CN111791041A

CN111791041A - Automatic well lid dismounting robot for municipal works

Info

Publication number: CN111791041A
Application number: CN202010729629.5A
Authority: CN
Inventors: 郭庆文
Original assignee: 郭庆文
Current assignee: Zhejiang Xinbada Robot Technology Co.,Ltd.
Priority date: 2020-07-27
Filing date: 2020-07-27
Publication date: 2020-10-20
Anticipated expiration: 2040-07-27
Also published as: CN111791041B

Abstract

The invention relates to the field of engineering machinery, in particular to an automatic well lid disassembling robot for municipal engineering, which comprises a robot body, a material placing plate for placing a well lid, a support frame, a support assembly for preventing the robot body from being stable when the well lid is disassembled, a moving assembly for moving, a rotation adjusting assembly for adjusting an angle, a direction adjusting assembly for adjusting an orientation and a lifting assembly for disassembling the well lid, wherein the robot body comprises a saddle and a top cover, the top cover is arranged at the top of the saddle, the peripheries between the saddle and the top cover are respectively fixed by a bolt, the support frame is arranged at the top of the top cover, the support assembly comprises four abutting mechanisms, and the top of the material placing plate is also respectively provided with a material placing part for placing a new well lid, so that the problem that the traditional well lid is time-consuming and labor consuming in manual disassembly is solved, manpower labor is reduced, and the efficiency of well lid disassembly is improved.

Description

Automatic well lid dismounting robot for municipal works

Technical Field

The invention relates to the field of engineering machinery, in particular to an automatic well lid dismounting robot for municipal engineering.

Background

Municipal works mainly refer to the construction of urban infrastructure, it is the public welfare project invested by the government, these projects concern people's production and life, it is a necessary material basis for urban survival and development, the urban drainage system is the engineering facility system of processing and discharging urban sewage and rainwater, it is the important component of urban public facilities, the urban drainage system plans the component that is the urban overall planning, the urban drainage system usually is made up of drainage pipe and sewage treatment plant, under the situation of carrying out sewage, rainwater and shunting system, the sewage is collected by the drainage pipe, after delivering to sewage treatment, discharge into the water body or recycle, the rainwater is collected via the drainage pipe, discharge into the water body nearby.

Cooperation drainage pipe, can install town road well lid on the road, general well lid is metal well lid or high strength fiber cement and mixes earth well lid more, in the road administration aspect of urban area, generally adopt circular well lid, parallel arrangement has two rectangle through-holes that are used for removing the well lid and release marsh gas on the well lid, when the well lid is opened to needs and is maintained or change, all be the workman at present and use the sled to pry the well lid in inserting two rectangle through-holes, then drag the well lid and leave the well mouth, such work intensity of labour is bigger, work efficiency is lower, when installing the well lid, also need the staff to move the well lid to the well mouth and install, consuming time power.

There are a lot of problems in the use of well lid base, some well lid bases are when dismantling, need a large amount of labours to dismantle, the working time of labourer has been increased, simultaneously when the device uses, the fixed effect of device itself is not very ideal, lead to taking place to rock when the device uses, influence the dismantlement of well lid base, and be not convenient for the worker to handle the well lid base after the dismantlement, increase labourer's working time, very big reduction labourer's labor efficiency, be not convenient for use, therefore, need design a robot that can dismantle the well lid automatically.

Disclosure of Invention

For solving above-mentioned technical problem, provide an automatic dismantlement robot of well lid for municipal works, this technical scheme has solved traditional well lid and has passed through the problem that artifical dismantlement is wasted time and energy.

In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:

a well lid automatic dismounting robot for municipal engineering comprises a robot body, a material placing plate for placing a well lid, a support frame, a support assembly for preventing the robot body from being stable when the well lid is dismounted, a moving assembly for moving, a rotation adjusting assembly for angle adjustment, a direction adjusting assembly for direction adjustment and a lifting and lifting assembly for dismounting the well lid, wherein the robot body comprises a saddle and a top cover, the top cover is arranged at the top of the saddle, the periphery between the saddle and the top cover is respectively fixed through a bolt, the support frame is arranged at the top of the top cover and comprises four collision mechanisms, the four collision mechanisms are respectively arranged at the peripheral corners of the support frame, the moving assembly is arranged at the top of the support frame, the rotation adjusting assembly is arranged at the top of the moving assembly, the direction adjusting assembly is arranged at the bottom of the rotation adjusting assembly, the lifting assembly is arranged at the bottom of the direction adjusting assembly, the discharging plates are fixedly arranged at the top of the top cover, and the top of each discharging plate is also provided with a discharging part for placing new and old well lids.

As a preferred scheme of the automatic well lid dismounting robot for the municipal engineering, the front end and the rear end of the bottom of a saddle are respectively provided with a steering mechanism and a moving mechanism, the steering mechanism and the moving mechanism are respectively provided with two wheels which are symmetrically arranged at the two sides of the saddle, each wheel can be rotatably arranged on one hub frame, two wheels of the steering mechanism are respectively driven to rotate through a steering motor, the two wheels of the moving mechanism are connected through a rotating rod, two ends of the rotating rod respectively penetrate through the wheels and are rotatably arranged on the hub frames of the moving mechanism, and the rotating rod is also rotated by a double-head motor, two output shafts at two ends of the double-head motor and the rotating rod are respectively sleeved with a driving wheel, and the driving wheels on the output shafts at two ends of the double-head motor and the driving wheels on the rotating rod are respectively matched by a driving belt.

As an optimal selection scheme of automatic dismantlement robot of well lid for municipal works, four conflict mechanisms's structure is the same, every conflict mechanism all includes a first screw rod and a first sleeve pipe, the outside that is located the saddle all around of support frame still all outwards is equipped with an installation department, every first sleeve pipe all is vertical state fixed the setting on corresponding installation department, every first screw rod homoenergetic sets up in corresponding first sleeve pipe, and every first screw rod still all drives through a driving motor, it is equipped with a first lantern ring still all to lie in corresponding first sleeve pipe on every first screw rod and all slide, and the both ends of every first lantern ring still are vertical downwards to be equipped with a first extension rod.

As an optimal scheme of the automatic well lid dismounting robot for the municipal engineering, the extending ends of every two first extension rods are further connected with a first disc, the two sides of each first sleeve are further provided with a strip-shaped opening used for lifting of each first extension rod along the length direction of the corresponding first sleeve, the bottom of each first disc is further provided with a hinged portion all around, each hinged portion is further provided with a supporting leg in a hinged mode, the center of the bottom of each first disc is further vertically and downwards provided with a stand column, and each supporting leg is connected with the corresponding stand column through a spring.

As an optimal scheme of automatic dismantlement robot of well lid for municipal works, the top front end of support frame outwards stretches out the extension frame that has a convenient to detach well lid, still all connect through a stabilizer bar between the bottom both sides of extension frame and the bottom both sides of support frame, it includes a spout and a slider to remove the subassembly, the spout sets up in the top of support frame along the fixed length direction of support frame, the top both sides of spout all are equipped with a draw runner along the length direction of spout, the slider slip cap is located on two draw runners, the rotation regulation subassembly sets up in the top of slider, one side of spout still is equipped with a rack along length direction, and still the meshing is equipped with a drive gear on the rack, drive gear still drives through a moving motor, the moving motor is fixed to be set up in the top of slider.

As an optimal scheme of automatic dismantlement robot of well lid for municipal works, the rotation regulation subassembly includes a driving gear, an inner circle gear and two driven gear, the driving gear, inner circle gear and two driven gear all set up in a circle frame, the fixed top that sets up in the slider of circle frame, and the top of circle frame and slider still all is equipped with a round mouth, the inner circle gear is fixed to be set up on the inside wall of circle frame, coaxial line between driving gear and the inner circle gear, two driven gear rotate along the circumferencial direction of driving gear, the driving gear still drives through a rotating electrical machines.

As an optimal scheme of automatic robot of dismantling of well lid for municipal works, the teeth of a cogwheel of two driven gears all with the teeth of a cogwheel of inner circle gear and driving gear between intermeshing, two driven gears still all overlap locate a pivot, and the last lower extreme of two pivots still all connects through a bar shaped plate, the outside of circle frame body still is equipped with a protecting crust, the top of protecting crust is equipped with a frame, the rotating electrical machines is vertical state fixed the setting in the frame, direction adjusting part sets up in the bottom of the bar shaped plate of two pivot lower extremes.

As an optimal selection scheme of automatic robot of dismantling of well lid for municipal works, direction adjustment assembly includes a adjustable shelf and two screw thread posts, the adjustable shelf is fixed to be set up in the bottom of bar shaped plate, the center of adjustable shelf is equipped with a baffle, two screw thread posts still set up in the adjustable shelf along the length direction symmetry of adjustable shelf respectively, and the both ends of every screw thread post still can pivoted respectively install between one side of baffle and adjustable shelf, every screw thread post still all drives through an adjusting motor, every adjusting motor is all fixed to be set up in the both sides of adjustable shelf, it is equipped with a movable block still all to move movable cover on every screw thread post, the outside of every movable block still all extends and is equipped with a rectangular plate, go up and down to carry and draw the assembly to include two elevating system, and two elevating system still distribute and set up in the bottom of two rectangular plates.

