CN110735993A - kinds of robots - Google Patents
kinds of robots Download PDFInfo
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- CN110735993A CN110735993A CN201810803629.8A CN201810803629A CN110735993A CN 110735993 A CN110735993 A CN 110735993A CN 201810803629 A CN201810803629 A CN 201810803629A CN 110735993 A CN110735993 A CN 110735993A
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- robot
- steering engine
- vehicle body
- crawler
- electric
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides robots, which comprise a travelling mechanism, a vehicle body, a lifting mechanism, a cradle head and a control device, wherein the travelling mechanism is used for moving on a travelling surface, the vehicle body is connected with the travelling mechanism, the lifting mechanism is arranged on the vehicle body, the cradle head is used for installing a cleaning device, the cradle head is arranged on the lifting mechanism and can be driven by the lifting mechanism to lift, and the control device is used for controlling the travelling mechanism and the lifting mechanism.
Description
Technical Field
The invention relates to the technical field of robot manufacturing, in particular to robots.
Background
At present, urban pipe networks in China have narrow pipelines and are easy to block, and a large number of urban cities are waterlogged in rainy seasons, so that the lives and trips of people are seriously influenced, and the pipelines need to be observed, cleaned and repaired regularly.
At present, more pipeline robots for sewer pipes are disclosed, for example, a practical patent with the publication number of CN 205579032U describes crawler wheel type pipeline cleaning robots capable of adapting to different pipe diameter changes, the robots can automatically adapt to pipelines, the pipe walls are cleaned through a rocker mechanism, the obstacle crossing performance is strong, the structural arrangement is disordered, vehicle body equipment does not have protection facilities, for example, a novel patent with the publication number of CN106764245A discloses crawler pipeline robots capable of stably walking in a pipeline in a long distance and effectively performing pipeline exploration and cleaning work, but the robots can only adapt to proper pipelines, a crawler tensioning mechanism is unreasonable, sensors are not protected, dragged high-pressure wires are too heavy, and for example, with the publication number of CN 207122714U adopts X-shaped staggered crawler pipeline robots with an X-shaped staggered track structure, the structure is open, maintenance is not easy, all the robots can not work independently, and other various problems exist.
Disclosure of Invention
In view of this, the invention provides kinds of robots, which are used for solving the problems that the existing pipeline robot is complex in structure, weak in obstacle crossing capability and poor in pipeline adaptability.
In order to solve the technical problems, the invention adopts the following technical scheme:
a robot according to an embodiment of the present invention includes:
the traveling mechanism is used for moving on the traveling surface;
the vehicle body is connected with the travelling mechanism;
the lifting mechanism is arranged on the vehicle body;
the holder is used for installing a cleaning device, is arranged on the lifting mechanism and can be driven by the lifting mechanism to lift;
and the control device is used for controlling the travelling mechanism and the lifting mechanism.
, the running gear includes at least two tracks, the tracks including:
the crawler wheels are connected with the trolley body, and the angles of the crawler wheels relative to the trolley body are adjustable;
the crawler motor is respectively connected with the crawler wheel and the control device and is used for driving the crawler wheel;
the chain sprocket is connected with the crawler wheel and the crawler motor;
the rubber track is connected with the track wheel, and the chain wheel are linked with the rubber track to move under the driving of the track motor.
, the running gear includes:
the connecting piece, the connecting piece with the automobile body links to each other just be equipped with a plurality of regulation holes on the connecting piece, adjust the regulation hole with the connection of athey wheel can be adjusted the angle.
, the lifting mechanism includes:
the th end of the electric push rod is hinged with the vehicle body;
the driver is used for driving the electric push rod to stretch and retract, and the driver is installed on the vehicle body and connected with the control device;
the th end of the push rod connecting piece is hinged with the second end of the electric push rod;
the th end of connecting rod with the second end of push rod connecting piece is articulated, the second end of connecting rod with the automobile body is articulated, the cloud platform with the end of connecting rod links to each other, the interlock when electric putter is flexible the connecting rod drive the cloud platform goes up and down.
, the robot further comprises:
the left steering engine and the right steering engine are arranged on the holder;
the connecting frame is connected with the left steering engine and the right steering engine;
the pitching steering engines are connected with the connecting frame, and the left steering engine, the right steering engine and the pitching steering engines are respectively connected with the control device;
and the function mounting blocks are respectively connected with the pitching steering engine and the connecting frame.
