CN208816963U - A kind of robot - Google Patents
A kind of robot Download PDFInfo
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- CN208816963U CN208816963U CN201821155312.XU CN201821155312U CN208816963U CN 208816963 U CN208816963 U CN 208816963U CN 201821155312 U CN201821155312 U CN 201821155312U CN 208816963 U CN208816963 U CN 208816963U
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Abstract
The utility model provides a kind of robot, and the robot includes: walking mechanism, for moving on walking surface；Car body, the car body are connected with the walking mechanism；Elevating mechanism, the elevating mechanism are located on the car body；Holder, for installing cleaning plant, the holder is located on the elevating mechanism and can go up and down under the driving of the elevating mechanism；Control device, for controlling the walking mechanism and the elevating mechanism.Robot according to the present utility model, it can be improved obstacle climbing ability, passability is good, can install different cleaning devices as needed, holder can be gone up and down under the driving of elevating mechanism, and then the cleaning device installed on holder is enabled to go up and down, it can adapt to the pipeline of different tube diameters, flexibility is good, to adaptable to pipeline, the robot architecture is simple, it is easy to accomplish, it is practical.
Description
Technical field
The utility model relates to robot building technical field, in particular to a kind of robot.
Background technique
In modern city, for drainage pipeline as the important pipe network in urban facilities, having to the normal life in city can not
The effect of substitution.Currently, China's urban pipe network pipeline is narrow, easy congestion, in every rainy season, a large amount of city city floods are seriously affected
People's lives and trip, this just needs periodically to be observed pipeline, clear up and repair.Because there is peace in the environment in pipeline
Full hidden danger, and complex in pipeline, and the environment under pipeline does not allow to be manually directly entered, therefore, it is necessary to a kind of peaces
Complete efficient machine replaces manually being observed pipeline, clear up and repairing.
Currently, sewer pipe pipeline robot is more, such as the utility patent that notification number is 205579032 U of CN, one is described
Kind is suitable for the Track-wheel type pipeline cleaning robot of different tube diameters variation, can adapt to pipeline automatically, clear by rocker device
Clean tube wall, obstacle detouring is stronger, but its Structural assignments is mixed and disorderly, and body apparatus does not have protection facility；For another example notification number is CN
The new patent of 106764245 A discloses one kind and steadily carries out long range walking in pipeline, effectively carries out pipeline exploration
With the crawler belt pipe robot of cleaning work, but it can only adapt to suitable channel, and track tension device is unreasonable, sensor
It does not protect, the high-voltage line of dragging is excessively heavy, is also that a kind of of 207122714 U of CN uses x-shape interlock formula just like notification number
The various problems such as the pipe robot of caterpillar belt structure, structure opening are not easy to overhaul, and each crawler belt cannot work independently.Although
Technology in the prior art about cleaning robot is more, but due to the complexity of pipeline environment, for example, pipe diameter is prominent
Becoming, the pollutants such as rubbish, muddy water are more in pipeline, and light is poor, and in the presence of structure is complicated, obstacle climbing ability is not strong for existing robot,
The problems such as flexibility is insufficient, poor to pipeline adaptability, it is difficult to meet the needs of practical pipeline operations.
Utility model content
In view of this, the present invention provides a kind of robots, and for solving existing pipe robot, structure is complicated, obstacle detouring
Ability is weak, to the problem of pipeline adaptability difference.
In order to solve the above technical problems, the utility model uses following technical scheme:
According to the robot of the utility model embodiment, comprising:
Walking mechanism, for being moved on walking surface；
Car body, the car body are connected with the walking mechanism；
Elevating mechanism, the elevating mechanism are located on the car body；
Holder, for installing cleaning plant, the holder is located on the elevating mechanism and can be in the elevating mechanism
Driving under go up and down；
Control device, for controlling the walking mechanism and the elevating mechanism.
Further, the walking mechanism includes at least two crawler belts, and the crawler belt includes:
Athey wheel, the Athey wheel is connected with the car body and adjustable angle of the Athey wheel relative to the car body；
Crawler belt motor, the crawler belt motor are connected with the Athey wheel and the control device respectively, described for driving
Athey wheel；
Chain sprocket, the chain sprocket are connected with the Athey wheel and the crawler belt motor；
Rubber belt track, the rubber belt track are connected with the Athey wheel, the chain chain under the crawler belt motor driven
Wheel interlocks the rubber belt track and advances.
Further, the walking mechanism includes:
Connector, the connector is connected with the car body and the connector is equipped with multiple adjustment holes, described in adjusting
The connection of adjustment hole and the Athey wheel can adjust the angle.
Further, the elevating mechanism includes:
Electric pushrod；The first end of the electric pushrod and the car body are hinged；
Driver, for driving the electric pushrod flexible, the driver be installed on the car body and with the control
Device processed is connected；
Push rod connector；The first end of the push rod connector and the second end of the electric pushrod are hinged；
Connecting rod, the first end of the connecting rod and the second end of the push rod connector are hinged, the second end of the connecting rod with
The car body is hinged, and the holder is connected with the first end of the connecting rod, and the electric pushrod interlocks the connecting rod and drives when flexible
Move the holder lifting.