As a preferred scheme of the automatic well lid dismounting robot for the municipal engineering, the two lifting mechanisms have the same structure, each lifting mechanism comprises a second screw rod and a second sleeve, each second sleeve is fixedly arranged at the bottom of the corresponding rectangular plate in a vertical state, each second screw rod can be rotatably arranged in the corresponding second sleeve, each second screw rod is also driven by a second driving motor, a second sleeve ring is also arranged on each second screw rod in a sliding way in the corresponding second sleeve pipe, and the both ends of every second lantern ring still all vertically are equipped with a second extension rod downwards, and the end that stretches out of every two second extension rods still connects and is equipped with a second disc, and every sheathed tube both sides still all are equipped with one along corresponding second sheathed tube length direction and are used for the lift mouth that every second extension rod goes up and down.

As an optimal scheme of automatic dismantlement robot of well lid for municipal works, it still includes two and carries and draws the piece to go up and down to carry the subassembly, the bottom center of every second disc still all vertically is equipped with a round bar downwards, it is equipped with a first straight-tooth gear still all to rotate the cover on every round bar, every is carried and is drawn the piece still all to set up in the bottom of corresponding first straight-tooth gear through a fixed disk is fixed, one side of every second disc still extends and is equipped with a mounting panel, the side of every first straight-tooth gear still all meshes and is equipped with a second straight-tooth gear, every second straight-tooth gear all is through a single-shaft motor drive, and every single-shaft motor all is the top that vertical state is fixed in corresponding mounting panel.

Compared with the prior art, the invention has the beneficial effects that:

when an operator dismantles the well lid, firstly, the robot vehicle body comes to the position of the well lid, then the four abutting mechanisms are supported on the ground, the robot vehicle body is prevented from shaking when the well lid is dismantled, then, the moving component drives the lifting and pulling component to move to the upper part of the well lid, the rotating adjusting component adjusts the position of the lifting and pulling component inserted into the two holes on the well lid, the direction adjusting component adjusts the distance of the lifting and pulling component opposite to the two holes, the lifting and pulling component downwards penetrates through the two holes to clamp the well lid, the well lid is pulled upwards, the well lid is pulled to the upper side of the material placing plate through the moving assembly, finally, the old well lid is placed in the material placing part, and the new well lid can be installed in the same mode.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is an exploded perspective view of a robot body;

fig. 4 is a schematic perspective view of the abutting mechanism;

FIG. 5 is a cross-sectional view of FIG. 4;

FIG. 6 is a perspective view of the moving assembly;

FIG. 7 is an exploded perspective view of the rotary adjustment assembly;

FIG. 8 is a perspective view of the direction adjustment assembly;

FIG. 9 is a perspective view of the lifting assembly;

fig. 10 is a cross-sectional view of fig. 9.

Description of reference numerals: the material placing plate 1, the supporting frame 2, the well cover 3, the vehicle seat 4, the top cover 5, the material placing part 6, the vehicle wheel 7, the hub frame 8, the steering motor 9, the rotating rod 10, the double-headed motor 11, the transmission belt 12, the first screw 13, the first sleeve 14, the mounting part 15, the first driving motor 16, the first collar 17, the first extension rod 18, the first disc 19, the hinge part 20, the supporting leg 21, the upright post 22, the spring 23, the stabilizer bar 24, the sliding groove 25, the slider 26, the sliding bar 27, the rack 28, the driving gear 29, the moving motor 30, the driving gear 31, the inner ring gear 32, the driven gear 33, the round frame body 34, the round mouth 35, the rotating motor 36, the strip-shaped plate 37, the protective shell 38, the moving frame 39, the threaded post 40, the partition plate 41, the adjusting motor 42, the moving block 43, the rectangular plate 44, the second screw 45, the second sleeve 46, the second driving motor 47, the second, The device comprises a second disc 50, a lifting piece 51, a first straight-tooth gear 52, a fixed disc 53, a mounting plate 54, a second straight-tooth gear 55 and a single-shaft motor 56.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.

Referring to fig. 1 to 10, a robot for automatically disassembling a well lid for municipal engineering, comprising a robot body, a material placing plate 1 for placing a well lid 3, a support frame 2, a support assembly for preventing the robot body from being stabilized when the well lid 3 is disassembled, a moving assembly for moving, a rotation adjusting assembly for angle adjustment, a direction adjusting assembly for direction adjustment, and a lifting and pulling assembly for disassembling the well lid 3, wherein the robot body comprises a saddle 4 and a top cover 5, the top cover 5 is arranged on the top of the saddle 4, the peripheries between the saddle 4 and the top cover 5 are respectively fixed by a bolt, the support frame 2 is arranged on the top of the top cover 5, the support assembly comprises four collision mechanisms, the four collision mechanisms are respectively arranged on the periphery of the support frame 2, the moving assembly is arranged on the top of the support frame 2, the rotation adjusting assembly is arranged on the top of the moving assembly, the position adjusting assembly is arranged at the bottom of the rotating adjusting assembly, the lifting assembly is arranged at the bottom of the position adjusting assembly, the material placing plate 1 is fixedly arranged at the top of the top cover 5, and the top of the material placing plate 1 is also respectively provided with a material placing part 6 for placing new and old well covers 3. When operating personnel dismantled well lid 3, firstly, the robot automobile body comes to well lid 3 position department, four conflict mechanisms support in ground after that, lead to the robot automobile body to take place to rock when preventing well lid 3 to dismantle, then, the removal subassembly drives lift and draws the subassembly to come to well lid 3 top, rotatory adjusting part adjusts the position that lift and draw the subassembly and insert two holes on the well lid 3 thereupon, direction adjusting part adjusts the lift and draws the subassembly just to the distance in two holes, lift and draw the subassembly and pass two holes thereupon downwards and block well lid 3 after, well lid 3 is drawn upwards, well lid 3 comes to flitch 1 top through the removal subassembly after being drawn, finally, old well lid 3 is placed in blowing portion 6 thereupon, new well lid 3 also can be installed through same mode.

The front end and the rear end of the bottom of the saddle 4 are respectively provided with a steering mechanism and a moving mechanism, the steering mechanism and the moving mechanism are respectively provided with two wheels 7 which are symmetrically arranged on two sides of the saddle 4, each wheel 7 can be rotatably arranged on a hub frame 8, the two wheels 7 of the steering mechanism are respectively and rotatably driven by a steering motor 9, the two wheels 7 of the moving mechanism are connected through a rotating rod 10, two ends of the rotating rod 10 respectively penetrate through the wheels 7 and can be rotatably arranged on the hub frame 8 of the moving mechanism, the rotating rod 10 further rotates through a double-head motor 11, output shafts at two ends of the double-head motor 11 and the rotating rod 10 are respectively sleeved with a driving wheel, and the driving wheels on the output shafts at two ends of the double-head motor 11 and the driving wheels on the rotating rod 10 are respectively matched through a driving belt 12. When an operator dismantles the well lid 3, firstly, the robot body comes to the position of the well lid 3, the seat 4 turns and moves through the steering mechanism and the moving mechanism, the seat 4 of the moving assembly moves through the four wheels 7, when the steering mechanism turns, the two wheels 7 at the steering mechanism are immediately turned and adjusted through the corresponding steering motor 9, the double-head motor 11 drives the belt wheels on the two output shafts to rotate, the two belt wheels on the double-head motor 11 are respectively connected with the belt wheels on the rotating rod 10 through belts, therefore, the rotating rod 10 rotates through the belts immediately, after the rotating rod 10 rotates, the wheels 7 at the two ends of the rotating rod 10 also rotate along with the rotating rod, and the seat 4 also moves through the two wheels 7.

The structure of four conflict mechanisms is the same, every conflict mechanism all includes a first screw rod 13 and a first sleeve pipe 14, the outside that is located saddle 4 all around of support frame 2 still all outwards is equipped with an installation department 15, every first sleeve pipe 14 all is vertical state fixed the setting on corresponding installation department 15, every first screw rod 13 homoenergetic can the pivoted set up in corresponding first sleeve pipe 14, and every first screw rod 13 still all drives through a driving motor 16, it is equipped with a first lantern ring 17 still all to slide in corresponding first sleeve pipe 14 still on every first screw rod 13, and the both ends of every first lantern ring 17 still all are vertical downwards to be equipped with a first extension rod 18. When the four abutting mechanisms are simultaneously supported on the ground, each first driving motor 16 drives the corresponding first screw 13 to rotate, and each first collar 17 is slidably sleeved on each first screw 13, so that each first collar 17 moves on the corresponding first screw 13.

The extending ends of every two first extension rods 18 are further connected with a first disc 19, two sides of each first sleeve 14 are further provided with a strip-shaped opening used for lifting of each first extension rod 18 along the length direction of the corresponding first sleeve 14, the bottom of each first disc 19 is further provided with a hinged portion 20 all around, each hinged portion 20 is further provided with a supporting leg 21 in a hinged mode, the center of the bottom of each first disc 19 is further provided with an upright column 22 vertically and downwards, and each supporting leg 21 is connected with the corresponding upright column 22 through a spring 23. When each first collar 17 moves downwards, the two first extension rods 18 on each first collar 17 drive the corresponding first disc 19 to move, and after the four support legs 21 on each first disc 19 abut against the ground, because each support leg 21 is connected with the corresponding upright column 22 through the spring 23, the four support legs 21 under each first disc 19 are expanded outwards to support the ground.

