CN206438595U - A kind of municipal sewage system dredges the walking mechanism of robot - Google Patents
A kind of municipal sewage system dredges the walking mechanism of robot Download PDFInfo
- Publication number
- CN206438595U CN206438595U CN201621418885.8U CN201621418885U CN206438595U CN 206438595 U CN206438595 U CN 206438595U CN 201621418885 U CN201621418885 U CN 201621418885U CN 206438595 U CN206438595 U CN 206438595U
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- electric machine
- rotary electric
- mechanical pin
- mechanical
- pin arm
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Abstract
Municipal sewage system dredges the walking mechanism of robot, including chassis, mechanical pin body is provided with the side on chassis, mechanical pin body includes the 6th rotary electric machine, 7th rotary electric machine, 8th rotary electric machine, first mechanical pin arm and the second mechanical pin arm, the drive end of 6th rotary electric machine is connected with chassis, the 3rd fixed seat is provided with the 6th rotary electric machine, 7th rotary electric machine is located in the 3rd fixed seat, one end of first mechanical pin arm is connected with the drive end of the 7th rotary electric machine, the other end of first mechanical pin arm is connected with the drive end of the 8th rotary electric machine, 8th rotary electric machine is located on the second mechanical pin arm, in the bottom of the second mechanical pin arm provided with machinery foot.6th rotary electric machine makes the 6th rotary electric machine be rotated relative to chassis when work, the first mechanical pin arm is set to be rotated relative to chassis, the 7th rotary electric machine, the 8th rotary electric machine are driven simultaneously, the first mechanical pin arm, the second mechanical pin arm is moved up and down relatively, realize walking motion to adapt to different road conditions.
Description
Technical field
The utility model is related to the walking mechanism that a kind of municipal sewage system dredges robot.
Background technology
With the development of society, the modernization construction in city, substantial amounts of municipal sewer is installed under road surface.Whenever having
During a large amount of precipitation snowfalls, government department all tissue dredging in advance, cleaning sewer, and can be run into dredging, cleaning very intractable
The problem of, such as：Pipeline specifications are uneven, different, and some pipelines even can not enter people, and existing cleaning tool can not be realized
Dredging completely, artificial dredging price is high.Therefore the dredging caused due to above reason is unfavorable, result in very heavy rains it
When, road surface Cheng He, market place builet below the ground and parking lot are even more so tragic that one cannot bear to look at it.Dredging sewer equipment on China domestic market is in one's early years
The legacy equipment of production is designed, indirect labor's dredging can only be played a part of, high manpower is spent in dredging sewer
Cost, and legacy equipment has, the shortcoming of dredging effect difference big using limitation.
The content of the invention
The technical problems to be solved in the utility model is to provide a kind of municipal sewage system dredging for being adapted to different road conditions
The walking mechanism of robot.
In order to solve the above-mentioned technical problem, the utility model includes chassis, and several mechanical pin are provided with the side on chassis
Body, the mechanical pin body includes the 6th rotary electric machine, the 7th rotary electric machine, the 8th rotary electric machine, the first mechanical pin arm and second
Mechanical pin arm, the drive end of the 6th rotary electric machine is connected with chassis, and the 3rd fixed seat, the 7th turn are provided with the 6th rotary electric machine
Dynamic motor is located in the 3rd fixed seat, and one end of the first mechanical pin arm is connected with the drive end of the 7th rotary electric machine, the first machinery
The other end of pin arm is connected with the drive end of the 8th rotary electric machine, and the 8th rotary electric machine is located on the second mechanical pin arm, second
The bottom of mechanical pin arm is provided with machinery foot.When work 6th rotary electric machine can be sent out 6th rotary electric machine relative to chassis
It is raw to rotate, so that the first mechanical pin arm rotates relative to chassis, while driving the dynamic electricity of the 7th rotary electric machine, eighth-turn
Machine, can be such that the first mechanical pin arm, the second mechanical pin arm moves up and down relatively, realize walking motion, be adapted to different roads
Condition.