, the robot further comprises:
the camera is arranged on the function mounting block and used for observing the surrounding environment.
, the robot further comprises:
the wiper steering engine is arranged on the connecting frame;
and the wiper steering engine is connected with the wiper blade and drives the wiper blade to clean the camera.
, the robot further comprises:
the protective cover is arranged on the holder, and the left steering engine, the right steering engine, the pitching steering engine, the function mounting block and the camera are arranged under the protective cover.
, the vehicle body is respectively formed with an electric cabin with a hatch and a battery cabin, and further comprises an electric cabin cover for closing or opening the electric cabin hatch and a battery cabin cover for opening the battery cabin hatch.
, the robot further comprises:
the temperature and humidity sensor is arranged in the electric cabin and used for sensing the temperature and the humidity of the electric cabin.
, the robot further comprises:
and the gyroscope is arranged in the electric cabin and is used for controlling the walking posture of the robot.
, the robot further comprises:
the antenna is arranged on the vehicle body;
and the transmission module is connected with the antenna and the control device and used for acquiring the data of the robot and transmitting the data to the console.
, the robot further comprises:
the eagle eye lamp is arranged on the holder and used for lighting.
The technical scheme of the invention at least has of the following beneficial effects:
the robot provided by the embodiment of the invention has the advantages that the obstacle crossing capability is strong, different cleaning devices can be installed according to needs, the cradle head can be driven by the lifting mechanism to lift, the cleaning devices installed on the cradle head can be further driven to lift, the robot can adapt to pipelines with different pipe diameters, the trafficability is good, the flexibility is good, the adaptability to the pipelines is strong, the structure is simple, the realization is easy, and the practicability is strong.
Drawings
FIG. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;
FIG. 2 is a side view of a robot according to an embodiment of the present invention;
FIG. 3 is a schematic layout of an electrical compartment of a robot in accordance with an embodiment of the present invention;
fig. 4 is a schematic diagram of a battery structure mounted in a battery compartment of a robot according to an embodiment of the present invention.
Reference numerals:
a robot 100;
a traveling mechanism 10; a crawler wheel 11; a track motor 12; a chain sprocket 13;
a rubber crawler 14; a track motor driver 15;
a vehicle body 20; an electric compartment 21; a battery compartment 22; an electrical hatch 23; a battery compartment cover 24;
a battery 25; a voltage module 26; a relay 27; a lifting ring 28; a waterproof navigation plug 29;
a terminal block 30; an electric push rod 31; a driver 32; a push rod connector 33; a connecting rod 34;
a pan/tilt head 40; left and right steering gears 41; a connecting frame 42; a pitch steering engine 43; a function mounting block 44;
a camera 45; a wiper steering gear 46; a wiper blade 47; a shroud 48; a pan-tilt connector 49;
a connecting member 50; an adjustment hole 51;
a temperature-humidity sensor 60;
a gyroscope 70;
an antenna 80; a voltage reduction module 81; an eagle eye lamp 82; a base 83; a pan and tilt head housing 84;
a data module 85; a map transmission module 86; a data transmission antenna 87; a mapping antenna 88;
a prepared hole 89; a power switch 90.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings of the embodiments of the present invention.
The robot 100 according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 4, a robot 100 according to an embodiment of the present invention includes a traveling mechanism 10, a vehicle body 20, a lifting mechanism, a pan/tilt head 40, and a control device. The traveling mechanism 10 is used for moving on a traveling surface, and has good trafficability and stable traveling, for example, when cleaning a pipeline, the robot 100 may travel on the inner wall of the pipeline through the traveling mechanism 10 in the pipeline. The automobile body 20 can be connected with running gear 10, and the concrete shape and the size of automobile body 20 can be selected according to actual conditions, and automobile body 20 can remove under running gear's 20 drive, can be equipped with rings 28 on the automobile body 20, for example, can have two rings 28 respectively around automobile body 20, and rings 28 can supply to pull and hang the pipeline robot, and the robot of being convenient for drags other instruments. The lift mechanism may be provided on the vehicle body 20, for example, the lift mechanism may be provided on the top of the vehicle body 20.
According to the robot 100 provided by the embodiment of the invention, different cleaning devices can be installed as required, the cradle head 40 can be driven by the lifting mechanism to lift, so that the cleaning devices installed on the cradle head 40 can lift, the robot can adapt to pipelines with different pipe diameters, the walking is stable, the flexibility is good, the adaptability to the pipelines is strong, the structure is simple, the realization is easy, and the practicability is strong.
In embodiments of the present invention, the traveling mechanism 10 may include at least two crawlers, the crawlers may be two, the two crawlers may be distributed on the left and right sides of the vehicle body 20, and the crawlers may include a crawler wheel 11, a crawler motor 12, a chain sprocket 13, and a rubber crawler 14, wherein the crawler wheel 11 may be connected to the vehicle body 20, an angle of the crawler wheel 11 with respect to the vehicle body 20 may be adjustable, and may be adjusted according to a pipe diameter, so that the robot can adapt to a pipe.
The chain sprocket 13 can be connected with the crawler wheel 11 and the crawler motor 12, the crawler motor 12 can drive the crawler wheel 11 through the chain sprocket 13, the rubber crawler 14 can be connected with the crawler wheel 11, the rubber crawler 14 can buffer the acting force of the crawler and the inner wall of the pipeline, the collision between the crawler and the inner wall of the pipeline is reduced, damage to the pipeline is avoided, the chain sprocket 13 is linked with the rubber crawler 14 to advance under the driving of the crawler motor 12, so that the whole crawler can walk, the obstacle crossing performance is improved by the crawler structure, the stability of the running of the pipeline robot is ensured by the powerful crawler motor 12 and the crawler wheel 11 with strong road adaptability, the obstacle crossing performance can be improved, the obstacle crossing performance is improved by the crawler structure, the space below the vehicle body 20 is large, the trafficability is good, tools such as a dirt suction pump can be additionally arranged below the vehicle body 20, and the stability during walking is good.
In other embodiments of the present invention, the traveling mechanism 10 may include a connecting member 50, the connecting member 50 may be connected to the vehicle body 20, may be fixedly connected to the vehicle body 20, and may also be connected to the vehicle body by a pin, and the connecting member 50 may be provided with a plurality of adjusting holes 51, the connection between the adjusting holes 51 and the crawler wheel 11 may be adjustable in angle, so that the robot may adapt to different pipelines, the connecting member 50 may be four, the four connecting members 50 may be respectively distributed at four corners of the bottom of the vehicle body 20, the connecting member 50 may be substantially formed in a circle or a square, a plurality of adjusting holes 51 may be arranged along the circumferential direction of the connecting member 50, a plurality of adjusting holes 51 may be distributed on an arc line, for example, as shown in fig. 1, the adjusting holes 51 may be five, wherein three adjusting holes 51 are distributed along the circumferential direction of the connecting member 50, the adjusting holes 51 may be sequentially distributed in an arc shape along the downward direction, another two adjusting holes 51 may be distributed above the three adjusting holes 51, the adjusting holes may be connected to the crawler wheel 11 and the connecting member 50 by the pin, the vehicle body 20 may be connected to different adjusting holes 51 to adjust angles of the crawler wheel 11 relative to the vehicle body, the crawler wheel 11 may be conveniently, and the adjusting holes may be easily, for example, the adjusting holes may be configured to adapt to more adjusting holes 1200mm from top of the pipeline, and the pipeline, the pipeline may be configured to adapt to the pipeline, and.
According to embodiments of the present invention, the lifting mechanism may include an electric push rod 31, a driver 32, a push rod connector 33 and a link 34, wherein the end of the electric push rod 31 may be hinged to the vehicle body 20, for example, to the top of the vehicle body 20, the driver 32 may be used to drive the electric push rod 31 to extend and retract, the driver 32 may be mounted on the vehicle body 20 and connected to a control device, the driver 32 may be controlled by the control device, the driver 32 controls the electric push rod 31 to extend or retract, and the end of the push rod connector 33 may be hinged to the second end of the electric push rod 31.
The end of the connecting rod 34 can be hinged to the second end of the push rod connecting piece 33, the second end of the connecting rod 34 can be hinged to the vehicle body 20, the cradle head 40 can be connected with the end of the connecting rod 34, the electric push rod 31 can drive the cradle head 40 to lift when stretching and retracting, the second end of the connecting rod 34 can be hinged to the top of the vehicle body 20, a base 83 can be arranged on the top of the vehicle body 20, the second end of the connecting rod 34 can be connected with the base 83, the base 83 can enhance the supporting force for the connecting rod 34, so that the whole lifting mechanism is stable, the cradle head 40 can be connected with the end of the connecting rod 34 through the cradle head connecting piece 49, the extension or shortening of the electric push rod 31 can lift or shorten the cradle head connecting piece 49 on the connecting rod 34 to lift or lower the cradle head 40, so as to clean or avoid obstacles.
According to another embodiments of the invention, the robot 100 may further include left and right steering engines 41, a connecting frame 42, a pitch steering engine 43, and a function mounting block 44, wherein the left and right steering engines 41 may be disposed on the pan/tilt head 40 and may be disposed at the top of the pan/tilt head 40, the left and right steering engines 41 may swing left and right as needed, the connecting frame 42 may be connected to the left and right steering engines 41, the connecting frame 42 may be formed in a U shape, an opening direction of the U-shaped connecting frame 42 deviates from the left and right steering engines 41, the pitch steering engine 43 may be connected to the connecting frame 42, the pitch steering engine 43 may be disposed outside the end of the U-shaped connecting frame 42, the pitch steering engine 43 may swing up and down, the left and right steering engines 41 and the pitch steering engine 43 may be linked to form manipulators, the left and right steering engines 41 and the pitch steering engine 43 may be connected to the.
In embodiments of the present invention, the robot 100 may further include a camera 45, the camera 45 may be disposed on the function mounting block 44, the camera 45 may also be disposed at another position of the vehicle body 20, the number of the cameras 45 may be multiple, the camera 45 may be an infrared camera, the camera 45 may be used to observe the surrounding environment, the camera 45 may rotate in the left and right directions and up and down directions through the left and right steering engines 41 and the pitch steering engines 43, so as to achieve multi-angle observation of the camera 45, when cleaning a pipeline, the camera 45 may be used to observe the condition in the pipeline, and when there is an adhesion or damage on the pipe wall of the urban pipe network, a tool may be additionally installed on the reserved hole 89 to clean and repair the adhesion and the damaged pipe wall.
In another specific embodiments of the present invention, the robot 100 may further include a wiper steering engine 46 and a wiper blade 47, the wiper steering engine 46 may be disposed on the connecting frame 42 and may be mounted at the other end of the U-shaped connecting frame 42, the wiper steering engine 46 is connected to the wiper blade 47, the wiper steering engine 46 may drive the wiper blade 47 to clean the camera 45, the wiper steering engine 46 may be connected to the control device, and the wiper steering engine 46 may be controlled by the control device.
According to embodiments of the invention, the robot 100 may further include a protective cover 48, the protective cover 48 may be disposed on the pan/tilt head 40, and the left and right steering engines 41, the pitch steering engine 43, the function mounting block 44, and the camera 45 are disposed under the protective cover 48, and because the environment in the pipeline is complex, the structure under the protective cover 48 may be prevented from being damaged in the operation process by the protective cover 48, and collision and impact of a sharp object may be prevented.
According to another embodiments of the present invention, the vehicle body 20 may be respectively formed with an electrical cabin 21 and a battery cabin 22 with hatches, the vehicle body 20 may be formed in a substantially rectangular shape, and the specific shape may be selected according to actual needs, and further includes an electrical cabin cover 23 for closing or opening the hatches of the electrical cabin 21 and a battery cabin cover 24 for opening the hatches of the battery cabin 22, the electrical cabin cover 23 and the battery cabin cover 24 may be provided with heat dissipation holes for ventilation and heat dissipation, the electrical cabin 21 hatch may be located at the top of the vehicle body 20, the electrical cabin cover 23 is provided at the top of the vehicle body 20, the electrical cabin cover 23 closes the hatches of the electrical cabin 21 during normal operation, and the electrical cabin cover 23 may be opened during maintenance, and electrical components may be provided in the electrical cabin 21 to prevent the electrical components from being collided, for example, the driver 32 for driving the electric push rod 31 to extend and retract and the track motor driver 15 may be provided in the electrical cabin 21.
The battery compartment 22 can be used for installing a battery 25, the battery 25 can supply power for the robot, the battery 25 can be a 100AH large-capacity lithium battery, the battery compartment 22 is matched with the shape and the size of the battery 25, and as shown in FIG. 4, the structural shape of the battery 25 can be a cuboid. As shown in fig. 3, a voltage module 26 for converting voltage, a voltage step-down module 81 and a relay 27 for controlling switching value may be further provided in the electric compartment 21, may be used to control and stabilize the output voltage of the battery 25, and may be further provided with a terminal block 30 for connecting a line. A cushion may be provided in the battery compartment 22 to avoid collision of the battery 25 with the inner wall of the battery compartment 22 and reduce vibration of the battery 25. Can be equipped with waterproof navigation on automobile body 20 and insert 29, the grafting of electric component of being convenient for, for example, waterproof navigation inserts 29 can regard as the mouth that charges of battery 25, if the electric quantity is low excessively, can in time charge, and convenient and fast can establish at the top of automobile body 20, for example, on electric cabin cover 23, can be equipped with switch 90 on automobile body 20 for cut off or communicate the battery power supply, can avoid the muddy water entering of pipeline bottom. The power line and the control line on the vehicle body 20 can also be disconnected from the waterproof aerial plug 29 and the track motor wire-passing connector, so that the detachment and the maintenance are convenient.
In the embodiments of the present invention, the robot 100 may further include a temperature and humidity sensor 60, the temperature and humidity sensor 60 may be disposed in the electric compartment 21 for sensing the temperature and humidity in the electric compartment 21. since more electric components are installed in the electric compartment 21, during operation, the electric components generate more heat, the pipe contains more muddy water, the humidity is high, and the high temperature and high heat environment is liable to have adverse effects on the electric components, therefore, the temperature and humidity in the electric compartment 21 may be monitored by the temperature and humidity sensor 60, the temperature and humidity sensor 60 may be connected to the control device, when the temperature and humidity sensor 60 detects that the temperature and humidity in the electric compartment 21 reach preset values, the control device may control the robot 100 to stop working or stand by, and start working after the temperature drops, for example, power supply from the battery may be cut off, so as to prevent damage to the electric components due to overhigh temperature and humidity.
According to embodiments of the present invention, the robot 100 may further include a gyroscope 70, and the gyroscope 70 may be disposed in the electric compartment 21, and the walking posture of the robot may be controlled by the gyroscope 70.
According to another embodiments of the present invention, the robot 100 may further include an antenna 80 and a transmission module, where the antenna 80 may be disposed on the vehicle body 20, for example, may be disposed on the electrical cabin cover 23, and may ensure communication, the transmission module may be connected to the antenna 80 and the control device, the transmission module may be disposed in the electrical cabin 21, an operator may control the control device through the console, and further control the steering engine, the camera 45, the traveling mechanism 10, the lifting mechanism, and the output voltage and the switch of the battery 25 on the robot through the control device, and the transmission module may be configured to acquire data of the robot and transmit the data to the console, and for example, the data may include the posture of the robot, the states of each electrical element, the output voltage of the battery 25, the temperature and humidity data detected by the temperature and humidity sensor 60, and the state data of the left and right steering engines 41, the pitch steering engine 43, and the rain brush steering engine 46.
The transmission module may include a data module 85 and a map transmission module 86, the antenna 80 may include a data transmission antenna 87 and a map transmission antenna 88, and the data transmission antenna 87 and the map transmission antenna 88 may be disposed on the top of the vehicle body 20. The data module 85 can be connected with the data transmission antenna 87, the data can be transmitted to the console through the data transmission antenna 87, the image transmission module 86 can be connected with the image transmission antenna 88, and the image can be transmitted to the console through the image transmission antenna 88, for example, a picture shot by the camera 45 can be transmitted to the console through the image transmission antenna 88, so that an operator can analyze and observe the environmental conditions in the pipeline conveniently.
In the implementation process of , the robot 100 may further include an eagle eye lamp 82, the eagle eye lamp 82 may be disposed on the pan/tilt head 40 for illumination, and due to the poor light in the pipeline, the eagle eye lamp 82 may improve the light of the pipeline, so as to facilitate the clear observation of the camera 45.
In the concrete use of robot, to sewer pipe diameter before going into the well, at first adjust the angle of athey wheel 11 for automobile body 20, the size of sewer pipe diameter decides athey wheel 11 and the hookup location of adjusting hole 51, adjusts the angle through the adjusting hole 51 of selecting suitable position to the laminating pipeline inner wall walking of pipeline robot. After the angle adjustment of the crawler wheels 11 is completed, the hanging belts are tied on the four hanging rings 28 respectively, a required cleaning device, such as a high-pressure water gun or a mechanical arm, is mounted on the function mounting block 44, the pipeline robot is stably placed in the vertical shaft, then the crawler motors 12 are operated to drive the crawler belts to move towards the horizontal shaft, the adjusted crawler wheels 11 are attached to the pipe wall, and the vehicle body 20 can be more stable and is not prone to side overturning.
After entering the cross shaft, observe the on-the-spot condition of pipeline through camera 45, if the surface of water is too high or there is the barrier above, adjustable elevating system adjusts the height of cloud platform 40, adjust the angle that camera 45 observed through controlling steering wheel 41 and every single move steering wheel 43, make the field of vision clear or avoid the barrier, if observe that the inside pipe wall has mud through camera 45, can adjust elevating system, control steering wheel 41 and every single move steering wheel 43 and make high-pressure squirt aim at mud, clear up mud with the high-pressure squirt. In travel, the eagle lamp 9 can be turned on when the duct light is dark to provide good illumination.
The sewer muddy water is more, and when the sight of camera 45 was influenced to more water smoke or spot on camera 45 lens, drive wiper blade 47 through windshield wiper steering wheel 46 and carry out fan-shaped washing to camera 45 lens, the definition of guaranteeing to observe. After the operation is carried out for many times, for example, after 4-5 times, the whole robot needs to be overhauled, because the whole robot is in a modularized design, the pan-tilt 40, the vehicle body 20, the traveling mechanism 10 and the like can be easily disassembled, power lines and control lines can also be disconnected from the waterproof navigation plug 29 and the track motor wire-passing connector, the electric cabin cover 23 can be opened to inspect electric elements and circuits in the electric cabin 21, the battery cabin cover 24 is opened to inspect and replace the battery 25 in the battery cabin 22, and the robot is more convenient and flexible to use and maintain due to modularization.
According to the robot 100 provided by the embodiment of the invention, the obstacle crossing capability can be improved, the trafficability is good, different cleaning devices can be installed according to needs, the cradle head 40 can be driven by the lifting mechanism to lift, so that the cleaning devices installed on the cradle head 40 can lift, the angle of the crawler wheel 11 relative to the vehicle body 20 can be adjusted, the robot can adapt to pipelines with different pipe diameters, the flexibility is good, the adaptability to the pipelines is strong, the camera 45 can clearly observe the environment in the pipelines, the wiper blade 47 can clean the lenses of the camera 45, the observation is clear, the temperature and the humidity in the electric cabin 21 can be monitored through the temperature and humidity sensor 60, the damage of electric elements caused by overhigh temperature and humidity is prevented, the robot is simple in structure, easy to implement and strong in practicability.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (13)
- A robot of the kind , comprising:the traveling mechanism is used for moving on the traveling surface;the vehicle body is connected with the travelling mechanism;the lifting mechanism is arranged on the vehicle body;the holder is used for installing a cleaning device, is arranged on the lifting mechanism and can be driven by the lifting mechanism to lift;and the control device is used for controlling the travelling mechanism and the lifting mechanism.
- 2. The robot of claim 1, wherein the walking mechanism comprises at least two tracks, the tracks comprising:the crawler wheels are connected with the trolley body, and the angles of the crawler wheels relative to the trolley body are adjustable;the crawler motor is respectively connected with the crawler wheel and the control device and is used for driving the crawler wheel;the chain sprocket is connected with the crawler wheel and the crawler motor;the rubber track is connected with the track wheel, and the chain wheel are linked with the rubber track to move under the driving of the track motor.
- 3. The robot of claim 2, wherein the walking mechanism comprises:the connecting piece, the connecting piece with the automobile body links to each other just be equipped with a plurality of regulation holes on the connecting piece, adjust the regulation hole with the connection of athey wheel can be adjusted the angle.
- 4. The robot of claim 1, wherein the lift mechanism comprises:the th end of the electric push rod is hinged with the vehicle body;the driver is used for driving the electric push rod to stretch and retract, and the driver is installed on the vehicle body and connected with the control device;the th end of the push rod connecting piece is hinged with the second end of the electric push rod;the th end of connecting rod with the second end of push rod connecting piece is articulated, the second end of connecting rod with the automobile body is articulated, the cloud platform with the end of connecting rod links to each other, the interlock when electric putter is flexible the connecting rod drive the cloud platform goes up and down.
- 5. The robot of claim 1, further comprising:the left steering engine and the right steering engine are arranged on the holder;the connecting frame is connected with the left steering engine and the right steering engine;the pitching steering engines are connected with the connecting frame, and the left steering engine, the right steering engine and the pitching steering engines are respectively connected with the control device;and the function mounting blocks are respectively connected with the pitching steering engine and the connecting frame.
- 6. The robot of claim 5, further comprising:the camera is arranged on the function mounting block and used for observing the surrounding environment.
- 7. The robot of claim 6, further comprising:the wiper steering engine is arranged on the connecting frame;and the wiper steering engine is connected with the wiper blade and drives the wiper blade to clean the camera.
- 8. The robot of claim 6, further comprising:the protective cover is arranged on the holder, and the left steering engine, the right steering engine, the pitching steering engine, the function mounting block and the camera are arranged under the protective cover.
- 9. The robot according to claim 1, wherein the vehicle body is formed with an electric compartment with a hatch and a battery compartment, respectively, and further comprises an electric compartment cover for closing or opening the electric compartment hatch and a battery compartment cover for opening the battery compartment hatch.
- 10. The robot of claim 9, further comprising:the temperature and humidity sensor is arranged in the electric cabin and used for sensing the temperature and the humidity of the electric cabin.
- 11. The robot of claim 9, further comprising:and the gyroscope is arranged in the electric cabin and is used for controlling the walking posture of the robot.
- 12. The robot of claim 1, further comprising:the antenna is arranged on the vehicle body;and the transmission module is connected with the antenna and the control device and used for acquiring the data of the robot and transmitting the data to the console.
- 13. The robot of claim 1, further comprising:the eagle eye lamp is arranged on the holder and used for lighting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810803629.8A CN110735993A (en) | 2018-07-20 | 2018-07-20 | kinds of robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810803629.8A CN110735993A (en) | 2018-07-20 | 2018-07-20 | kinds of robots |
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| CN110735993A true CN110735993A (en) | 2020-01-31 |
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| CN201810803629.8A Pending CN110735993A (en) | 2018-07-20 | 2018-07-20 | kinds of robots |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112644596A (en) * | 2021-01-06 | 2021-04-13 | 西安电子科技大学 | Crawler-type mobile robot for complex-structure pipeline detection |
| CN113513657A (en) * | 2021-05-10 | 2021-10-19 | 北京化工大学 | A track type robot hinders running gear more for metal pipeline |
| EP4036337A1 (en) * | 2021-02-02 | 2022-08-03 | Friess, Walter H. | Camera for a sewer inspection robot and the robot |
| CN115013635A (en) * | 2022-06-17 | 2022-09-06 | 浙江管迈环境科技有限公司 | Cleaning structure for pipeline detection robot and cleaning method thereof |
-
2018
- 2018-07-20 CN CN201810803629.8A patent/CN110735993A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112644596A (en) * | 2021-01-06 | 2021-04-13 | 西安电子科技大学 | Crawler-type mobile robot for complex-structure pipeline detection |
| EP4036337A1 (en) * | 2021-02-02 | 2022-08-03 | Friess, Walter H. | Camera for a sewer inspection robot and the robot |
| CN113513657A (en) * | 2021-05-10 | 2021-10-19 | 北京化工大学 | A track type robot hinders running gear more for metal pipeline |
| CN115013635A (en) * | 2022-06-17 | 2022-09-06 | 浙江管迈环境科技有限公司 | Cleaning structure for pipeline detection robot and cleaning method thereof |
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