The top front end of support frame 2 stretches out outward and has an extension frame convenient to detach well lid 3, still all connect through a stabilizer bar 24 between the bottom both sides of extension frame and the bottom both sides of support frame 2, the removal subassembly includes a spout 25 and a slider 26, spout 25 sets up in the top of support frame 2 along the length direction of support frame 2 is fixed, the top both sides of spout 25 all are equipped with a draw runner 27 along the length direction of spout 25, slider 26 sliding sleeve locates on two draw runners 27, rotatory adjusting part sets up in the top of slider 26, one side of spout 25 still is equipped with a rack 28 along length direction, and still the meshing is equipped with a drive gear 29 on the rack 28, drive gear 29 still drives through a moving motor 30, moving motor 30 is fixed to be set up in the top of slider 26. When the moving assembly is driven, the moving motor 30 drives the driving gear 29 to rotate, and since the rack 28 is arranged on one side of the sliding chute 25 and the driving gear 29 and the rack 28 are meshed with each other, the driving gear 29 moves on the rack 28 and then drives the sliding block 26 to move on the two sliding strips 27, and the rotation adjusting assembly moves along with the sliding block.

The rotary adjusting assembly comprises a driving gear 31, an inner ring gear 32 and two driven gears 33, the driving gear 31, the inner ring gear 32 and the two driven gears 33 are all arranged in a circular frame body 34, the circular frame body 34 is fixedly arranged at the top of the sliding block 26, the tops of the circular frame body 34 and the sliding block 26 are also provided with a circular opening 35, the inner ring gear 32 is fixedly arranged on the inner side wall of the circular frame body 34, the driving gear 31 and the inner ring gear 32 are coaxial, the two driven gears 33 rotate along the circumferential direction of the driving gear 31, and the driving gear 31 is driven by a rotary motor 36. After the rotation adjusting assembly is moved above the manhole cover 3, in order to enable the lifting and lowering assembly to face the two holes of the manhole cover 3, the rotation adjusting assembly starts to adjust the orientation, the rotating motor 36 drives the driving gear 31 to rotate, and the two driven gears 33 rotate along the circumferential direction of the driving gear 31 because the two driven gears 33 are engaged with the driving gear 31 and the inner ring gear 32.

The teeth of a cogwheel of two driven gear 33 all with inner ring gear 32 and driving gear 31 between the teeth of a cogwheel intermeshing, two driven gear 33 still all overlap and locate in a pivot to the last lower extreme of two pivots still all is connected through a bar 37, the outside of circle framework 34 still is equipped with a protecting crust 38, the top of protecting crust 38 is equipped with a frame, rotating electrical machines 36 are the fixed setting in the frame of vertical state, the direction adjusting part sets up in the bottom of the bar 37 of two pivot lower extremes. When the two driven gears 33 rotate, the two strip-shaped plates 37 protect the rotation adjusting assembly in order to stabilize the two driven gears 33 by the protective shell 38.

The direction adjusting component comprises a movable frame 39 and two threaded columns 40, the movable frame 39 is fixedly arranged at the bottom of the strip-shaped plate 37, a partition plate 41 is arranged at the center of the movable frame 39, the two threaded columns 40 are further symmetrically arranged in the movable frame 39 along the length direction of the movable frame 39 respectively, two ends of each threaded column 40 are further rotatably arranged between one side of the partition plate 41 and one side of the movable frame 39 respectively, each threaded column 40 is further driven by an adjusting motor 42, each adjusting motor 42 is fixedly arranged on two sides of the movable frame 39, a moving block 43 is further movably sleeved on each threaded column 40, a rectangular plate 44 is further arranged at the outer end of each moving block 43 in an extending mode, the lifting component comprises two lifting mechanisms, and the two lifting mechanisms are further distributed and arranged at the bottoms of the two rectangular plates 44. When the direction adjusting assembly adjusts the distance between the lifting and pulling assembly and the two holes, each adjusting motor 42 drives the corresponding threaded column 40 to rotate, the moving block 43 on each threaded column 40 moves in the movable frame 39 along with the threaded columns, and the partition plate 41 is used for preventing the two lifting mechanisms from colliding.

The two lifting mechanisms are identical in structure, each lifting mechanism comprises a second screw 45 and a second sleeve 46, each second sleeve 46 is vertically and fixedly arranged at the bottom of the corresponding rectangular plate 44, each second screw 45 can be rotatably arranged in the corresponding second sleeve 46, each second screw 45 is driven by a second driving motor 47, each second screw 45 is positioned in the corresponding second sleeve 46 and is provided with a second sleeve ring 48 in a sliding manner, two ends of each second sleeve ring 48 are vertically and downwardly provided with a second extension rod 49, extending ends of every two second extension rods 49 are further connected and provided with a second disc 50, and two sides of each second sleeve 46 are further provided with a lifting port for lifting of each second extension rod 49 along the length direction of the corresponding second sleeve 46. When the two lifting mechanisms are driven, each second driving motor 47 drives the corresponding second screw rod 45 to rotate, and since each second screw rod 45 is slidably sleeved with one second collar 48, each second collar 48 moves on the corresponding second screw rod 45, and when each second collar 48 moves downwards, the two second extending rods 49 on each second collar 48 drive the corresponding second disc 50 to move.

Lifting and pulling assembly still includes two and carries and draws piece 51, the bottom center of every second disc 50 still all vertically is equipped with a round bar downwards, still all rotate the cover on every round bar and be equipped with a first straight-tooth gear 52, every carries and draws piece 51 still all to set up in the bottom of corresponding first straight-tooth gear 52 through a fixed disk 53 is fixed, one side of every second disc 50 still extends and is equipped with a mounting panel 54, the side of every first straight-tooth gear 52 still all meshes and is equipped with a second straight-tooth gear 55, every second straight-tooth gear 55 all drives through a single-shaft motor 56, and every single-shaft motor 56 all is the top that vertical state is fixed in corresponding mounting panel 54. When each second disk 50 is moved toward the manhole cover 3, since the bottom of each second disk 50 is rotatably provided with a first spur gear 52, and a pulling piece 51 is fixedly provided at the bottom of each first spur gear 52, so that the two pulling pieces 51 are inserted into two holes by adjustment, in order to make the two lifting pieces 51 lift the manhole cover 3 for clamping, each single-shaft motor 56 drives the corresponding second straight-toothed gear 55 to rotate, since each second spur gear 55 is engaged with the corresponding first spur gear 52, therefore, each first spur gear 52 rotates with it to make the corresponding lifting piece 51 rotate 90 ° in the corresponding hole, the manhole cover 3 can be lifted therewith, the manhole cover 3 is lifted up and then moved above the material discharge plate 1 by the moving assembly, finally, the old manhole cover 3 is then placed in the material discharge part 6, and a new manhole cover 3 can also be installed in the same manner.

The working principle of the invention is as follows:

the device/apparatus/method realizes the functions of the invention by the following steps, thereby solving the technical problems proposed by the invention:

firstly, when an operator dismantles the well lid 3, firstly, a robot body comes to the position of the well lid 3, a seat 4 turns and moves through a steering mechanism and a moving mechanism, the seat 4 of the moving assembly moves through four wheels 7, when the steering mechanism turns, two wheels 7 at the steering mechanism are immediately turned and adjusted through corresponding steering motors 9, a double-head motor 11 drives belt wheels on two output shafts to rotate, because the two belt wheels on the double-head motor 11 are respectively connected with the belt wheels on a rotating rod 10 through belts, the rotating rod 10 rotates through the belts immediately, after the rotating rod 10 rotates, the wheels 7 at two ends of the rotating rod 10 also rotate along with the rotating rod, and the seat 4 also moves through the two wheels 7.

Step two, when the four abutting mechanisms are simultaneously supported on the ground, each first driving motor 16 drives the corresponding first screw 13 to rotate, each first screw 13 is slidably sleeved with one first collar 17, so that each first collar 17 moves on the corresponding first screw 13, when each first collar 17 moves downwards, the two first extension rods 18 on each first collar 17 drive the corresponding first disc 19 to move, after the four supporting legs 21 on each first disc 19 abut on the ground, each supporting leg 21 is connected with the corresponding upright column 22 through springs 23, and therefore the four supporting legs 21 under each first disc 19 are outwards opened and supported on the ground.

Step three, when the moving assembly is driven, the moving motor 30 drives the driving gear 29 to rotate, because one side of the sliding chute 25 is provided with the rack 28, and the driving gear 29 and the rack 28 are mutually meshed, therefore, the driving gear 29 moves on the rack 28 and drives the sliding block 26 to move on the two sliding strips 27, the rotating adjusting assembly also moves along with the rack, after the rotating adjusting assembly moves above the well lid 3, in order to enable the lifting and pulling assembly to be opposite to two holes of the well lid 3, therefore, the rotating adjusting assembly starts to adjust the direction, the rotating motor 36 drives the driving gear 31 to rotate, because the two driven gears 33 are mutually meshed with the driving gear 31 and the inner ring gear 32, the two driven gears 33 rotate along the circumferential direction of the driving gear 31, the two strip plates 37 enable the two driven gears 33 to be more stable, and the protective shell 38 plays a protective role in protecting the rotating adjusting, when the direction adjusting assembly adjusts the distance between the lifting and pulling assembly and the two holes, each adjusting motor 42 drives the corresponding threaded column 40 to rotate, the moving block 43 on each threaded column 40 moves in the movable frame 39 along with the threaded columns, and the partition plate 41 is used for preventing the two lifting mechanisms from colliding.

