CN206439565U - A kind of municipal sewage system dredges robot - Google Patents
A kind of municipal sewage system dredges robot Download PDFInfo
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- CN206439565U CN206439565U CN201621418883.9U CN201621418883U CN206439565U CN 206439565 U CN206439565 U CN 206439565U CN 201621418883 U CN201621418883 U CN 201621418883U CN 206439565 U CN206439565 U CN 206439565U
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Abstract
A kind of municipal sewage system dredges robot, including chassis, walking mechanism, the first fixed seat, connecting rod, mechanical arm and rotating device, the walking mechanism is located on chassis, first fixed seat is located at the upper surface on chassis, the bottom of mechanical arm is hinged with the first fixed seat, the first rotary electric machine and the second rotary electric machine are provided with the first fixed seat, the drive end of first rotary electric machine and the bottom of mechanical arm are connected, the upper end of mechanical arm is hinged with rotating device, the upper end of connecting rod is hinged with rotating device, and the lower end of connecting rod is connected with the drive end of the second rotary electric machine.Robot is moved at the blocking of sewer by walking mechanism, by the first rotary electric machine come the angle of adjusting mechanical arm, connecting rod is acted on come the angle of adjusting rotating device by the second rotary electric machine simultaneously, tamper shapes different in pipeline is so adapted to and carries out operation.
Description
Technical field
The utility model is related to robot field, and in particular to 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 be to provide it is a kind of be adapted to tamper shapes different in pipeline come
The municipal sewage system dredging robot dredged.
In order to solve the above-mentioned technical problem, the utility model includes chassis, walking mechanism, the first fixed seat, connecting rod, machinery
Arm and rotating device, the walking mechanism are located on chassis, and first fixed seat is located at the upper surface on chassis, the bottom of mechanical arm
End is hinged with the first fixed seat, and the first rotary electric machine and the second rotary electric machine, the first rotary electric machine are provided with the first fixed seat
Drive end and the bottom of mechanical arm connect, upper end and the rotating device of mechanical arm be hinged, upper end and the rotating device hinge of connecting rod
Connect, the lower end of connecting rod is connected with the drive end of the second rotary electric machine.Robot is moved to the blocking of sewer by walking mechanism
Place, by the first rotary electric machine come the angle of adjusting mechanical arm, while acting on connecting rod to adjust rotation by the second rotary electric machine
The angle of device, is so adapted to tamper shapes different in pipeline and carries out operation.
As further improvement of the utility model, first fixed seat includes the fixation bottom plate being connected with chassis,
The two ends of fixed bottom plate vertically provided with the first rotation side plate and the second rotation side plate, are rotated on the first rotation side plate provided with first
Motor, is provided with the second rotary electric machine on the second rotation side plate, and the bottom of mechanical arm is located at the first rotation side plate and the second rotation
Between the side plate and bottom of mechanical arm with first rotation side plate and second rotation side plate be hinged, the drive end of the first rotary electric machine with
The bottom connection of mechanical arm.
As further improvement of the utility model, the rotating device includes the second fixed seat being hinged with mechanical arm,
Rotating mechanism is provided with the second fixed seat, the drive end of rotating mechanism is connected with turning arm, and turning arm is provided with bit body.
As further improvement of the utility model, the rotating mechanism include the 3rd rotary electric machine, the 4th rotary electric machine,
5th rotary electric machine and connecting seat, turning arm are connected with connecting seat one end, and the other end of connecting seat is provided with the first rotate gear,
The end face of first rotate gear is provided with the second rotate gear, and the 3rd rotate gear, and the are provided with the end face of the second rotate gear
The diameter of one rotate gear is more than the second rotate gear, and the diameter of the second rotate gear is more than the 3rd rotate gear, at the 3rd turn
The drive end of dynamic motor is provided with the 4th rotate gear, the 5th rotate gear is provided with the drive end of the 4th rotary electric machine, the 5th
The drive end of rotary electric machine is provided with the 6th rotate gear, and the 4th rotate gear is meshed with the first rotate gear, the 5th turning gear
Wheel is meshed with the second rotate gear, and the 6th rotate gear is meshed with the 3rd rotate gear.Pass through the 3rd rotary electric machine, the 4th
Drive connection seat is rotated step by step for rotary electric machine, the 5th rotary electric machine, and connecting seat drives turning arm to rotate, and so turns relative to one
Dynamic motor driving, the structure of driving is more stable and firm so that the bit body on turning arm can be with more stable by tamper point
Take off.
As further improvement of the utility model, the bit body include the first circular cone stage body, the second circular cone stage body and
Several bore piece, and the bottom of the first circular cone stage body is connected with turning arm, the top of the first circular cone stage body and the second circular cone stage body
Bottom is connected, and the side of the side of the first circular cone stage body and the second circular cone stage body is provided with rack, bores piece respectively in first frustum of a cone
The side connection of body and the second circular cone stage body, the surface for boring piece is provided with rack, and the front end for boring piece is angular shape.Because the first circle
The surface of the side of cone table and the side of the second circular cone stage body provided with rack, brill piece is provided with rack, and such bit body is in effect
During tamper, it can enter in tamper with easier and decompose tamper.
As further improvement of the utility model, the walking mechanism includes 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 mechanical pin arm and the second mechanical pin arm, the 6th
The drive end of rotary electric machine is connected with chassis, and the 3rd fixed seat is provided with the 6th rotary electric machine, and the 7th rotary electric machine is located at the
In three fixed seats, one end of the first mechanical pin arm is connected with the drive end of the 7th rotary electric machine, the other end of the first mechanical pin arm
It is connected with the drive end of the 8th rotary electric machine, the 8th rotary electric machine is located on the second mechanical pin arm, under the second mechanical pin arm
Portion is provided with machinery foot.6th rotary electric machine can make the 6th rotary electric machine be rotated relative to chassis when work, so that
The first mechanical pin arm is rotated relative to chassis, while driving the 7th rotary electric machine, the 8th rotary electric machine, first can be made
Mechanical pin arm, the second mechanical pin arm are moved up and down relatively, realize walking motion.
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, liquid nitrogen storage device is provided with chassis, is set in the both sides of mechanical arm
There is liquid nitrogen emitter.When meeting larger deposit, start to dredge operation, it is first with liquid nitrogen emitter 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.
As further improvement of the utility model, cam device is provided with chassis, controller is provided with chassis
And wireless transmitter, controller is connected with cam device and wireless transmitter respectively.Can be with by wireless transmitter
Remote control is realized, while cam device can be by real-time feedback of the information to user.
In summary, the utility model has the advantages that being adapted to tamper shape different in pipeline to be dredged.
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 (10)
1. a kind of municipal sewage system dredges robot, including chassis, walking mechanism, the first fixed seat, connecting rod, mechanical arm and rotation
Device, it is characterised in that：The walking mechanism is located on chassis, and first fixed seat is located at the upper surface on chassis, mechanical arm
Bottom be hinged with the first fixed seat, in the first fixed seat be provided with the first rotary electric machine and the second rotary electric machine, first rotate
The drive end of motor and the bottom of mechanical arm are connected, and upper end and the rotating device of mechanical arm are hinged, the upper end of connecting rod and rotating dress
Put and be hinged, the lower end of connecting rod is connected with the drive end of the second rotary electric machine.
2. the municipal sewage system dredging robot as described in claim 1, it is characterised in that：First fixed seat includes and bottom
The fixation bottom plate of disk connection, at the two ends of fixed bottom plate vertically provided with the first rotation side plate and the second rotation side plate, in the first rotation
Plate of changing one's position is provided with the first rotary electric machine, is provided with the second rotary electric machine on the second rotation side plate, and the bottom of mechanical arm is located at the
Between one rotation side plate and the second rotation side plate and bottom of mechanical arm is hinged with the first rotation side plate and the second rotation side plate, the
The drive end of one rotary electric machine and the bottom of mechanical arm are connected.
3. the municipal sewage system dredging robot as described in claim 1, it is characterised in that：The rotating device includes and machinery
The second fixed seat that arm is hinged, is provided with rotating mechanism in the second fixed seat, and the drive end of rotating mechanism is connected with turning arm, revolves
Pivoted arm is provided with bit body.
4. the municipal sewage system dredging robot as described in claim 3, it is characterised in that：The rotating mechanism includes the 3rd turn
Dynamic motor, the 4th rotary electric machine, the 5th rotary electric machine and connecting seat, turning arm are connected with connecting seat one end, connecting seat it is another
End is provided with the first rotate gear, the second rotate gear is provided with the end face of the first rotate gear, in the end face of the second rotate gear
Diameter provided with the 3rd rotate gear, and the first rotate gear is more than the second rotate gear, and the diameter of the second rotate gear is more than
3rd rotate gear, is provided with the 4th rotate gear in the drive end of the 3rd rotary electric machine, is set in the drive end of the 4th rotary electric machine
There is the 5th rotate gear, the 6th rotate gear is provided with the drive end of the 5th rotary electric machine, the 4th rotate gear is rotated with first
Gear is meshed, and the 5th rotate gear is meshed with the second rotate gear, and the 6th rotate gear is meshed with the 3rd rotate gear.
5. the municipal sewage system dredging robot as described in claim 3, it is characterised in that：The bit body includes the first circular cone
Stage body, the second circular cone stage body and several brill pieces, the bottom of the first circular cone stage body are connected with turning arm, the top of the first circular cone stage body
Portion is connected with the bottom of the second circular cone stage body, and the side of the side of the first circular cone stage body and the second circular cone stage body is provided with rack, bores
Piece is connected in the side of the first circular cone stage body and the second circular cone stage body respectively, and the surface for boring piece is provided with rack, and the front end for boring piece is
Angular shape.
6. the municipal sewage system dredging robot as described in claim 1, it is characterised in that：The walking mechanism includes several
Mechanical pin 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
With the second mechanical pin arm, the drive end of the 6th rotary electric machine is connected with chassis, and the 3rd fixed seat is provided with the 6th rotary electric machine,
7th rotary electric machine 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
The other end of one mechanical 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,
In the bottom of the second mechanical pin arm provided with machinery foot.
7. the municipal sewage system dredging robot as described in claim 6, it is characterised in that：The machinery foot includes support base
With several expansion links, support base is hinged with the second mechanical pin arm, columned provided with several in the bottom of support base
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, mechanical toe and support
Base is hinged.
8. the municipal sewage system dredging robot as described in claim 6, it is characterised in that：In the lateral surface of the second mechanical pin arm
Provided with the first connecting shaft, the second connecting shaft is provided with the hinged place of the second mechanical pin arm and support base, in the first connecting shaft and
It is provided between second connecting shaft on head rod, head rod and is cased with spring part.
9. the municipal sewage system dredging robot as described in claim 1, it is characterised in that：On chassis dress is stored provided with liquid nitrogen
Put, liquid nitrogen emitter is provided with the both sides of mechanical arm.
10. the municipal sewage system dredging robot as described in claim 1, it is characterised in that：Filled on chassis provided with camera
Put, controller and wireless transmitter are provided with chassis, controller is connected with cam device and wireless transmitter respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621418883.9U CN206439565U (en) | 2016-12-22 | 2016-12-22 | A kind of municipal sewage system dredges robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621418883.9U CN206439565U (en) | 2016-12-22 | 2016-12-22 | A kind of municipal sewage system dredges robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206439565U true CN206439565U (en) | 2017-08-25 |
Family
ID=59647751
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621418883.9U Expired - Fee Related CN206439565U (en) | 2016-12-22 | 2016-12-22 | A kind of municipal sewage system dredges robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206439565U (en) |
Cited By (5)
| 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 |
| CN110466647A (en) * | 2019-09-10 | 2019-11-19 | 中国矿业大学 | A kind of refuse-burning plant garbage pool Leachate site flase floor dredging robot and working method |
| CN110565757A (en) * | 2019-09-20 | 2019-12-13 | 苏州德君环卫服务有限公司 | sewer pipeline dredging device for municipal engineering and dredging method thereof |
| CN113333405A (en) * | 2021-06-02 | 2021-09-03 | 刘凤利 | General type pipeline cleaning robot of complex environment |
| CN110466647B (en) * | 2019-09-10 | 2024-05-10 | 中国矿业大学 | Dredging robot for leachate grating plate of garbage pool of garbage power plant and working method |
-
2016
- 2016-12-22 CN CN201621418883.9U patent/CN206439565U/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 |
| CN110466647A (en) * | 2019-09-10 | 2019-11-19 | 中国矿业大学 | A kind of refuse-burning plant garbage pool Leachate site flase floor dredging robot and working method |
| CN110466647B (en) * | 2019-09-10 | 2024-05-10 | 中国矿业大学 | Dredging robot for leachate grating plate of garbage pool of garbage power plant and working method |
| CN110565757A (en) * | 2019-09-20 | 2019-12-13 | 苏州德君环卫服务有限公司 | sewer pipeline dredging device for municipal engineering and dredging method thereof |
| CN113333405A (en) * | 2021-06-02 | 2021-09-03 | 刘凤利 | General type pipeline cleaning robot of complex environment |
| CN113333405B (en) * | 2021-06-02 | 2022-09-09 | 新疆城建试验检测有限公司 | General type pipeline cleaning robot of complex environment |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170825 Termination date: 20171222 |