CN207261921U

CN207261921U - A kind of novel robot

Info

Publication number: CN207261921U
Application number: CN201721075869.8U
Authority: CN
Inventors: 陈武琼
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-08-25
Filing date: 2017-08-25
Publication date: 2018-04-20
Anticipated expiration: 2027-08-25

Abstract

The utility model discloses a kind of novel robot, including base, the top of the base is provided with babinet, the inner wall bottom installation AC servo motor of the babinet, the outer wall top of the AC servo motor is provided with motor supports, the motor supports are connected with the outer wall of base, the outer wall bottom of the AC servo motor is provided with electric machine support, the electric machine support is connected with the outer wall of base, the top of the AC servo motor is provided with shaft joint, and the inner wall of the shaft joint is provided with worm-wheel shaft.The novel robot, Athey wheel is driven to rotate by gear shaft, Athey wheel drives crawler belt to rotate, crawler belt, which rotates, drives crawler belt driven wheel together to rotate to form gearing, crawler belt drives sucker to rotate, it is compacter so as to allow the robot to contact with tube wall by sucker, enable sucker freedom of movement on rough wall by compressing spring, be not in the situation for contacting and not exclusively coming off.

Description

A kind of novel robot

Technical field

Pipeline robot technique field is the utility model is related to, is specially a kind of novel robot.

Background technology

Easily occur wheel when the pipe robot that oneself has moves in pipeline and contacted with tube wall not close, power is not The situation of foot, in the prior art, such as the utility model patent of Application No. 201620761786.3 includes wheel, driving electricity Machine, second connecting rod, spring, second connecting rod, robot body, camera, third connecting rod, fourth link, motor, transmission shaft, Electric fan, thermoelectric generation film, wireless power receive reforming unit, and one end of robot body is provided with camera, robot body The other end be provided with motor, motor is connected by transmission shaft with electric fan, and robot body's is internally provided with radio Power receives reforming unit, and first connecting rod, second connecting rod, third connecting rod, the 4th company are disposed with the bottom surface of robot body Bar, one end of first connecting rod and one end of second connecting rod relatively connect, and another two end of first connecting rod passes through a driving motor and one Wheel is connected, and the other end of second connecting rod is connected by a driving motor with a wheel, the middle part of first connecting rod and second The middle part of connecting rod is connected by a spring, and two ends of third connecting rod and one end of fourth link relatively connect, and third connecting rod is remaining One end is connected by two driving motors with a wheel, and the remaining one end of fourth link is taken turns by a driving motor and one Son is connected, and the middle part of third connecting rod is connected with the middle part of fourth link by two springs, and the first connecting rod, second connect Bar, third connecting rod, fourth link respectively relatively connect with the bottom surface of robot body, and the temperature difference is provided with the outer wall of robot body Power generation sheet, in existing equipment, only possesses the basic function of traveling and detection, can not solve to manage interior obstacle detouring, remove obstacles and inspection Job requirements, also occur that contact is incomplete, obscission easily occurs, for such case, to avoid when being contacted with tube wall Above-mentioned technical problem, it is necessory to provide a kind of novel robot to overcome the defect of the prior art.

Utility model content

The purpose of this utility model is to provide a kind of novel robot, to solve proposed in the above background technology ask Topic.

To achieve the above object, the utility model provides following technical solution：A kind of novel robot, including base, institute The top for stating base is provided with babinet, and AC servo motor is installed in the inner wall bottom of the babinet, the AC servo motor Outer wall top is provided with motor supports, and the motor supports are connected with the outer wall of base, outside the AC servo motor Wall bottom is provided with electric machine support, and the electric machine support is connected with the outer wall of base, the top installation of the AC servo motor Have a shaft joint, the inner wall of the shaft joint is provided with worm-wheel shaft, and the outer wall of the worm-wheel shaft is provided with worm gear, the worm gear it is upper Side is equipped with worm screw, and the worm gear coordinates with worm screw and is connected, and the left and right ends of the worm gear are mounted on key axis, the top of the key axis End is provided with short axle, and the short axle is connected by sleeve with the inner wall of gear shaft, and the outer wall of the short axle is provided with first gear, Second gear is equipped with below the first gear, the first gear is engaged with second gear to be connected, and the second gear passes through Jackshaft is connected with the outer wall of babinet, and the outer wall of the gear shaft is provided with Athey wheel, and the Athey wheel passes through crawler belt and crawler belt The inner wall of driven wheel is connected, and the outer wall of the jackshaft is socketed with cutterhead, and dead ring, the gas are provided with the left of the cutterhead The inner wall sleeve of body distribution plate is provided with connecting rod, and the outer wall of the connecting rod is socketed with sleeve, and the outer wall of the crawler belt is provided with multiple Sucker, the outer wall of the sucker are socketed with compression spring.

Preferably, the base left end is provided with pedestal, and the pedestal is connected by bull stick with tripod, the tripod It is connected by the second strut with roller, the base is connected by the first strut with roller, the inner wall socket of first strut There is rolling bearing, the outer wall of the rolling bearing is socketed with wheel bone, and the outer wall of the wheel bone is provided with tire, the rolling bearing Left end side plate is installed, the right end of the rolling bearing is provided with end cap.

Preferably, the outer wall of the key axis is socketed with axle sleeve, and the axle sleeve is connected with the inner wall of babinet.

Preferably, supporting rack, the bottom of support frame as described above and the outer wall of base are equipped with left and right sides of the shaft joint It is connected.

Preferably, the junction of the key axis and supporting rack is socketed with roller bearing, and the roller bearing is connected with the inner wall of supporting rack.

Compared with prior art, the beneficial effects of the utility model are：The novel robot, by worm screw, worm-wheel shaft and Cooperation between worm screw, under the action of AC servo motor, drives the rotation of key axis, key axis drives first gear and second gear Together rotate, second gear drives jackshaft together to rotate, and jackshaft band movable knife disc rotates, and under the protection of dead ring, makes knife Disk can in pipeline removing obstacles thing, the failure in purging line, enables pipeline to work normally, and cutterhead is detachable knot Structure, can reconnoitre situation with tool changing head, to tackle more complicated environment, AC servo motor can pass through control according to scene Power processed adjusts rotating speed, cutter head is quickly rotated barrier-breaking, passes through gear shaft and drives Athey wheel to rotate, and Athey wheel, which drives, to be carried out Band rotates, and crawler belt, which rotates, drives crawler belt driven wheel together to rotate to form gearing, and crawler belt drives sucker to rotate, so that robot energy Enough contacted by sucker with tube wall it is compacter, by compress spring enable sucker take action on rough wall from Such as, be not in contact situation that is incomplete and coming off.

Brief description of the drawings

Fig. 1 is the utility model structure diagram；

Fig. 2 is the structure diagram of the utility model shaft joint；

Fig. 3 is the structure diagram of the utility model AC servo motor；

Fig. 4 is the structure diagram of the utility model second gear；

Fig. 5 is the structure diagram of the utility model tire.

In figure：1st, base, 2, shaft joint, 3, crawler belt, 4, axle sleeve, 5, supporting rack, 6, worm gear, 7, babinet, 8, roller bearing, 9, carry out Belt wheel, 10, connecting rod, 11, crawler belt driven wheel, 12, first gear, 13, jackshaft, 14, cutterhead, 15, dead ring, 16, short axle, 17th, gear shaft, 18, sleeve, 19, worm-wheel shaft, 20, worm screw, 21, key axis, 22, second gear, 23, electric machine support, 24, exchange watches Take motor, 25, motor supports, 26, sucker, 27, side plate, 28, tire, 29, wheel bone, 30, end cap, 31, rolling bearing, 32, Compress spring, 33, pedestal, 34, bull stick, 35, tripod, the 36, first strut, 37, roller, the 38, second strut.

Embodiment

The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work All other embodiments obtained, shall fall within the protection scope of the present invention.

- 5 are please referred to Fig.1, the utility model provides a kind of technical solution：A kind of novel robot, including base 1, base 1 For connecting simultaneously static housing 7,1 left end of base is provided with pedestal 33, and pedestal 33 is used to be connected with base 1, and makes 37 work of roller That makees more stablizes, and pedestal 33 is connected by bull stick 34 with tripod 35, and for connecting tripod 35, tripod 35 passes through second Strut 38 is connected with roller 37, for connecting and fixed idler whell 37, roller 37 is more stablized in traveling, base 1 passes through the One strut 36 is connected with roller 37, gearing is formed for connecting simultaneously 37 and second strut 38 of fixed idler whell, when robot is advancing When middle, when running into rough situation, roller 37 can lift under the action of bull stick 34, and band mobile robot surmounts obstacles Thing, can also help robot in traveling, with 35 strikes obstacles of tripod, complete the work of removing obstacles thing, first The inner wall of bar 36 is socketed with rolling bearing 31, and rolling bearing 31 is used to drive roller 37 to rotate, the outer wall socket of rolling bearing 31 There is wheel bone 29, wheel bone 29 is used to support and protects tire 28, prevents tire 28 from being collapsed during traveling, wheel bone 29 Outer wall is provided with tire 28, and tire 28 is solid vulcanie material, wear-resisting and be unlikely to deform, the left end installation of rolling bearing 31 There is side plate 27, for protecting rolling bearing 31, prevent the inside of rolling bearing 31 from entering foreign matter, the right end installation of rolling bearing 31 There is end cap 30, end cap 30 is used to protect wheel bone 29 and limits the position of wheel bone 29, prevents roller 37 from dropping, the top peace of base 1 Equipped with babinet 7, with all parts of mounting robot, the inner wall bottom installation AC servo motor 24 of babinet 7, AC servo electricity The model DJ-SFDJ09 of machine 24, the outer wall top of AC servo motor 24 are provided with motor supports 25, are exchanged for protecting Servomotor 24 is more stablized at work, and motor supports 25 are connected with the outer wall of base 1, for fixing motor supports 25, the outer wall bottom of AC servo motor 24 is provided with electric machine support 23, and electric machine support 23 is used to protect AC servo motor 24, Electric machine support 23 is connected with the outer wall of base 1, for connecting and fixing electric machine support 23, the top installation of AC servo motor 24 There is shaft joint 2, shaft joint 2 is used to install and fix worm-wheel shaft 19, and the left and right sides of shaft joint 2 is equipped with supporting rack 5, for propping up Key axis 21 is supportted, the bottom of supporting rack 5 is connected with the outer wall of base 1, for making supporting rack 5 more stablize, the inner wall peace of shaft joint 2 Equipped with worm-wheel shaft 19, for installing worm gear 6, the outer wall of worm-wheel shaft 19 is provided with worm gear 6, for being rotated together with worm screw 20, The top of worm gear 6 is equipped with worm screw 20, and worm screw 20 is used to drive key axis 21 to rotate, and worm gear 6 coordinates with worm screw 20 and is connected, and worm gear 6 hangs down Nogata drives 20 horizontal direction of worm screw to rotate, the left and right ends of worm gear 6 are mounted on key axis 21, and key axis 21 is used to hold in the mouth to rotation Connect short axle 16, the junction of key axis 21 and supporting rack 5 is socketed with roller bearing 8, and roller bearing 8 is used to prevent key axis 21 in the feelings to run at high speed It will not be shifted under condition, roller bearing 8 is connected with the inner wall of supporting rack 5, compacter for connecting roller bearing 8, key axis 21 Outer wall is socketed with axle sleeve 4, and for preventing key axis 21 from being fallen off when rotating, axle sleeve 4 is connected with the inner wall of babinet 7, for making Axle sleeve 4 is connected compacter with babinet 7, and the top of key axis 21 is provided with short axle 16, and for installing gear shaft 17, short axle 16 is logical The inner wall that sleeve 18 is crossed with gear shaft 17 is connected, and for driving Athey wheel 9, when key axis 21 rotates, drives short axle 16 to rotate, short Axis 16 is rotated with movable gear shaft 17, and the outer wall of short axle 16 is provided with first gear 12, for driving first gear 12 to rotate, first The lower section of gear 12 is equipped with second gear 22, and first gear 12 is engaged with second gear 22 to be connected, and first gear 12, which rotates, passes through tooth Disk drives second gear 22 together to rotate, and second gear 22 is connected by jackshaft 13 with the outer wall of babinet 7, for making the second tooth Wheel 22 connects compacter, and the outer wall of gear shaft 17 is provided with Athey wheel 9, for driving Athey wheel 9 together to rotate, Athey wheel 9 are connected by crawler belt 3 with the inner wall of crawler belt driven wheel 11, and Athey wheel 9 drives crawler belt 3 to rotate, and crawler belt 3 drives crawler belt driven wheel 11 Formed and interlocked, the outer wall of jackshaft 13 is socketed with cutterhead 14, and cutterhead 14 is used for by rotation removing obstacles thing at a high speed, cutterhead 14 Left side is provided with dead ring 15, and dead ring 15 is used for fixation cutter head 14, and it is de- to prevent that cutterhead 14 from occurring in the case where running at high speed Fall, the inner wall sleeve of dead ring 15 is provided with connecting rod 10, and for fixing dead ring 15, the outer wall of connecting rod 10 is socketed with sleeve 18, uses In linking cutterhead 14 and dead ring 15, the outer wall of crawler belt 3 is provided with sucker 26, and sucker 26 is used to make what robot was connected with tube wall Compacter, the outer wall of sucker 26 is socketed with compression spring 32, and the coefficient of elasticity of compression spring 32 is 4N/CM, is used to help inhale Disk 26 is resetted when advancing in being traveling in rough tube wall.

The power switch of robot is pressed when task is reconnoitred or removes obstacles in execution by robot, and robot starts to work, exchange Servomotor 24 rotates,, need to be to ensure that AC servo motor 24 works normally since the power of AC servo motor 24 is larger The outer wall of AC servo motor 24 installs motor supports 25 and electric machine support 23 additional, drives shaft joint 2 together to rotate, shaft joint 2 Inner wall be hinged with worm-wheel shaft 19, worm-wheel shaft 19 drives worm gear 6 together to rotate, and worm gear 6 drives worm screw 20 to rotate, and worm screw 20 rotates Key axis 21 is driven to rotate, key axis 21 drives second gear 22 to rotate, and second gear 22 drives first gear 12 to rotate by engaging, First gear 12 drives jackshaft 13 to rotate, and jackshaft 13 is rotated with movable knife disc 14, to prevent cutterhead 14 from being taken off in quick rotation From installing dead ring 15 in the left side of cutterhead 14, key axis 21 rotates, and drives short axle 16 to rotate, and short axle 16 is with 17 turns of movable gear shaft Dynamic, gear shaft 17 drives Athey wheel 9 to rotate, and Athey wheel 9 drives crawler belt 3 to rotate, and crawler belt 3 drives crawler belt driven wheel 11 to rotate, and carries out Band driven wheel 11 drives sucker 26 to rotate to be formed and interlock, and completion climbs wall and removes obstacles work.

While there has been shown and described that the embodiment of the utility model, for the ordinary skill in the art, It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from the principle of the utility model and spirit, repaiied Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.

Claims

1. a kind of novel robot, including base (1), it is characterised in that：The top of the base (1) is provided with babinet (7), institute The inner wall bottom installation AC servo motor (24) of babinet (7) is stated, the outer wall top of the AC servo motor (24) is provided with Motor supports (25), the motor supports (25) are connected with the outer wall of base (1), outside the AC servo motor (24) Wall bottom is provided with electric machine support (23), and the electric machine support (23) is connected with the outer wall of base (1), the AC servo motor (24) top is provided with shaft joint (2), and the inner wall of the shaft joint (2) is provided with worm-wheel shaft (19), the worm-wheel shaft (19) Outer wall worm gear (6) is installed, the top of the worm gear (6) is equipped with worm screw (20), and the worm gear (6) and worm screw (20) coordinate phase Even, the left and right ends of the worm gear (6) are mounted on key axis (21), and the top of the key axis (21) is provided with short axle (16), institute State short axle (16) by sleeve (18) with the inner wall of gear shaft (17) to be connected, the outer wall of the short axle (16) is provided with first gear (12), second gear (22) is equipped with below the first gear (12), the first gear (12) is engaged with second gear (22) It is connected, the second gear (22) is connected by jackshaft (13) with the outer wall of babinet (7), the outer wall peace of the gear shaft (17) Equipped with Athey wheel (9), the Athey wheel (9) is connected by crawler belt (3) with the inner wall of crawler belt driven wheel (11), the jackshaft (13) outer wall is socketed with cutterhead (14), and dead ring (15) is provided with the left of the cutterhead (14), the dead ring (15) Inner wall sleeve is provided with connecting rod (10), and the outer wall of the connecting rod (10) is socketed with sleeve (18), and the outer wall of the crawler belt (3) is provided with Multiple suckers (26), the outer wall of the sucker (26) are socketed with compression spring (32).

A kind of 2. novel robot according to claim 1, it is characterised in that：Base (1) left end is provided with pedestal (33), the pedestal (33) is connected by bull stick (34) with tripod (35), and the tripod (35) passes through the second strut (38) Be connected with roller (37), the base (1) is connected by the first strut (36) with roller (37), first strut (36) it is interior Wall is socketed with rolling bearing (31), and the outer wall of the rolling bearing (31) is socketed with wheel bone (29), the outer wall of the wheel bone (29) Tire (28) is installed, the left end of the rolling bearing (31) is provided with side plate (27), the right end peace of the rolling bearing (31) Equipped with end cap (30).

A kind of 3. novel robot according to claim 1, it is characterised in that：The outer wall of the key axis (21) is socketed with axis Cover (4), the axle sleeve (4) is connected with the inner wall of babinet (7).

A kind of 4. novel robot according to claim 1, it is characterised in that：The left and right sides of the shaft joint (2) is equal Equipped with supporting rack (5), the bottom of support frame as described above (5) is connected with the outer wall of base (1).

A kind of 5. novel robot according to claim 1, it is characterised in that：The key axis (21) and supporting rack (5) Junction is socketed with roller bearing (8), and the roller bearing (8) is connected with the inner wall of supporting rack (5).