Step four, when the two lifting mechanisms are driven, each second driving motor 47 drives the corresponding second screw rod 45 to rotate, as each second screw rod 45 is slidably sleeved with a second collar 48, each second collar 48 moves on the corresponding second screw rod 45 along with the second collar 48, when each second collar 48 moves downwards, two second extension rods 49 on each second collar 48 drive the corresponding second disc 50 to move along with the second extension rods, and when each second disc 50 moves towards the manhole cover 3, as the bottom of each second disc 50 is rotatably provided with a first straight-tooth gear 52, and the bottom of each first straight-tooth gear 52 is fixedly provided with a lifting piece 51, therefore, the two lifting pieces 51 are inserted into two holes by adjustment, and when the manhole cover 3 is lifted by the two lifting pieces 51, each motor 56 drives the corresponding second straight-tooth gear 55 to rotate, since each second straight-tooth gear 55 is meshed with the corresponding first straight-tooth gear 52, each first straight-tooth gear 52 rotates along with the first straight-tooth gear to enable the corresponding lifting piece 51 to rotate 90 degrees in the corresponding hole, the well lid 3 can be lifted along with the first straight-tooth gear, the well lid 3 is lifted and then goes to the upper side of the material discharging plate 1 through the moving assembly, finally, the old well lid 3 is placed in the material discharging part 6 along with the old well lid 3, and a new well lid 3 can be installed in the same mode.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides an automatic dismantlement robot of well lid for municipal works, which is characterized in that, including the robot automobile body, still include the blowing board (1) that is used for placing well lid (3), support frame (2), a supporting component for preventing the robot automobile body is stable when well lid (3) are dismantled, a removal subassembly for removing, a rotation adjusting part for angle modulation, a direction adjusting part for position control and a lift lifting and pulling subassembly that is used for well lid (3) to dismantle, the robot automobile body includes a saddle (4) and a top cap (5), top cap (5) set up in the top of saddle (4), and the saddle (4) and top cap (5) between the periphery fix through a bolt respectively, support frame (2) set up in the top of top cap (5), the supporting component includes four conflict mechanisms, four conflict mechanisms set up respectively around support frame (2), the movable assembly is arranged at the top of the support frame (2), the rotary adjusting assembly is arranged at the top of the movable assembly, the position adjusting assembly is arranged at the bottom of the rotary adjusting assembly, the lifting and pulling assembly is arranged at the bottom of the position adjusting assembly, the material placing plate (1) is fixedly arranged at the top of the top cover (5), and the top of the material placing plate (1) is further respectively provided with a material placing part (6) used for placing new and old well covers (3).

2. The automatic well lid dismounting robot for the municipal engineering according to claim 1, characterized in that the front end and the rear end of the bottom of the seat (4) are respectively provided with a steering mechanism and a moving mechanism, the steering mechanism and the moving mechanism are respectively provided with two wheels (7) symmetrically arranged on two sides of the seat (4), each wheel (7) is rotatably arranged on a hub frame (8), the two wheels (7) of the steering mechanism are respectively and rotatably driven by a steering motor (9), the two wheels (7) of the moving mechanism are connected by a rotating rod (10), two ends of the rotating rod (10) respectively penetrate through the wheels (7) and are rotatably arranged on the hub frames (8) of the moving mechanism, the rotating rod (10) is further rotated by a double-head motor (11), two ends of an output shaft of the double-head motor (11) and two ends of the rotating rod (10) are respectively sleeved with a driving wheel, the transmission wheels on the output shafts at the two ends of the double-head motor (11) are matched with the transmission wheels on the rotating rod (10) through a transmission belt (12).

3. The automatic well lid dismounting robot for the municipal engineering according to claim 2, wherein four abutting mechanisms have the same structure, each abutting mechanism comprises a first screw (13) and a first sleeve (14), a mounting part (15) is further provided outwards on the periphery of the support frame (2) and located on the outer side of the saddle (4), each first sleeve (14) is fixedly arranged on the corresponding mounting part (15) in a vertical state, each first screw (13) is rotatably arranged in the corresponding first sleeve (14), each first screw rod (13) is also driven by a first driving motor (16), a first lantern ring (17) is also arranged on each first screw rod (13) in a sliding way in the corresponding first sleeve (14), and both ends of each first lantern ring (17) are also provided with a first extension rod (18) vertically downwards.

4. The automatic well lid disassembling robot for the municipal engineering according to claim 3, wherein each two first extension rods (18) are provided with a first disc (19) at the extending end, each first sleeve (14) is provided with a strip-shaped opening along the length direction of the corresponding first sleeve (14) at two sides, each first extension rod (18) is used for lifting, a hinge portion (20) is arranged around the bottom of each first disc (19), each hinge portion (20) is provided with a support leg (21) in a hinged manner, the center of the bottom of each first disc (19) is provided with a column (22) vertically and downwards, and each support leg (21) is connected with the corresponding column (22) through a spring (23).

5. The automatic well lid dismounting robot for the municipal engineering according to claim 3, characterized in that an extension frame convenient for dismounting the well lid (3) extends outwards from the front end of the top of the support frame (2), the two sides of the bottom of the extension frame and the two sides of the bottom of the support frame (2) are connected through a stabilizing rod (24), the moving component comprises a sliding chute (25) and a sliding block (26), the sliding chute (25) is fixedly arranged on the top of the support frame (2) along the length direction of the support frame (2), the two sides of the top of the sliding chute (25) are respectively provided with a sliding strip (27) along the length direction of the sliding chute (25), the sliding block (26) is slidably sleeved on the two sliding strips (27), the rotation adjusting component is arranged on the top of the sliding block (26), one side of the sliding chute (25) is further provided with a rack (28) along the length direction, and the rack (28) is further provided with a driving gear (29), the driving gear (29) is also driven by a moving motor (30), and the moving motor (30) is fixedly arranged at the top of the sliding block (26).

6. The automatic well lid disassembling robot for the municipal engineering according to claim 5, wherein the rotation adjusting assembly comprises a driving gear (31), an inner ring gear (32) and two driven gears (33), the driving gear (31), the inner ring gear (32) and the two driven gears (33) are all arranged in a circular frame body (34), the circular frame body (34) is fixedly arranged at the top of the sliding block (26), the tops of the circular frame body (34) and the sliding block (26) are respectively provided with a circular opening (35), the inner ring gear (32) is fixedly arranged on the inner side wall of the circular frame body (34), the driving gear (31) and the inner ring gear (32) are coaxial, the two driven gears (33) rotate along the circumferential direction of the driving gear (31), and the driving gear (31) is further driven by a rotating motor (36).

7. The automatic well lid disassembling robot for the municipal engineering according to claim 6, wherein the teeth of the two driven gears (33) are engaged with the teeth of the inner ring gear (32) and the driving gear (31), the two driven gears (33) are sleeved on a rotating shaft, the upper and lower ends of the two rotating shafts are connected through a strip-shaped plate (37), a protective shell (38) is further arranged on the outer side of the round frame body (34), a frame is arranged on the top of the protective shell (38), the rotating motor (36) is fixedly arranged in the frame in a vertical state, and the direction adjusting assembly is arranged at the bottom of the strip-shaped plate (37) at the lower end of the two rotating shafts.

8. The automatic well lid dismounting robot for the municipal engineering according to claim 7, wherein the direction adjusting assembly comprises a movable frame (39) and two threaded columns (40), the movable frame (39) is fixedly arranged at the bottom of the strip-shaped plate (37), a partition plate (41) is arranged at the center of the movable frame (39), the two threaded columns (40) are respectively and symmetrically arranged in the movable frame (39) along the length direction of the movable frame (39), both ends of each threaded column (40) are respectively and rotatably arranged between the partition plate (41) and one side of the movable frame (39), each threaded column (40) is further driven by an adjusting motor (42), each adjusting motor (42) is fixedly arranged at both sides of the movable frame (39), a moving block (43) is further movably sleeved on each threaded column (40), and a rectangular plate (44) extends outwards from the end of each moving block (43), the lifting and pulling assembly comprises two lifting mechanisms, and the two lifting mechanisms are further distributed at the bottoms of the two rectangular plates (44).

9. The automatic well lid dismounting robot for the municipal engineering according to claim 8, wherein two lifting mechanisms have the same structure, each lifting mechanism comprises a second screw (45) and a second sleeve (46), each second sleeve (46) is fixedly arranged at the bottom of the corresponding rectangular plate (44) in a vertical state, each second screw (45) is rotatably arranged in the corresponding second sleeve (46), each second screw (45) is further driven by a second driving motor (47), a second sleeve ring (48) is further slidably arranged on each second screw (45) in the corresponding second sleeve (46), a second extension rod (49) is further vertically and downwardly arranged at each end of each second sleeve ring (48), and a second disc (50) is further connected and arranged at each protruding end of each second extension rod (49), and both sides of each second sleeve (46) are also provided with a lifting port for lifting each second extension rod (49) along the length direction of the corresponding second sleeve (46).

10. The automatic manhole cover disassembling robot for the municipal engineering according to claim 9, wherein the lifting and pulling assembly further comprises two lifting and pulling members (51), a round bar is vertically and downwardly arranged at the center of the bottom of each second disk (50), a first straight-tooth gear (52) is rotatably sleeved on each round bar, each lifting and pulling member (51) is fixedly arranged at the bottom of the corresponding first straight-tooth gear (52) through a fixing disc (53), a mounting plate (54) extends from one side of each second disk (50), a second straight-tooth gear (55) is meshed with the side of each first straight-tooth gear (52), each second straight-tooth gear (55) is driven by a single-shaft motor (56), and each single-shaft motor (56) is fixed to the top of the corresponding mounting plate (54) in a vertical state.