As further improvement of the utility model, the machinery foot includes support base and several expansion links, support
Base is hinged with the second mechanical pin arm, is provided with several columned boss in the bottom of support base, one end of expansion link with
Support base is hinged, and the other end of expansion link is hinged provided with mechanical toe, and mechanical toe is hinged with support base.
As further improvement of the utility model, the first connecting shaft is provided with the lateral surface of the second mechanical pin arm, the
The hinged place of two mechanical pin arms and support base is provided with the second connecting shaft, provided with the between the first connecting shaft and the second connecting shaft
Spring part is cased with one connecting rod, head rod.
As further improvement of the utility model, three fixed parts are respectively provided with two sides on chassis, it is each fixed
Portion is provided with a mechanical pin body.
In summary, the utility model has the advantages that being adapted to different road conditions.
Brief description of the drawings
Come that the utility model is described in more detail with reference to the accompanying drawings and detailed description.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the schematic diagram of rotating device of the present utility model.
Fig. 3 is the first fixed seat of the present utility model, connecting rod and mechanical arm attachment structure schematic diagram.
Fig. 4 is Fig. 1 mark A enlarged diagram.
Embodiment
As shown in Fig. 1 to Fig. 4, the utility model includes chassis 1, walking mechanism, the first fixed seat 2, connecting rod 3, mechanical arm 4
And rotating device, first fixed seat 2 is located at the upper surface on chassis 1, and first fixed seat 2 includes what is be connected with chassis 1
Fixed bottom plate 5, at the two ends of fixed bottom plate 5 vertically provided with the first rotation rotation side plate 7 of side plate 6 and second, in the first rotary side
Plate 6 is provided with the first rotary electric machine 8, is provided with the second rotary electric machine 9 on the second rotation side plate 7, and the bottom of mechanical arm 4 is located at the
Cut with scissors with the first rotation rotation side plate 7 of side plate 6 and second between the one rotation rotation side plate 7 of the side plate 6 and second and bottom of mechanical arm 4
Connect, the drive end of the first rotary electric machine 8 is connected with the bottom of mechanical arm 4, upper end and the rotating device of mechanical arm 4 are hinged, connecting rod 3
Upper end be hinged with rotating device, the lower end of connecting rod 3 is hinged with connecting plate 10, one end of connecting plate 10 and the second rotary electric machine 9
Drive end connection, the rotating device includes the second fixed seat 11 for being hinged with mechanical arm 4, is provided with the second fixed seat 11
Rotating mechanism, the drive end of rotating mechanism is connected with turning arm 12, and turning arm 12 is provided with bit body, and the rotating mechanism includes
3rd rotary electric machine 13, the 4th rotary electric machine 14, the 5th rotary electric machine 15 and connecting seat 16, turning arm 12 and the one end of connecting seat 16
Connection, the other end of connecting seat 16 is provided with the first rotate gear 17, and the second turning gear is provided with the end face of the first rotate gear 17
Wheel 18, the 3rd rotate gear 19 is provided with the end face of the second rotate gear 18, and the diameter of the first rotate gear 17 is more than second
Rotate gear 18, the diameter of the second rotate gear 18 is more than the 3rd rotate gear 19, is set in the drive end of the 3rd rotary electric machine 13
There is the 4th rotate gear 20, the 5th rotate gear 21 is provided with the drive end of the 4th rotary electric machine 14, in the 5th rotary electric machine 15
Drive end be provided with the 6th rotate gear 22, the 4th rotate gear 20 is meshed with the first rotate gear 17, the 5th rotate gear
21 are meshed with the second rotate gear 18, and the 6th rotate gear 22 is meshed with the 3rd rotate gear 19, and the bit body includes
First circular cone stage body 23, the second circular cone stage body 24 and four brill pieces 25, the bottom of the first circular cone stage body 23 are connected with turning arm 12,
The top of first circular cone stage body 23 is connected with the bottom of the second circular cone stage body 24, the side of the first circular cone stage body 23 and the second circular cone
The side of stage body 24 is provided with rack, bores piece 25 and is connected respectively in the side of the first circular cone stage body 23 and the second circular cone stage body 24, is bored
The surface of piece 25 is provided with rack, and the front end for boring piece 25 is angular shape, and the walking mechanism includes six mechanical pin bodies 26, the bottom of at
Two sides of disk 1 are respectively provided with three fixed parts 27, and each fixed part 27 is provided with a mechanical pin body 26, the mechanical pin body 26
Including the 6th rotary electric machine 28, the 7th rotary electric machine 29, the 8th mechanical pin arm of the 30, first mechanical pin arm 31 and second of rotary electric machine
32, the drive end of the 6th rotary electric machine 28 is connected with the fixed part 27 on chassis 1, is fixed on the 6th rotary electric machine 28 provided with the 3rd
Seat 33, the 7th rotary electric machine 29 is located in the 3rd fixed seat 33, one end of the first mechanical pin arm 31 and the 7th rotary electric machine 29
Drive end is connected, and the other end of the first mechanical pin arm 31 is connected with the drive end of the 8th rotary electric machine 30, the 8th rotary electric machine 30
It is located on the second mechanical pin arm 32, in the bottom of the second mechanical pin arm 32 provided with machinery foot, the machinery foot includes support base
34 and three expansion links 35, support base 34 is hinged with the second mechanical pin arm 32, in the bottom of support base 34 provided with four circles
The boss 36 of column, one end and the support base 34 of expansion link 35 are hinged, and the other end of expansion link 35 is hinged provided with mechanical toe
37, mechanical toe 37 is hinged with support base 34, the first connecting shaft 38 is provided with the lateral surface of the second mechanical pin arm 32, second
The hinged place of mechanical pin arm 32 and support base 34 is provided with the second connecting shaft 39, the first connecting shaft 38 and the second connecting shaft 39 it
Between be provided with head rod 40, be cased with spring part 41 on head rod 40, liquid nitrogen storage device 42 be provided with chassis 1,
The both sides of mechanical arm 4 are provided with liquid nitrogen emitter 43, and cam device is additionally provided with chassis 1, and controller is provided with chassis 1
And wireless transmitter, controller is connected with cam device and wireless transmitter respectively.
6th rotary electric machine 28 can make the 6th rotary electric machine 28 be rotated relative to chassis 1 when work, so that
The first mechanical pin arm 31 is set to be rotated relative to chassis 1, while the 7th rotary electric machine 29, the 8th rotary electric machine 30 are driven, can
Moved up and down so that the first mechanical mechanical pin arm 32 of pin arm 31, second is relative, realize walking motion, robot is moved to sewer
Blocking at, by the first rotary electric machine 8 come the angle of adjusting mechanical arm 4, at the same pass through the second rotary electric machine 9 act on connecting rod 3
Carry out the angle of adjusting rotating device, be so adapted to tamper shapes different in pipeline and carry out operation, rotated by the 3rd
Drive connection seat 16 is rotated step by step for motor 13, the 4th rotary electric machine 14, the 5th rotary electric machine 15, and connecting seat 16 drives turning arm 12
Rotate, so relative to one rotary electric machine driving, the structure of driving is more stable and firm so that the bit body on turning arm 12
Tamper can be decomposed with more stable.Because the side of the first circular cone stage body 23 and the side of the second circular cone stage body 24 are provided with
Rack, the surface of brill piece 25 are provided with rack, and such bit body can be entered in tamper when acting on tamper with easier
And decompose tamper.When meeting larger deposit, start to dredge operation, it is first with liquid nitrogen emitter 43 that deposit is cold rapidly
But, its hardness, intensity is all declined to a great extent, then deposit is cut by rotary head body, smashed, naturally can be by when current come
The sewer blockage thing of very little block is washed away, so as to reach dredging effect.Remote control can be realized by wireless transmitter, together
When cam device can be by real-time feedback of the information to user.
Claims (4)
1. a kind of municipal sewage system dredges the walking mechanism of robot, including chassis, it is characterised in that：It is provided with the side on chassis
Several mechanical pin bodies, the mechanical pin body includes the 6th rotary electric machine, the 7th rotary electric machine, the 8th rotary electric machine, the first machine
Tool pin arm and the second mechanical pin arm, the drive end of the 6th rotary electric machine are connected with chassis, and the 3rd is provided with the 6th rotary electric machine
Fixed seat, the 7th rotary electric machine is located in the 3rd fixed seat, one end of the first mechanical pin arm and the drive end of the 7th rotary electric machine
Connection, the other end of the first mechanical pin arm is connected with the drive end of the 8th rotary electric machine, and the 8th rotary electric machine is located at the second machinery
On pin arm, in the bottom of the second mechanical pin arm provided with machinery foot.
2. the municipal sewage system as described in claim 1 dredges the walking mechanism of robot, it is characterised in that：The machinery foot bag
Support base and several expansion links are included, support base is hinged with the second mechanical pin arm, in the bottom of support base provided with some
Individual columned boss, one end and the support base of expansion link are hinged, and the other end of expansion link is hinged provided with mechanical toe, machinery
Toe is hinged with support base.
3. the municipal sewage system as described in claim 2 dredges the walking mechanism of robot, it is characterised in that：In the second mechanical pin
The lateral surface of arm is provided with the first connecting shaft, and the second connecting shaft is provided with the hinged place of the second mechanical pin arm and support base, the
It is provided between one connecting shaft and the second connecting shaft on head rod, head rod and is cased with spring part.
4. the municipal sewage system as described in claim 1 dredges the walking mechanism of robot, it is characterised in that：Two on chassis
Side is respectively provided with three fixed parts, and each fixed part is provided with a mechanical pin body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621418885.8U CN206438595U (en) | 2016-12-22 | 2016-12-22 | A kind of municipal sewage system dredges the walking mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621418885.8U CN206438595U (en) | 2016-12-22 | 2016-12-22 | A kind of municipal sewage system dredges the walking mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206438595U true CN206438595U (en) | 2017-08-25 |
Family
ID=59647752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621418885.8U Expired - Fee Related CN206438595U (en) | 2016-12-22 | 2016-12-22 | A kind of municipal sewage system dredges the walking mechanism of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206438595U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107653977A (en) * | 2017-11-04 | 2018-02-02 | 杭州同筹网络科技有限公司 | A kind of small intelligent robot for being used to dredge sewer pipe |
| CN107761939A (en) * | 2017-09-22 | 2018-03-06 | 广东凯宝机器人科技有限公司 | A kind of dredging sewer machine people |
| CN107829492A (en) * | 2017-11-04 | 2018-03-23 | 杭州同筹网络科技有限公司 | A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot |
| CN107963144A (en) * | 2017-11-23 | 2018-04-27 | 黄怡灵 | A kind of machinery foot |
| CN114718179A (en) * | 2022-04-08 | 2022-07-08 | 陈晓华 | Municipal administration pipeline cleaning and polishing robot |
-
2016
- 2016-12-22 CN CN201621418885.8U patent/CN206438595U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107761939A (en) * | 2017-09-22 | 2018-03-06 | 广东凯宝机器人科技有限公司 | A kind of dredging sewer machine people |
| CN107653977A (en) * | 2017-11-04 | 2018-02-02 | 杭州同筹网络科技有限公司 | A kind of small intelligent robot for being used to dredge sewer pipe |
| CN107829492A (en) * | 2017-11-04 | 2018-03-23 | 杭州同筹网络科技有限公司 | A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot |
| CN107963144A (en) * | 2017-11-23 | 2018-04-27 | 黄怡灵 | A kind of machinery foot |
| CN114718179A (en) * | 2022-04-08 | 2022-07-08 | 陈晓华 | Municipal administration pipeline cleaning and polishing robot |
| CN114718179B (en) * | 2022-04-08 | 2023-12-29 | 陈晓华 | Municipal pipeline cleaning and polishing robot |
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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: 20170825 Termination date: 20171222 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |