CN206243876U - A kind of Urban Underground piping lane clears device - Google Patents
A kind of Urban Underground piping lane clears device Download PDFInfo
- Publication number
- CN206243876U CN206243876U CN201621267570.8U CN201621267570U CN206243876U CN 206243876 U CN206243876 U CN 206243876U CN 201621267570 U CN201621267570 U CN 201621267570U CN 206243876 U CN206243876 U CN 206243876U
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- CN
- China
- Prior art keywords
- crossbeam
- rear support
- front leg
- piping lane
- hinged
- Prior art date
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Abstract
Device is cleared the utility model discloses a kind of Urban Underground piping lane, belongs to design and manufacturing technology field.Grabbed including hand and walking mechanism, the top of herringbone is provided with crossbeam, two front leg struts and two tops of rear support leg are connected with the two ends of crossbeam by respective bearing respectively, quarter butt is provided with the middle part of crossbeam, the upper surface of pawl disk is fixed by connecting rod with crossbeam, the lower surface of pawl disk is provided with the paw being hinged with it, paw middle part is articulated with one end of connecting rod, the other end of connecting rod is hinged with star connection, and the upper end of star connection is fixedly connected with tooth bar, the engagement of driving tooth wheel and rack；The upper surface of pawl disk is provided with crawl motor, spring is provided between front leg strut and rear support leg, the preceding connecting plate parallel with crossbeam is provided between two forward and backward supporting legs, it is provided with the middle part of preceding connecting plate and is controlled and vision sensing equipment, the lower end of two front leg struts and two rear support legs is equipped with movable motor and wheel is fixed.The defective work for being mainly used in underground pipe gallery is cleared.
Description
Technical field
The utility model belongs to mechanical device design and manufacturing technology field.
Background technology
With the iterative method that Urban Underground piping lane is built, underground pipe gallery is clear during building and after input implementation
Clean problem of management is constantly highlighted.Many pipe fittings, plate and cable can be particularly remained in the construction process of underground pipe gallery
The like waste product, processing mode to these defective works also rests on artificial mucking stage now, but manually processes
Mode is very low to the efficiency that these defective works are cleared up, and the region inconvenience people narrow in space enters,
Even life can safely be threatened.The development that device is cleared in unmanned intellectuality is conducive to improving cleaning efficiency and avoids out
Device is cleared in the unmanned intellectuality of now life security accident, therefore development will replace the mode manually cleared to Urban Underground piping lane
Carry out contamination control.According to retrieval, at present the technology appearance of existing correlation intelligent cleaning device, such as Chinese Patent Application No.
" a kind of workshop intelligent ground clean robot " disclosed in 201610594953.4, the workshop intelligent ground cleaning described in the patent
Robot is the iron filings that mill floor is adsorbed using the magnetic of electromagnet, but other non magnetic rubbish can not be carried out clearly
Reason.For another example Chinese Patent Application No. 201610368352.1 is disclosed " a kind of rubbish pick-up unit ", and described rubbish picks up dress
Put structure more complicated, size needs manual power assisting to promote also than larger, it is impossible to fully achieve Intelligent unattended rubbish clear
Reason.Garbage cleaning device described in two above patent should not be used in the discarded pipe in the narrow Urban Underground piping lane in space
The cleaning of part, the discarded rubbish such as plate and discarded cable.
Utility model content
The purpose of this utility model is to provide a kind of Urban Underground piping lane and clears device, and it can be realized to discarding object
Automatic identification, automatic crawl and automatic transportation walking function, substantially increase Urban Underground piping lane and clear the unmanned of work.
It is that a kind of Urban Underground piping lane clears device that the utility model reaches the technical scheme that its purpose used, including
Hand is grabbed and walking mechanism, and the top of herringbone is provided with crossbeam, two front leg struts and two tops of rear support leg respectively with horizontal stroke
The two ends of beam are connected by respective bearing, and quarter butt is provided with the middle part of crossbeam, and the upper surface of pawl disk is consolidated by connecting rod with crossbeam
Fixed, the lower surface of pawl disk is provided with the paw being hinged with it, and paw middle part is articulated with one end of connecting rod, the other end of connecting rod and star
Connector is hinged, and the upper end of star connection is fixedly connected with tooth bar, the engagement of driving tooth wheel and rack；The upper surface of pawl disk is provided with
Crawl motor, the output shaft for capturing motor is fixed with driving gear；Spring, two front leg struts are provided between front leg strut and rear support leg
Between be provided with the preceding connecting plate parallel with crossbeam, be provided with the middle part of preceding connecting plate control and vision sensing equipment, two rear support legs
Between be provided with the rear connecting plate parallel with crossbeam；The lower end of two front leg struts and two rear support legs is equipped with movable motor, walking
The output shaft of motor is fixed with wheel.
The paw has three, and their one end is distributed in pawl disk lower surface and is hinged with pawl disk lower surface in 120 °.
The connecting rod has three, and their one end is hinged with three paws respectively, and the other end is hinged with star connection.
The movable motor has four, and the lower end with two front leg struts and two rear support legs is fixed respectively.
The movable motor and crawl motor are steering wheel, are connected with controller by cable.
The spring has two, and middle part of their two ends respectively with front leg strut and rear support leg is fixed.
The course of work of the present utility model and operation principle：
Automatic identification is to carry out automatic identification to discarded object with vision sensing equipment by control first, while control
Movable motor on forward and backward supporting leg drive four wheels it is simultaneously positive it is synchronized rotate, make to clear device and run at discarded object；
Then, the movable motor on two rear support legs changes driving direction, rotates backward two wheels fixed with its output shaft, clears dress
Put and halt, and forward and backward supporting leg separately makes grasping mechanism position drop to the height of discarded object, movable motor to both sides
Stop driving；Crawl motor-driven gear is rotated and the tooth bar engaged with gear is moved upwards, so that three paws close up
The discarded object of crawl, crawl motor stops driving；The movable motor of front and back support drives corresponding wheel to transport at the same speed in opposite directions
It is dynamic, front and back support is drawn close to centre and is lifted and grab the grasping mechanism of discarded object to certain altitude；Then, forward and backward supporting leg
Movable motor drive four wheels rotate at the same speed in the same direction, discarded object is transported to the position of displaying specified, movable motor stops
Only drive, crawl motor-driven gear is rotated and moves downward the tooth bar engaged with gear, so that paw separately puts down useless
Gurry part.
Compared with the prior art, the beneficial effects of the utility model are：
The utility model has used controller, the intelligence such as the control of vision sensor composition and vision sensing equipment and steering wheel
Energy control, can realize that the Intelligent unattended of the discarded object of Urban Underground piping lane clears treatment, compare with manually mode is cleared, and have
There is efficiency of clearing higher, and ensured life safety.
The utility model simple structure, size is small, clears mode uniqueness, and with folding feature.Therefore, this is clear
Shipping unit is suitable for the treatment of clearing of the rubbish such as discarded pipe fitting, plate and the discarded cable of Urban Underground piping lane, and
It is very convenient to carry due to its foldability.
Brief description of the drawings
Fig. 1 is the utility model erectility graphics
Fig. 2 is the utility model pressed status graphics
Fig. 3 is gripper components graphics of the present utility model
Specific embodiment
With reference to the accompanying drawings and detailed description, the utility model is described in further detail.
A kind of Urban Underground piping lane clears device, including handgrip and walking mechanism, and the top of herringbone is provided with crossbeam
9, two front leg struts 1 and two tops of rear support leg 8 are connected with the two ends of crossbeam 9 by respective bearing respectively, in crossbeam 9
Portion is provided with quarter butt, and the upper surface of pawl disk 2 is fixed by connecting rod 16 with crossbeam 9, and the lower surface of pawl disk 2 is provided with the hand being hinged with it
Pawl 12, the middle part of paw 12 is articulated with one end of connecting rod 14, and the other end and the star connection 13 of connecting rod 14 are hinged, star connection
13 upper end is fixedly connected with tooth bar 10, and driving gear 15 is engaged with tooth bar 10；The upper surface of pawl disk 2 is provided with crawl motor 11,
The output shaft for capturing motor 11 is fixed with driving gear 15；Spring 7, two front leg struts 1 are provided between front leg strut 1 and rear support leg 8
Between be provided with the preceding connecting plate 3 parallel with crossbeam 9, the middle part of preceding connecting plate 3 is provided with control and vision sensing equipment 4, after two
The rear connecting plate 17 parallel with crossbeam 9 is provided between supporting leg 8；The lower end of two front leg struts 1 and two rear support legs 8 is equipped with walking
Motor 5, output shaft and the wheel 6 of movable motor 5 are fixed.
The paw 12 has three, and their one end is distributed in the lower surface of pawl disk 2 and the lower surface of pawl disk 2 and is hinged in 120 °.
The connecting rod 14 has three, and their one end is hinged with three paws 12 respectively, and the other end is and star connection
13 are hinged.
The movable motor 5 has four, and the lower end with two front leg struts 1 and two rear support legs 8 is fixed respectively.
The movable motor 5 and crawl motor 11 are steering wheel, are connected with controller by cable.
The spring 7 has two, and middle part of their two ends respectively with front leg strut 1 and rear support leg 8 is fixed.
The course of work of the present utility model and operation principle：Automatic identification is to pass 4 pairs, device with vision by control first
Discarded object carries out automatic identification, while the movable motor 5 on the front and rear supporting leg of control drives simultaneously positive synchronized turn of four wheels 6
It is dynamic, make to clear device and run at discarded object；8 movable motor 5 changes driving direction on two rear support legs, makes and its output shaft
Fixed wheel 6 is rotated backward, and is cleared device and is halted, and front leg strut 1, rear support leg 8 separately make grasping mechanism to both sides
Position drops to the height of discarded object, and movable motor 5 stops driving；Crawl motor 11 drive driving gear 15 rotate and make with
The tooth bar 10 of the engagement of driving gear 15 is moved upwards, so that three paws 12 close up the discarded object of crawl, crawl motor 11 stops
Only drive；Front leg strut 1, the movable motor 5 of rear support leg 8 drive the opposite synchronized motion of corresponding wheel 6, make front leg strut 1, after
Supporting leg 8 is drawn close to centre and is lifted and grab the grasping mechanism of discarded object to certain altitude；Then, front leg strut 1, rear support leg 8
Movable motor 5 drives the synchronized rotation in the same direction of four wheels 6, discarded object is transported to the position of displaying specified, and movable motor 5 stops
Only drive, crawl motor 11 drives driving gear 15 to rotate and make the tooth bar 11 for engaging and moves downward, so that paw 12
Separately put down discarded object.
Claims (6)
1. a kind of Urban Underground piping lane clears device, including handgrip and walking mechanism, it is characterised in that：The top of herringbone
Crossbeam (9) is provided with, two front leg struts (1) and two tops of rear support leg (8) pass through respective axle with the two ends of crossbeam (9) respectively
Connection is held, quarter butt is provided with the middle part of crossbeam (9), the upper surface of pawl disk (2) is fixed by connecting rod (16) with crossbeam (9), pawl disk
(2) lower surface is provided with the paw (12) being hinged with it, and paw (12) middle part is articulated with one end of connecting rod (14), connecting rod (14)
The other end is hinged with star connection (13), and the upper end of star connection (13) is fixedly connected with tooth bar (10), driving gear
(15) engaged with tooth bar (10)；The upper surface of pawl disk (2) is provided with crawl motor (11), output shaft and the active of crawl motor (11)
Gear (15) is fixed；Spring (7) is provided between front leg strut (1) and rear support leg (8), is provided with and crossbeam between two front leg struts (1)
(9) parallel preceding connecting plate (3), is provided with control and vision sensing equipment (4), two rear support legs (8) in the middle part of preceding connecting plate (3)
Between be provided with the rear connecting plate (17) parallel with crossbeam (9)；The lower end of two front leg struts (1) and two rear support legs (8) is provided with row
Motor (5) is walked, the output shaft of movable motor (5) is fixed with wheel (6).
2. a kind of Urban Underground piping lane according to claim 1 clears device, it is characterised in that：The paw (12) has three
Individual, their one end is distributed in pawl disk (2) lower surface and is hinged with pawl disk (2) lower surface in 120 °.
3. a kind of Urban Underground piping lane according to claim 1 clears device, it is characterised in that：The connecting rod (14) has three
Branch, their one end is hinged with three paws (12) respectively, and the other end is hinged with star connection (13).
4. a kind of Urban Underground piping lane according to claim 1 clears device, it is characterised in that：The movable motor (5)
There are four, the lower end with front leg strut (1) and rear support leg (8) is fixed respectively.
5. a kind of Urban Underground piping lane according to claim 1 clears device, it is characterised in that：The movable motor (5)
It is steering wheel with crawl motor (11), is connected with controller by cable.
6. a kind of Urban Underground piping lane according to claim 1 clears device, it is characterised in that：The spring (7) has two
Individual, middle part of their two ends respectively with front leg strut (1) and rear support leg (8) is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621267570.8U CN206243876U (en) | 2016-11-23 | 2016-11-23 | A kind of Urban Underground piping lane clears device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621267570.8U CN206243876U (en) | 2016-11-23 | 2016-11-23 | A kind of Urban Underground piping lane clears device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206243876U true CN206243876U (en) | 2017-06-13 |
Family
ID=59001895
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621267570.8U Expired - Fee Related CN206243876U (en) | 2016-11-23 | 2016-11-23 | A kind of Urban Underground piping lane clears device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206243876U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516518A (en) * | 2016-11-23 | 2017-03-22 | 西南交通大学 | Urban underground pipe gallery cleaning and conveying equipment |
-
2016
- 2016-11-23 CN CN201621267570.8U patent/CN206243876U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516518A (en) * | 2016-11-23 | 2017-03-22 | 西南交通大学 | Urban underground pipe gallery cleaning and conveying equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170613 Termination date: 20191123 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |