Engineering Robot field.
Background technology
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
But the Engineering Robot of the prior art needs the place repaired that can not eject reparation liquid automatically encountering, and needs
It manually acts, but some relatively low cameras in position for being contaminated place are unable to monitor, and can lead to of poor quality, the angle repaired
The place of falling can not be repaired, and the progress that engineering promotes is slow.
Invention content
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of engineering machines for environmental monitoring, reparation
Device people needs the place repaired that can not eject reparation liquid automatically, needs to solve the Engineering Robot of the prior art encountering
It manually acts, but some relatively low cameras in position for being contaminated place are unable to monitor, and can lead to of poor quality, the angle repaired
The place of falling can not be repaired, the slow problem of the progress that engineering promotes.
To achieve the goals above, the present invention is to realize by the following technical solutions：One kind being used for environmental monitoring, repaiies
Multiple Engineering Robot, structure include detection camera, connecting seat, dust cover, light compensating lamp, repair liquid ejector block, rotating seat,
Fixed iron plate, engine base, movable crawler belt, wireless console, repairs liquid conveyance conduit at obstacle detecting device, and the dust cover is equipped with
Two and be fixed by screws in respectively detection camera, light compensating lamp top, it is described detection camera right end pass through axis
The left side for being movably connected in connecting seat is held, the light compensating lamp is horizontally fixed on the right end of connecting seat and using nail connection, described
It detects camera and light compensating lamp is parallel to each other, the reparation liquid ejector block is welded on the lower section of connecting seat and orthogonal, institute
It states rotating seat and is fixed on the lower section for repairing liquid ejector block by bearing and using mechanical connection, the reparation liquid ejector block and rotation
Swivel base axle center is conllinear, and the fixed iron plate is vertically fixed on the lower section of rotating seat and is fixed on frame upper surface by rivet
Center, the obstacle detecting device are installed in the right side of engine base, and the obstacle detecting device is mechanically connected with engine base, the activity
The rear and front end of engine base is movably connected in there are two crawler belt is set and by swingle, the wireless console is welded on engine base
Left side, the engine base are interpenetrated by repairing liquid conveyance conduit with liquid ejector block is repaired, and the obstacle detecting device is by hitting
Sensing device, turntable drive mechanism, fan-shaped tumbler, runner transferring structure, pulley rolling device, compound pushing meanss, drive
Dynamic motor, passive lifting device, rust-proof casing, the right end for hitting sensing device are inserted embedded in the stage casing of rust-proof casing right end,
The turntable drive mechanism is sequentially connected in the left side for hitting sensing device, and the bottom of the sector tumbler is vertically fixed on
Bottom inside rust-proof casing, the sector tumbler are sequentially connected in the left side of turntable drive mechanism, and the runner passes
The left side that construction machine is connected to fan-shaped tumbler is passed, the pulley rolling device is movably connected in a left side for runner transferring structure
Side and it is installed in the left end inside rust-proof casing, the compound pushing meanss are sequentially connected in the upper right of pulley rolling device
Angle, the driving motor are mechanically connected to the right side of compound pushing meanss, and the passive lifting device is movably connected in driving electricity
The lower section of machine right end.
Further, the shock sensing device is by mobile bar, jointing plate, arc impact block, reinforcement block, fixed board group
At the mobile bar vertically inserts the right end embedded in rust-proof casing and using flexible connection, and the jointing plate is vertically fixed on shifting
The right side of lever, the arc impact block glue connection are fixed on by rivet outside antirust in the right side of jointing plate, the fixed plate
The lower right corner inside shell, the reinforcement block set there are two and follow closely the left and right ends for being connected to fixed plate.
Further, the turntable drive mechanism is by grip block, promotion wheel, pushing plate, movable pulley, sliding panel, internal messing
Slot, interlocking bar, small rotating wheel, big rotating wheel, rotor plate, fast pulley composition, the grip block set there are two and are installed in solid
The top on fixed board surface, the grip block weld together with fixed plate, the sliding panel be installed in the inside of grip block and
Using flexible connection, the small rotating wheel is mechanically connected to the center of rotation wheel surface, and the big rotating wheel is fixed by connecting shaft
In the left end of fixed plate surface, the fast pulley is installed in the lower section of big rotating wheel and is flexibly connected with fixed plate, described turn
Movable plate is movably connected in the top of fast pulley and shrouds in the outer surface of small rotating wheel, the table of the internal messing slot and rotor plate
Face is integrally welded, and the interlocking bar is mounted on the top of small rotating wheel and is vertically welded in one with the surface of big rotating wheel
It rises, described push is taken turns the top for being welded on rotor plate and be flexibly connected with sliding panel, and the pushing plate is in 45 degree of welding
In the lower right corner for pushing wheel, the movable pulley is movably connected on the grip block of bottom and is welded on the lower right corner of pushing plate
Together.
Further, the fan-shaped tumbler is by the first transmission belt, spud pile, hinged wheel, fan-shaped rotor plate, spring
Plate, moving block, link block, hydraulic spring grease cup bar, arc-shaped rack, reseting gear, gear fixed pole composition, the hinged wheel pass through the
One transmission belt is sequentially connected with small rotating wheel, and the hinged wheel and spud pile are hinged, and the sector rotor plate is welded on hinged wheel
Bottom, the arc-shaped rack is interference fitted in the lower section of fan-shaped rotor plate, and the right end of the link block is movably connected in sector
The intersection of rotor plate and arc-shaped rack, the link block are welded on the left end of link block, and the moving block is shrouded in link block
Outer surface and using mechanical connection, the top nail of the latch plate is connected to the lower left corner of moving block, the reseting gear
It is engaged on the lower section of arc-shaped rack, the reseting gear is connect with the top movable of gear fixed pole, the gear fixed pole
Bottom together with the bottom vertical welding inside rust-proof casing.
Further, the runner transferring structure is by L-type protecting stand, first gear, inner sprocket, axis movable plate, hollow fixation
Plate, second gear, top fixing plate, hangs tight spring, hanging bar, transverse shifting bar composition, the left end of the hanging bar at down-pressed pole
It is fitted in the right side of L-type protecting stand, the bottom of the hanging bar is mechanically connected with latch plate, and the transverse shifting bar is vertically inserted embedding
In the stage casing of hanging bar, the down-pressed pole is welded on the left end of transverse shifting bar, the axle center of the down-pressed pole and second gear
Together, the bottom for hanging tight spring and the top of hanging bar are fixed together surface soldered by rivet, described to hang tight bullet
The bottom for hanging tight spring is welded at the top of spring, the second gear is installed in the left side of hanging bar, the first gear engagement
In the lower section of second gear, the inner sprocket is mechanically connected to the surface of first gear, the bottom of the axis movable plate and inner sprocket
Flexible connection, the top of the axis movable plate are flexibly connected with the left end of down-pressed pole, and the axis movable plate extends vertically through hollow fixed plate.
Further, the pulley rolling device by the second transmission belt, transmission belt, the first movable pulley, the second movable pulley,
Third transmission belt, driving wheel group are at the driving wheel is sequentially connected by the second transmission belt and axis movable plate, the driving wheel and biography
The right end of defeated belt is sequentially connected, and first movable pulley is installed in the lower right corner of driving wheel, and first movable pulley passes through biography
Defeated belt and the second movable pulley are sequentially connected, and the transmission belt is wrapped in the outer surface of the first movable pulley and the second movable pulley,
Second movable pulley is sequentially connected by third transmission belt and compound pushing meanss.
Further, the compound pushing meanss are by push-pull rod, rotating wheel, swingle, outer set casing, "-" type activity
Plate, linkage block, pushing plate, trapped orbit, center fixing button composition, the rotating wheel pass through third transmission belt and the second movable pulley
It is sequentially connected, the swingle is mechanically connected to the top of rotating wheel, and the push-pull rod is mechanically connected to the right side of swingle, institute
The right end for stating push-pull rod is flexibly connected with the linkage block of lower section, and the trapped orbit sets there are two and is embedded in outer set casing table
The upper and lower ends in face, the pushing plate are installed in the inside of trapped orbit and using flexible connection, the linkage block and promotions
Plate is flexibly connected, and the "-" type movable plate with push-pull rod is flexibly connected through outer set casing and by linkage block, in described
Heart fixing button is hinged on the stage casing of "-" type movable plate.
Further, the driving motor is by piezoelectric patches, motor, rotor, vertical connecting, bevel gear pair, the first rotation
Bar, the second rotating bar, stator, caulking groove composition, the caulking groove set the left end there are two and across motor, the motor dress
It is located at the right side of caulking groove and is horizontally fixed on the left end inside motor, the stator is welded on the right side of piezoelectric patches, described
Rotors normal is fixed on the right side of stator and using mechanical connection, and second rotating bar passes through motor to connect with rotor machinery
It connects, the left end of the bevel gear pair welds together with the second rotating bar, the bottom of the vertical connecting and bevel gear pair
Upper end welds together, and the top and the top inside rust-proof casing of the vertical connecting weld together, the bevel gear
Secondary right end is flexibly connected with passive lifting device.
Further, the passive lifting device is connected by semi-circular plate, lower pressure wheel, articulated slab, pawl, bevel gear, first
Bar, fixed hinged seat, second connecting rod, taper pushing block, triangular coupling rod, limit chamber, triangle jacking block, punch panel composition, it is described
Semi-circular plate is mechanically connected to the right end below the first rotating bar, and the lower pressure wheel is slidably connected at the lower section of semi-circular plate, the hinge
The lower section of lower pressure wheel is welded at the top of fishplate bar, the upper right corner of the articulated slab is flexibly connected with the lower left corner of fixed hinged seat,
The pawl is intermeshed by being movably connected in the lower section of articulated slab, the right end of the pawl and the outer surface of bevel gear,
The bevel gear is installed in the lower section of fixed hinged seat, and the left end of the first connecting rod and the surface soldered of bevel gear are one
It rises, the top movable of the bottom of the second connecting rod and first connecting rod connects, the top of the second connecting rod and triangular coupling rod
Bottom mechanical connects, and the taper pushing block nail is connected to the inside of triangular coupling rod, the both ends of the taper pushing block and limit
The both ends of intracavitary side are movably hinged, and the limit chamber is welded on the right end of rust-proof casing inside top, the triangle jacking block peace
Be located at the top of taper pushing block and fit together with limit chamber, the punch panel be located at the top of rust-proof casing and with
Triangle jacks block flexible connection.
Advantageous effect
A kind of Engineering Robot for environmental monitoring, reparation of the present invention passes through wireless control when carrying out environmental monitoring
Platform controls engine base operation, and movable crawler belt is made to proceed by advance, and by detecting camera, light compensating lamp allows people remotely to obtain
The information of robot, when encountering the barrier for needing to repair cleaning, barrier can strike arc impact block, make
Arc impact block squeezes jointing plate, and jointing plate fits on rust-proof casing, and mobile bar is pushed out, and mobile bar squeezes sliding panel, makes
It pushes wheel to travel forward, drives rotor plate rotation, the interlocking bar in rotor plate also to rotate, small rotating wheel is made also to rotate
Come, drives hingedly wheel rotation so that the fan-shaped rotor plate welded together is done clockwise when hinged wheel rotates by the first transmission belt
Rotation drives arc-shaped rack also to rotate clockwise, hydraulic spring grease cup bar is promoted, and so that link block is driven moving block rotation, due to turning
The upper right corner of motion block is fixed, so can be because gravity drops after moving block rotation, when moving block rotates, latch plate can squeeze
To hanging bar, the extruding of hanging bar is set to hang tight spring, while the right end of transverse shifting bar being tilted, the left end of transverse shifting bar is by axis
Movable plate pushes, and when the left end of transverse shifting bar pushes, second gear can be made to rotate, and after second gear rotation, can drive the first tooth
Wheel rotation, the inner sprocket for driving it internal also rotate, and when axis movable plate pushes, small-scale circumference can be done along inner sprocket and is transported
It is dynamic, power is provided for inner sprocket, so that inner sprocket is passed through the second transmission belt and is acted by driving wheel, transmission skin is driven when driving wheel rotates
Band rotation, makes the first movable pulley, the second movable pulley move synchronously, and the axle center of the second movable pulley is by third transmission belt by rotating wheel
It is rotated, when rotating wheel goes to right side, draws swingle, the push-pull rod of lower section, push-pull rod is made to release pushing plate, push
Plate is moved right along trapped orbit, touches the caulking groove of bottom, and when rotating wheel goes to left side, the push-pull rod at top can incite somebody to action
Pushing plate releases the caulking groove for touching top, and "-" type movable plate is understood when moving reciprocatingly centered on the fixing button of center,
So that "-" type movable plate is not integrally deviated, when touching arbitrary caulking groove, piezoelectric patches can be caused stress, make piezoelectric patches
Electricity is generated, motor use is supplied to, makes rotor around stator rotation, drives the rotation of the second rotating bar, make to be welded on one therewith
The bevel gear pair risen is also rotated, and the first rotating bar on the right side of it is driven to rotate, and friction semi-circular plate is rotated, by lower pressure wheel
It pushes, makes articulated slab around fixed hinged seat rotation, so that pawl is hooked the rotation of mantle gear, first connecting rod is driven to release, first
Connecting rod again releases second connecting rod, so that second connecting rod is squeezed and promotes taper pushing block, taper pushing block moves upwards, priming triangle
Connecting rod acts upwards, and triangle jacking block is released, so that punch panel is tilted, the channel repaired between liquid conveyance conduit and engine base is beaten
It opens, reparation liquid is transported to repair to be sprayed on liquid ejector block, so that the barrier in front is repaired, intelligence degree higher.
The present invention it is a kind of for environmental monitoring, reparation Engineering Robot, by equipped with obstacle detecting device, encountering
It needs directly touch the switch inside equipment when the barrier repaired, the valve between pipeline is opened, reparation liquid is made
It is automatic to spray, it prevents naked eyes monitoring observation less than corner, being repaired for place that robot passes through can be made to make up, improved
The efficiency and quality of reparation.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is a kind of structural schematic diagram of Engineering Robot for environmental monitoring, reparation of the present invention.
Fig. 2 is the structural schematic diagram of obstacle detecting device of the present invention.
Fig. 3 is the detailed structural schematic diagram of obstacle detecting device of the present invention.
Fig. 4 is the structural schematic diagram of obstacle detecting device working condition of the present invention.
In figure：Detect camera -1, connecting seat -2, dust cover -3, light compensating lamp -4, repair liquid ejector block -5, rotating seat -6,
Fixed iron plate -7, obstacle detecting device -8, engine base -9, movable crawler belt -10, wireless console -11, repair liquid conveyance conduit -12,
Hit sensing device -81, turntable drive mechanism -82, fan-shaped tumbler -83, runner transferring structure -84, pulley rolling device -
85, compound pushing meanss -86, driving motor -87, passive lifting device -88, rust-proof casing -89, mobile bar -811, jointing plate -
812, arc impact block -813, reinforcement block -814, fixed plate -815, grip block -821, promotion are taken turns -822, pushing plate -823, are slided
Driving wheel -824, sliding panel -825, internal messing slot -826, interlocking bar -827, small rotating wheel -828, big rotating wheel -829, rotor plate -
8210, fast pulley -8211, the first transmission belt -831, spud pile -832, hinged wheel -833, fan-shaped rotor plate -834, latch plate -
835, moving block -836, link block -837, hydraulic spring grease cup bar -838, arc-shaped rack -839, reseting gear -8310, gear are fixed
Column -8311, first gear -842, inner sprocket -843, axis movable plate -844, hollow fixed plate -845, pushes L-type protecting stand -841
Bar -846, second gear -847, top fixing plate -848, hang tight spring -849, hanging bar -8410, transverse shifting bar -8411,
Second transmission belt -851, transmission belt -852, the first movable pulley -853, the second movable pulley -854, third transmission belt -855, transmission
Wheel -856, push-pull rod -861, rotating wheel -862, swingle -863, outer set casing -864, "-" type movable plate -865, linkage block -
866, pushing plate -867, trapped orbit -868, center fixing button -869, piezoelectric patches -871, motor -872, rotor -873, vertical
Connecting rod -874, bevel gear pair -875, the first rotating bar -876, the second rotating bar -877, stator -878, caulking groove -879, half
Plectane -881, lower pressure wheel -882, articulated slab -883, pawl -884, bevel gear -885, first connecting rod -886, fixed hinged seat -
887, second connecting rod -888, taper pushing block -889, triangular coupling rod -8810, limit chamber -8811, triangle jack block -8812, hit
Re-pack -8813.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, with reference to
Specific implementation mode, the present invention is further explained.
- Fig. 4 is please referred to Fig.1, the present invention provides a kind of Engineering Robot for environmental monitoring, reparation：Its structure includes
It detects camera 1, connecting seat 2, dust cover 3, light compensating lamp 4, repair liquid ejector block 5, rotating seat 6, fixed iron plate 7, obstacle detection
Device 8, movable crawler belt 10, wireless console 11, repairs liquid conveyance conduit 12 at engine base 9, the dust cover 3 set there are two and
It is fixed by screws in the top of detection camera 1, light compensating lamp 4 respectively, the right end of the detection camera 1 passes through bearing activity
It is connected to the left side of connecting seat 2, the light compensating lamp 4 is horizontally fixed on the right end of connecting seat 2 and using nail connection, the detection
Camera 1 and light compensating lamp 4 are parallel to each other, and the reparation liquid ejector block 5 is welded on the lower section of connecting seat 2 and orthogonal, institute
It states rotating seat 6 and is fixed on the lower section for repairing liquid ejector block 5 by bearing and using mechanical connection, the reparation liquid ejector block 5
Conllinear with 6 axle center of rotating seat, the fixed iron plate 7 is vertically fixed on the lower section of rotating seat 6 and is fixed on engine base 9 by rivet
The center of upper surface, the obstacle detecting device 8 are installed in the right side of engine base 9, the obstacle detecting device 8 and 9 machinery of engine base
Connection, the activity crawler belt 10 set there are two and are movably connected in by swingle the rear and front end of engine base 9, the wireless controlled
Platform 11 processed is welded on the left side of engine base 9, and the engine base 9 is interpenetrated by repairing liquid conveyance conduit 12 with liquid ejector block 5 is repaired,
The obstacle detecting device 8 is by shock sensing device 81, turntable drive mechanism 82, fan-shaped tumbler 83, runner transferring structure
84, pulley rolling device 85, compound pushing meanss 86, driving motor 87, passive lifting device 88, rust-proof casing 89, it is described to hit
The right end for hitting sensing device 81 is inserted embedded in the stage casing of 89 right end of rust-proof casing, and the drive connection of turntable drive mechanism 82 is being hit
The bottom in the left side of sensing device 81, the sector tumbler 83 is vertically fixed on the bottom inside rust-proof casing 89, institute
It states fan-shaped tumbler 83 to be sequentially connected in the left side of turntable drive mechanism 82, the runner transferring structure 84 is mechanically connected to fan
The left side of shape tumbler 83, the pulley rolling device 85 are movably connected in the left side of runner transferring structure 84 and are installed in
Left end inside rust-proof casing 89, the compound pushing meanss 86 are sequentially connected in the upper right corner of pulley rolling device 85, described
Driving motor 87 is mechanically connected to the right side of compound pushing meanss 86, and the passive lifting device 88 is movably connected in driving motor
The lower section of 87 right ends, the shock sensing device 81 by mobile bar 811, jointing plate 812, arc impact block 813, reinforcement block 814,
Fixed plate 815 forms, and the mobile bar 811 vertically inserts the right end embedded in rust-proof casing 89 and using flexible connection, the patch
Plywood 812 is vertically fixed on the right side of mobile bar 811, and 813 glue connection of arc impact block is in the right side of jointing plate 812, institute
State fixed plate 815 and the lower right corner inside rust-proof casing 89 be fixed on by rivet, the reinforcement block 814 set there are two and the company of nail
The left and right ends of fixed plate 815 are connected on, the turntable drive mechanism 82 is taken turns 822, pushing plate 823 by grip block 821, promotion, slided
Driving wheel 824, internal messing slot 826, interlocking bar 827, small rotating wheel 828, big rotating wheel 829, rotor plate 8210, is consolidated sliding panel 825
Fixed wheel 8211 forms, and the grip block 821 sets there are two and is installed in the top on 815 surface of fixed plate, the grip block 821
Weld together with fixed plate 815, the sliding panel 825 is installed in the inside of grip block 821 and using flexible connection, described
Small rotating wheel 828 is mechanically connected to the center on 829 surface of rotating wheel, and the big rotating wheel 829 is fixed on fixed plate by connecting shaft
The left end on 815 surfaces, the fast pulley 8211 are installed in the lower section of big rotating wheel 829 and are flexibly connected with fixed plate 815, institute
Rotor plate 8210 is stated to be movably connected in the top of fast pulley 8211 and shroud in the outer surface of small rotating wheel 828, it is described in nibble
Close that slot 826 and the surface soldered of rotor plate 8210 are integral, the interlocking bar 827 mounted on the top of small rotating wheel 828 and
Together with the surface vertical welding of big rotating wheel 829, it is described push wheel 822 be welded on rotor plate 8210 top and with cunning
Movable plate 825 is flexibly connected, and the pushing plate 823 is welded on the lower right corner for pushing wheel 822, the movable pulley 824 in 45 degree
It is movably connected on the grip block 821 of bottom and welds together with the lower right corner of pushing plate 823, the sector tumbler
83 by the first transmission belt 831, spud pile 832, hingedly wheel 833, fan-shaped rotor plate 834, latch plate 835, moving block 836, connection
Block 837, hydraulic spring grease cup bar 838, arc-shaped rack 839, reseting gear 8310, gear fixed pole 8311 form, described hingedly to take turns 833
It is sequentially connected with small rotating wheel 828 by the first transmission belt 831, the hingedly wheel 833 and spud pile 832 are hinged, the sector
Rotor plate 834 is welded on the bottom of hinged wheel 833, and the arc-shaped rack 839 is interference fitted in the lower section of fan-shaped rotor plate 834,
The right end of the link block 837 is movably connected in the intersection of fan-shaped rotor plate 834 and arc-shaped rack 839, the link block 837
It is welded on the left end of link block 837, the moving block 836 shrouds the outer surface in link block 837 and using mechanical connection, institute
The top nail for stating latch plate 835 is connected to the lower left corner of moving block 836, and the reseting gear 8310 is engaged on arc-shaped rack 839
Lower section, the reseting gear 8310 connect with the top movable of gear fixed pole 8311, the gear fixed pole 8311
Bottom is together with the bottom vertical welding inside rust-proof casing 89, and the runner transferring structure 84 is by L-type protecting stand 841,
One gear 842, inner sprocket 843, axis movable plate 844, hollow fixed plate 845, down-pressed pole 846, second gear 847, top fixing plate
848, it hangs tight spring 849, hanging bar 8410, transverse shifting bar 8411 to form, the left end of the hanging bar 8410, which is fitted in L-type, to be prevented
The right side of platform 841 is protected, the bottom of the hanging bar 8410 is mechanically connected with latch plate 835, and the transverse shifting bar 8411 is vertical
It inserts embedded in the stage casing of hanging bar 8410, the down-pressed pole 846 is welded on the left end of transverse shifting bar 8411, the down-pressed pole 846
Axle center together with the surface soldered of second gear 847, the bottom for hanging tight spring 849 and the top of hanging bar 8410 are logical
It crosses rivet to be fixed together, the top for hanging tight spring 849 is welded on the bottom for hanging tight spring 849, the second gear 847
It is installed in the left side of hanging bar 8410, the first gear 842 is engaged on the lower section of second gear 847,843 machine of the inner sprocket
Tool is connected to the surface of first gear 842, and the bottom of the axis movable plate 844 is flexibly connected with inner sprocket 843, the axis movable plate
844 top is flexibly connected with the left end of down-pressed pole 846, and the axis movable plate 844 extends vertically through hollow fixed plate 845, the cunning
Tourelle 85 is taken turns to be driven by the second transmission belt 851, transmission belt 852, the first movable pulley 853, the second movable pulley 854, third
Band 855, driving wheel 856 form, and the driving wheel 856 is sequentially connected by the second transmission belt 851 with axis movable plate 844, the biography
Driving wheel 856 and the right end of transmission belt 852 are sequentially connected, and first movable pulley 853 is installed in the lower right corner of driving wheel 856,
First movable pulley 853 is sequentially connected by transmission belt 852 and the second movable pulley 854, and the transmission belt 852 is wrapped in
The outer surface of first movable pulley 853 and the second movable pulley 854, second movable pulley 854 by third transmission belt 855 with it is compound
Pushing meanss 86 are sequentially connected, and the compound pushing meanss 86 are by push-pull rod 861, rotating wheel 862, swingle 863, outer set casing
864, "-" type movable plate 865, linkage block 866, pushing plate 867, trapped orbit 868, center fixing button 869 form, the rotation
Runner 862 is sequentially connected by third transmission belt 855 and the second movable pulley 854, and the swingle 863 is mechanically connected to rotating wheel
862 top, the push-pull rod 861 are mechanically connected to the right side of swingle 863, the right end of the push-pull rod 861 and lower section
Linkage block 866 is flexibly connected, and the trapped orbit 868 sets there are two and be embedded in the upper and lower ends on 864 surface of outer set casing,
The pushing plate 867 is installed in the inside of trapped orbit 868 and using flexible connection, the linkage block 866 and pushing plate 867
Flexible connection, the "-" type movable plate 865 connect through outer set casing 864 and by linkage block 866 and 861 activity of push-pull rod
It connects, the center fixing button 869 is hinged on the stage casing of "-" type movable plate 865, and the driving motor 87 is by piezoelectric patches 871, electricity
Machine 872, rotor 873, vertical connecting 874, bevel gear pair 875, the first rotating bar 876, the second rotating bar 877, stator 878,
Caulking groove 879 forms, and the caulking groove 879 sets the left end there are two and across motor 872, and the motor 872 is installed in slotting
The right side of caulking groove 879 and the left end being horizontally fixed on inside motor 872, the stator 878 are welded on the right side of piezoelectric patches 871
Side, the rotor 873 are vertically fixed on the right side of stator 878 and using mechanical connections, and second rotating bar 877 passes through electricity
Machine 872 is mechanically connected with rotor 873, and the left end of the bevel gear pair 875 welds together with the second rotating bar 877, described to hang down
The bottom of straight connecting rods 874 and the upper end of bevel gear pair 875 weld together, the top of the vertical connecting 874 and antirust
Top inside shell 89 welds together, and the right end of the bevel gear pair 875 is flexibly connected with passive lifting device 88, described
Passive lifting device 88 is by semi-circular plate 881, lower pressure wheel 882, articulated slab 883, pawl 884, bevel gear 885, first connecting rod
886, fixed hinged seat 887, second connecting rod 888, taper pushing block 889, triangular coupling rod 8810, limit chamber 8811, triangle jacking
Block 8812, punch panel 8813 form, and the semi-circular plate 881 is mechanically connected to the right end of 876 lower section of the first rotating bar, the pushing
Wheel 882 is slidably connected at the lower section of semi-circular plate 881, and the top of the articulated slab 883 is welded on the lower section of lower pressure wheel 882, described
The upper right corner of articulated slab 883 is flexibly connected with the lower left corner of fixed hinged seat 887, and the pawl 884 is by being movably connected in hinge
The outer surface of the lower section of fishplate bar 883, the right end and bevel gear 885 of the pawl 884 is intermeshed, the bevel gear 885
Be installed in the lower section of fixed hinged seat 887, the left end of the first connecting rod 886 together with the surface soldered of bevel gear 885,
The bottom of the second connecting rod 888 is connect with the top movable of first connecting rod 886, the top of the second connecting rod 888 and triangle
The bottom mechanical of connecting rod 8810 connects, and the taper pushing block 889 follows closely the inside for being connected to triangular coupling rod 8810, and the taper pushes away
The both ends of motion block 889 and the both ends of 8811 inside of limit chamber are movably hinged, and the limit chamber 8811 is welded in rust-proof casing 89
Right end at the top of portion, the triangle jacking block 8812 are installed in the top of taper pushing block 889 and are bonded with limit chamber 8811
Together, the punch panel 8813 is located at the top of rust-proof casing 89 and is flexibly connected with triangle jacking block 8812.
Activity crawler belt 10 of the present invention is by active wheel drive, around driving wheel, bogie wheel, inducer and entrusts
The flexible chain link of wheel, is made of creeper tread and track pin etc., and each creeper tread is connected composition track link, crawler belt by track pin
There is hole at the both ends of plate, are engaged with driving wheel, and there is induction tooth at middle part, for advising positive crawler belt, and prevent tank from turning to or rolling traveling
When crawler belt fall off, reinforce anti-skidding muscle in having on one side of being contacted with ground, to improve robustness and crawler belt and the ground of creeper tread
Adhesive force.
When carrying out environmental monitoring, engine base 9 is controlled by wireless console 11 and is run, before so that movable crawler belt 10 is proceeded by
Into by detecting camera 1, light compensating lamp 4 allows people remotely to obtain the information of robot, is repaiied when encountering needs
When the barrier cleared up again, barrier can strike arc impact block 813, and arc impact block 813 is made to squeeze jointing plate 812, patch
Plywood 812 fits on rust-proof casing 89, and mobile bar 811 is pushed out, and mobile bar 811 squeezes sliding panel 825, makes promotion wheel 822
It travels forward, rotor plate 8210 is driven to rotate, the interlocking bar 827 in rotor plate 8210 also rotates, and makes small rotating wheel 828
It rotates, drives hingedly 833 rotation of wheel to make the fan welded together when hingedly taking turns 833 rotation by the first transmission belt 831
Shape rotor plate 834 rotates clockwise, and drives arc-shaped rack 839 also to rotate clockwise, hydraulic spring grease cup bar 838 is promoted, company is made
Connecing block 837 drives moving block 836 to rotate, since the upper right corner of moving block 836 is fixed, so meeting after the rotation of moving block 836
Because gravity drops, when moving block 836 rotates, latch plate 835 can be expressed to hanging bar 8410, and the extruding of hanging bar 8410 is made to hang tight
Spring 849, while the right end of transverse shifting bar 8411 being tilted, the left end of transverse shifting bar 8411 pushes axis movable plate 844, horizontal
When being pushed to the left end of mobile bar 8411, second gear 847 can be made to rotate, after second gear 847 rotates, first gear can be driven
842 rotations, the inner sprocket 843 for driving it internal also rotate, and when axis movable plate 844 pushes, can do small model along inner sprocket 843
The circular motion enclosed provides power for inner sprocket 843, inner sprocket 843 is made to allow driving wheel 856 to act by the second transmission belt 851,
It drives transmission belt 852 to rotate when driving wheel 856 rotates, the first movable pulley 853, the second movable pulley 854 is made to move synchronously, second
The axle center of movable pulley 854 allows rotating wheel 862 to be rotated by third transmission belt 855, when rotating wheel 862 goes to right side, leads
Swingle 863, the push-pull rod 861 for drawing lower section, make push-pull rod 861 release pushing plate 867, pushing plate 867 is along trapped orbit
868 move right, and touch the caulking groove 879 of bottom, and when rotating wheel 862 goes to left side, the push-pull rod 861 at top can will push away
Movable plate 867 releases the caulking groove 879 for touching top, and "-" type movable plate 865, can be with center fixing button when moving reciprocatingly
Centered on 869, "-" type movable plate 865 is made integrally not deviate, it, can be to piezoelectric patches when touching arbitrary caulking groove 879
871 cause stress, and piezoelectric patches 871 is made to generate electricity, are supplied to the use of motor 872, so that rotor 873 is rotated around stator 878, band
Dynamic second rotating bar 877 rotation, makes the bevel gear pair welded together therewith 875 also be rotated, drives first on the right side of it
Rotating bar 876 rotates, and friction semi-circular plate 881 is rotated, and lower pressure wheel 882 is pushed, and makes articulated slab 883 around fixed hinged seat
887 rotations make pawl 884 hook mantle gear 885 and rotate, drive first connecting rod 886 to release, first connecting rod 886 is again by second
Connecting rod 888 is released, and so that second connecting rod 888 is squeezed and is promoted taper pushing block 889, taper pushing block 889 moves upwards, priming triangle
Connecting rod 8810 acts upwards, and triangle jacking block 8812 is released, punch panel 8813 is made to tilt, will repair liquid conveyance conduit 12 and machine
Channel between seat 9 is opened, and reparation liquid is transported to repair to be sprayed on liquid ejector block 5, so that the barrier in front is repaired, intelligence
Change degree higher.
Problems solved by the invention is that the Engineering Robot of the prior art needs the place repaired not spray automatically encountering
It projects and repairs liquid, need manually to act, but some relatively low cameras in position for being contaminated place are unable to monitor, and can be caused
That repairs is of poor quality, and corner can not be repaired, and the progress that engineering promotes is slow, and the present invention is combined with each other by above-mentioned component,
The valve opening between pipeline is made encountering the switch that the when of needing the barrier repaired can directly touch inside equipment
It repairs liquid to spray automatically, prevents naked eyes monitoring observation less than corner, being repaired for place that robot passes through can be made to make up,
Improve the efficiency and quality of reparation.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from the present invention spirit or
In the case of essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that come within the meaning and range of equivalency of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (9)
1. a kind of Engineering Robot for environmental monitoring, reparation, structure includes detection camera (1), connecting seat (2), prevents
Dust hood (3), light compensating lamp (4) repair liquid ejector block (5), rotating seat (6), fixed iron plate (7), obstacle detecting device (8), engine base
(9), movable crawler belt (10), wireless console (11), reparation liquid conveyance conduit (12), it is characterised in that：
The dust cover (3) sets there are two and is fixed by screws in respectively the top of detection camera (1), light compensating lamp (4),
The right end of the detection camera (1) is movably connected in the left side of connecting seat (2) by bearing, and the light compensating lamp (4) is horizontal solid
It is scheduled on the right end of connecting seat (2) and using nail connection, the detection camera (1) and light compensating lamp (4) is parallel to each other, described to repair
Multiple liquid ejector block (5) is welded on the lower section of connecting seat (2) and orthogonal, and the rotating seat (6) is fixed on by bearing repaiies
It answers the lower section of liquid ejector block (5) and using mechanical connection, the reparation liquid ejector block (5) is conllinear with rotating seat (6) axle center, institute
The center that fixed iron plate (7) is vertically fixed on the lower section of rotating seat (6) and is fixed on engine base (9) upper surface by rivet is stated,
The obstacle detecting device (8) is installed in the right side of engine base (9), and the obstacle detecting device (8) is mechanically connected with engine base (9),
The rear and front end of engine base (9), the wireless controlled are movably connected in there are two the activity crawler belt (10) sets and by swingle
Platform (11) processed is welded on the left side of engine base (9), and the engine base (9) is by repairing liquid conveyance conduit (12) and repairing liquid ejector block
(5) it interpenetrates；
The obstacle detecting device (8) by shock sensing device (81), turntable drive mechanism (82), fan-shaped tumbler (83),
Runner transferring structure (84), pulley rolling device (85), compound pushing meanss (86), driving motor (87), passive lifting device
(88), rust-proof casing (89)；
The right end for hitting sensing device (81) is inserted embedded in the stage casing of rust-proof casing (89) right end, the turntable drive mechanism
(82) it is sequentially connected in the left side for hitting sensing device (81), the bottom of the sector tumbler (83) is vertically fixed on anti-
The internal bottom of rust shell (89), the sector tumbler (83) are sequentially connected in the left side of turntable drive mechanism (82), institute
The left side that runner transferring structure (84) is mechanically connected to fan-shaped tumbler (83) is stated, pulley rolling device (85) activity is even
It is connected on the left side of runner transferring structure (84) and is installed in the internal left end of rust-proof casing (89), the compound pushing meanss
(86) it is sequentially connected in the upper right corner of pulley rolling device (85), the driving motor (87) is mechanically connected to compound pushing meanss
(86) right side, the passive lifting device (88) are movably connected in the lower section of driving motor (87) right end.
2. a kind of Engineering Robot for environmental monitoring, reparation according to claim 1, it is characterised in that：It is described to hit
Sensing device (81) is hit by mobile bar (811), jointing plate (812), arc impact block (813), reinforcement block (814), fixed plate
(815) it forms, the mobile bar (811) vertically inserts the right end embedded in rust-proof casing (89) and using flexible connection, the patch
Plywood (812) is vertically fixed on the right side of mobile bar (811), and arc impact block (813) glue connection is in jointing plate (812)
Right side, the fixed plate (815) are fixed on the internal lower right corner of rust-proof casing (89) by rivet, and the reinforcement block (814) sets
There are two and follow closely and be connected to the left and right ends of fixed plate (815).
3. a kind of Engineering Robot for environmental monitoring, reparation according to claim 1, it is characterised in that：Described turn
Disk drive structure (82) by grip block (821), push wheel (822), pushing plate (823), movable pulley (824), sliding panel (825),
Internal messing slot (826), interlocking bar (827), small rotating wheel (828), big rotating wheel (829), rotor plate (8210), fast pulley
(8211) it forms, the grip block (821) sets there are two and is installed in the top on fixed plate (815) surface, the grip block
(821) weld together with fixed plate (815), the sliding panel (825) is installed in the inside of grip block (821) and using work
Dynamic connection, the small rotating wheel (828) are mechanically connected to the center on rotating wheel (829) surface, and the big rotating wheel (829) passes through
Connecting shaft is fixed on the left end on fixed plate (815) surface, the fast pulley (8211) be installed in the lower section of big rotating wheel (829) and
It is flexibly connected with fixed plate (815), the rotor plate (8210) is movably connected in the top of fast pulley (8211) and shrouds
The outer surface of small rotating wheel (828), the internal messing slot (826) and the surface soldered of rotor plate (8210) are integral, described
Lever (827) is mounted on the top of small rotating wheel (828) and together with the surface vertical welding of big rotating wheel (829), institute
Promotion wheel (822) is stated to be welded on the top of rotor plate (8210) and be flexibly connected with sliding panel (825), the pushing plate
(823) it is in 45 degree and is welded on the lower right corner for pushing wheel (822), the movable pulley (824) is movably connected in the clamping of bottom
Weld together on plate (821) and with the lower right corner of pushing plate (823).
4. a kind of Engineering Robot for environmental monitoring, reparation according to claim 1, it is characterised in that：The fan
Shape tumbler (83) is by the first transmission belt (831), spud pile (832), hinged wheel (833), fan-shaped rotor plate (834), spring
Plate (835), moving block (836), link block (837), hydraulic spring grease cup bar (838), arc-shaped rack (839), reseting gear (8310),
Gear fixed pole (8311) forms, and the hinged wheel (833) is connected by the first transmission belt (831) and small rotating wheel (828) transmission
It connects, the hinged wheel (833) is hinged with spud pile (832), and the sector rotor plate (834) is welded on the bottom of hinged wheel (833)
Portion, the arc-shaped rack (839) are interference fitted in the lower section of fan-shaped rotor plate (834), the right end activity of the link block (837)
It is connected to the intersection of fan-shaped rotor plate (834) and arc-shaped rack (839), the link block (837) is welded on link block (837)
Left end, the moving block (836) shroud the outer surface in link block (837) and using mechanical connection, the latch plate
(835) top nail is connected to the lower left corner of moving block (836), and the reseting gear (8310) is engaged on arc-shaped rack (839)
Lower section, the reseting gear (8310) connect with the top movable of gear fixed pole (8311), the gear fixed pole
(8311) together with the bottom vertical welding internal with rust-proof casing (89) of bottom.
5. a kind of Engineering Robot for environmental monitoring, reparation according to claim 1, it is characterised in that：Described turn
Transferring structure (84) is taken turns by L-type protecting stand (841), first gear (842), inner sprocket (843), axis movable plate (844), hollow fixation
Plate (845), down-pressed pole (846), second gear (847), top fixing plate (848), hang tight spring (849), hanging bar (8410),
Transverse shifting bar (8411) forms, and the left end of the hanging bar (8410) is fitted in the right side of L-type protecting stand (841), described to hang
The bottom of hanging rod (8410) is mechanically connected with latch plate (835), and the transverse shifting bar (8411) is vertically inserted embedded in hanging bar
(8410) stage casing, the down-pressed pole (846) are welded on the left end of transverse shifting bar (8411), the axis of the down-pressed pole (846)
The heart is together with the surface soldered of second gear (847), the top of the bottom for hanging tight spring (849) and hanging bar (8410)
It being fixed together by rivet, described hang tight is welded on the bottom for hanging tight spring (849) at the top of spring (849), and described second
Gear (847) is installed in the left side of hanging bar (8410), and the first gear (842) is engaged on the lower section of second gear (847),
The inner sprocket (843) is mechanically connected to the surface of first gear (842), the bottom of the axis movable plate (844) and inner sprocket
(843) it is flexibly connected, the top of the axis movable plate (844) is flexibly connected with the left end of down-pressed pole (846), the axis movable plate
(844) hollow fixed plate (845) is extended vertically through.
6. a kind of Engineering Robot for environmental monitoring, reparation according to claim 1, it is characterised in that：The cunning
Tourelle (85) is taken turns by the second transmission belt (851), transmission belt (852), the first movable pulley (853), the second movable pulley
(854), third transmission belt (855), driving wheel (856) composition, the driving wheel (856) pass through the second transmission belt (851) and axis
Movable plate (844) is sequentially connected, and the driving wheel (856) and the right end of transmission belt (852) are sequentially connected, first movable pulley
(853) it is installed in the lower right corner of driving wheel (856), first movable pulley (853) passes through transmission belt (852) and the second dynamic cunning
It takes turns (854) to be sequentially connected, the transmission belt (852) is wrapped in the appearance of the first movable pulley (853) and the second movable pulley (854)
Face, second movable pulley (854) are sequentially connected by third transmission belt (855) and compound pushing meanss (86).
7. a kind of Engineering Robot for environmental monitoring, reparation according to claim 1, it is characterised in that：It is described multiple
Formula pushing meanss (86) are by push-pull rod (861), rotating wheel (862), swingle (863), outer set casing (864), "-" type activity
Plate (865), linkage block (866), pushing plate (867), trapped orbit (868), center fixing button (869) composition, the rotating wheel
(862) it is sequentially connected by third transmission belt (855) and the second movable pulley (854), the swingle (863) is mechanically connected to rotation
The top of runner (862), the push-pull rod (861) are mechanically connected to the right side of swingle (863), the push-pull rod (861)
Right end is flexibly connected with the linkage block (866) of lower section, and the trapped orbit (868) sets there are two and is embedded in outer set casing
(864) upper and lower ends on surface, the pushing plate (867) are installed in the inside of trapped orbit (868) and use flexible connection,
The linkage block (866) is flexibly connected with pushing plate (867), and the "-" type movable plate (865) runs through outer set casing (864) simultaneously
And be flexibly connected with push-pull rod (861) by linkage block (866), the center fixing button (869) is hinged on "-" type movable plate
(865) stage casing.
8. a kind of Engineering Robot for environmental monitoring, reparation according to claim 1, it is characterised in that：The drive
Dynamic motor (87) is by piezoelectric patches (871), motor (872), rotor (873), vertical connecting (874), bevel gear pair (875), the
One rotating bar (876), the second rotating bar (877), stator (878), caulking groove (879) composition, the caulking groove (879) are equipped with two
Left end a and across motor (872), the motor (872) are installed in the right side of caulking groove (879) and are horizontally fixed on
The internal left end of motor (872), the stator (878) are welded on the right side of piezoelectric patches (871), and the rotor (873) is vertically solid
It is scheduled on the right side of stator (878) and using mechanical connection, second rotating bar (877) passes through motor (872) and rotor
(873) it is mechanically connected, left end and the second rotating bar (877) of the bevel gear pair (875) weld together, the vertical connection
The bottom of bar (874) and the upper end of bevel gear pair (875) weld together, the top of the vertical connecting (874) and antirust
The internal top of shell (89) welds together, and right end and passive lifting device (88) activity of the bevel gear pair (875) connect
It connects.
9. a kind of Engineering Robot for environmental monitoring, reparation according to claim 1, it is characterised in that：The quilt
Dynamic lifting device (88) by semi-circular plate (881), lower pressure wheel (882), articulated slab (883), pawl (884), bevel gear (885),
First connecting rod (886), fixed hinged seat (887), second connecting rod (888), taper pushing block (889), triangular coupling rod (8810), limit
Position chamber (8811), triangle jacking block (8812), punch panel (8813) composition, the semi-circular plate (881) are mechanically connected to first turn
Right end below lever (876), the lower pressure wheel (882) are slidably connected at the lower section of semi-circular plate (881), the articulated slab
(883) lower section of lower pressure wheel (882), the upper right corner of the articulated slab (883) and fixed hinged seat (887) are welded at the top of
The lower left corner is flexibly connected, and the pawl (884) is by being movably connected in the lower sections of articulated slab (883), the right side of the pawl (884)
The outer surface with bevel gear (885) is held to intermesh, the bevel gear (885) is installed under fixed hinged seat (887)
Side, the left end of the first connecting rod (886) together with the surface soldered of bevel gear (885), the second connecting rod (888)
Bottom is connect with the top movable of first connecting rod (886), the bottom at the top and triangular coupling rod (8810) of the second connecting rod (888)
Portion is mechanically connected, and taper pushing block (889) nail is connected to the inside of triangular coupling rod (8810), the taper pushing block
(889) both ends are movably hinged with the both ends on the inside of limit chamber (8811), and the limit chamber (8811) is welded on rust-proof casing
(89) right end of inside top, triangle jacking block (8812) be installed in the top of taper pushing block (889) and with limit
Chamber (8811) fits together, and the punch panel (8813) is located at the top of rust-proof casing (89) and jacks block with triangle
(8812) it is flexibly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810201733.XA CN108481294A (en) | 2018-03-12 | 2018-03-12 | A kind of Engineering Robot for environmental monitoring, reparation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810201733.XA CN108481294A (en) | 2018-03-12 | 2018-03-12 | A kind of Engineering Robot for environmental monitoring, reparation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108481294A true CN108481294A (en) | 2018-09-04 |
Family
ID=63338626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810201733.XA Pending CN108481294A (en) | 2018-03-12 | 2018-03-12 | A kind of Engineering Robot for environmental monitoring, reparation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108481294A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109681747A (en) * | 2019-01-16 | 2019-04-26 | 邵阳学院 | Camera support for multi-angled shooting |
| CN111809493A (en) * | 2020-07-12 | 2020-10-23 | 河南城建学院 | Road filling device based on Internet of things |
| CN112246480A (en) * | 2020-10-21 | 2021-01-22 | 江苏海濎智能科技有限公司 | Five-axis two-disc reciprocating machine with auxiliary guide structure |
| CN112802314A (en) * | 2020-12-31 | 2021-05-14 | 国网山西省电力公司信息通信分公司 | Multifunctional inspection robot for communication machine room |
| CN113213082A (en) * | 2021-04-25 | 2021-08-06 | 中国核电工程有限公司 | Transfer device, article reciprocating transfer line and article transfer method |
| GB2593497A (en) * | 2020-03-25 | 2021-09-29 | Q Bot Ltd | A spray unit for a remotely operable spray apparatus and apparatus for spraying thermally insulative material |
| CN115055301A (en) * | 2022-05-30 | 2022-09-16 | 上海应用技术大学 | Automatic spraying machine with visual positioning function for experiments |
-
2018
- 2018-03-12 CN CN201810201733.XA patent/CN108481294A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109681747A (en) * | 2019-01-16 | 2019-04-26 | 邵阳学院 | Camera support for multi-angled shooting |
| GB2593497A (en) * | 2020-03-25 | 2021-09-29 | Q Bot Ltd | A spray unit for a remotely operable spray apparatus and apparatus for spraying thermally insulative material |
| GB2593497B (en) * | 2020-03-25 | 2022-06-15 | Q Bot Ltd | Robotic device for spraying a thermally insulating material |
| CN111809493A (en) * | 2020-07-12 | 2020-10-23 | 河南城建学院 | Road filling device based on Internet of things |
| CN112246480A (en) * | 2020-10-21 | 2021-01-22 | 江苏海濎智能科技有限公司 | Five-axis two-disc reciprocating machine with auxiliary guide structure |
| CN112802314A (en) * | 2020-12-31 | 2021-05-14 | 国网山西省电力公司信息通信分公司 | Multifunctional inspection robot for communication machine room |
| CN113213082A (en) * | 2021-04-25 | 2021-08-06 | 中国核电工程有限公司 | Transfer device, article reciprocating transfer line and article transfer method |
| CN115055301A (en) * | 2022-05-30 | 2022-09-16 | 上海应用技术大学 | Automatic spraying machine with visual positioning function for experiments |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108481294A (en) | A kind of Engineering Robot for environmental monitoring, reparation | |
| CN108500636B (en) | Leveling strip cutting mechanism for metal hose weaving strip | |
| CN107614800B (en) | Work machine | |
| CN105855762A (en) | Welding system based on robot technology | |
| CN104563917A (en) | Multifunctional robot for drilling site | |
| CN106014203A (en) | High-speed hydraulic drill with two engines | |
| WO2020093777A1 (en) | Molten iron slag dredger | |
| CN207598199U (en) | A kind of interior bar positions formula double-wall drill pipe | |
| CN110480448A (en) | A kind of large-scale storage tank climbs wall milling robot | |
| CN108857164A (en) | Energy walking can turn can be across the Intelligent welding robot of parapet | |
| KR20090027364A (en) | A nipper equipment for excavator | |
| CN109707309A (en) | A kind of four-arm rock drilling jumbo | |
| JP5248419B2 (en) | Pile driver and steel pipe pile construction method | |
| CN106670646A (en) | Bidirectional laser welding system and bidirectional working method | |
| CN216179716U (en) | Vertical shot blasting machine convenient to adjust | |
| CN212503721U (en) | Hoisting accessory is used in petroleum pipeline installation laying | |
| CN107953347A (en) | A kind of level land and the dual-purpose Labour-saving car of step and the clean robot based on the Labour-saving car | |
| CN211923689U (en) | Automatic garbage room | |
| CA2094580C (en) | Apparatus and method for repairing a gear | |
| CN108568579B (en) | Vertical steel bar welding robot for construction site | |
| CN112431621A (en) | Safe filling and leakage repairing device for preventing water leakage of tunnel | |
| CN110406947A (en) | A kind of automatic turnover machine and its working method for workpiece assembly | |
| CN216952243U (en) | Automatic repair equipment for corrosion repair welding of inner wall of pipeline | |
| CN209603989U (en) | A kind of drill loader group limiting drill boom trolley | |
| CN218133959U (en) | Electric power engineering dust collecting equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20180904 |