Further, the robot further include:
Left and right steering engine, the left and right steering engine are located on the holder；
Connection frame, the connection frame are connected with the left and right steering engine；
Pitch-control motor, the pitch-control motor are connected with the connection frame, the left and right steering engine and pitch-control motor difference
It is connected with the control device；
Function mounting block, the function mounting block are connected with the pitch-control motor and the connection frame respectively.
Further, the robot further include:
Camera, the camera are located on the function mounting block for observing ambient enviroment.
Further, the robot further include:
Rain brush steering engine, the rain brush steering engine are located on the connection frame；
Wiper blade, the rain brush steering engine are connected with the wiper blade and the wiper blade are driven to clean the camera.
Further, the robot further include:
Shield, the shield are located on the holder, the left and right steering engine, the pitch-control motor, the function mounting block
It is placed under the shield with the camera.
Further, the car body is respectively formed with electrical cabin and battery flat with hatch, further includes for closing or beating
Open the electrical hatchcover of the electrical cabin hatch and the battery hatch of the battery flat hatch.
Further, the robot further include:
Warm and humid sensor, the warm and humid sensor are located in the electrical cabin, for sense the electrical cabin temperature and
Humidity.
Further, the robot further include:
Gyroscope, the gyroscope is located in the electrical cabin, for controlling the walking posture of the robot.
Further, the robot further include:
Antenna, the antenna are located on the car body；
Transmission module, the transmission module are connected with the antenna and the control device, for obtaining the robot
Data and the data are transmitted to console.
Further, the robot further include:
Hawkeye lamp, the hawkeye lamp are located on the holder for illuminating.
The above-mentioned technical proposal of the utility model one of at least has the advantages that:
According to the robot of the utility model embodiment, obstacle climbing ability is strong, can install different cleaning dresses as needed
It sets, holder can be gone up and down under the driving of elevating mechanism, and then the cleaning device installed on holder is enabled to go up and down, Neng Goushi
The pipeline of different tube diameters is answered, passability is good, and flexibility is good, and to adaptable to pipeline, the robot architecture is simple, is easy to real
It is existing, it is practical.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the robot of the utility model embodiment；
Fig. 2 is the side view of the robot of the utility model embodiment；
Fig. 3 is the arrangement schematic diagram in the electrical cabin of the robot of the utility model embodiment；
The battery structure schematic diagram that Fig. 4 is assembled in the battery flat for the robot of the utility model embodiment.
Appended drawing reference:
Robot 100；
Walking mechanism 10；Athey wheel 11；Crawler belt motor 12；Chain sprocket 13；
Rubber belt track 14；Crawler belt motor driver 15；
Car body 20；Electrical cabin 21；Battery flat 22；Electrical hatchcover 23；Battery hatch 24；
Battery 25；Voltage module 26；Relay 27；Hanging ring 28；Waterproof aviation plug 29；
Terminal block 30；Electric pushrod 31；Driver 32；Push rod connector 33；Connecting rod 34；
Holder 40；Left and right steering engine 41；Connection frame 42；Pitch-control motor 43；Function mounting block 44；
Camera 45；Rain brush steering engine 46；Wiper blade 47；Shield 48；Holder connector 49；
Connector 50；Adjustment hole 51；
Warm and humid sensor 60；
Gyroscope 70；
Antenna 80；Voltage reduction module 81；Hawkeye lamp 82；Pedestal 83；Holder shell 84；
Data module 85；Figure transmission module 86；Number passes antenna 87；Figure passes antenna 88；
Preformed hole 89；Power switch 90.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
The technical solution of the utility model embodiment is clearly and completely described in the attached drawing of type embodiment.Obviously, described
Embodiment is a part of the embodiment of the utility model, instead of all the embodiments.Based on described the utility model
Embodiment, those of ordinary skill in the art's every other embodiment obtained, fall within the protection scope of the utility model.
The robot 100 according to the utility model embodiment is specifically described with reference to the accompanying drawing.
As shown in Figures 1 to 4, according to the robot of the utility model embodiment 100 include walking mechanism 10, car body 20,
Elevating mechanism, holder 40 and control device.Wherein, for walking mechanism 10 for moving on walking surface, passability is good, and walking is steady
It is fixed, for example, robot 100 can be walked in inner wall of the pipe by walking mechanism 10 in the duct when clearing up pipeline.Car body
20 can be connected with walking mechanism 10, and the concrete shape and size of car body 20 can select according to the actual situation, and car body 20 can be with
It is moved under the drive of walking mechanism 20, hanging ring 28 can be equipped on car body 20, for example, can have respectively before and after car body 20
Two hanging rings 28, hanging ring 28 pull other tools for pulling and hanging pipe robot, convenient for robot.Elevating mechanism can be with
It is located on car body 20, for example, elevating mechanism can be located at the top of car body 20.
Holder 40 can be used for installing cleaning plant, can according to need and installs different cleaning plants, for example, clearing up
When pipeline, giant can be installed on holder 40, can also can be located at elevating mechanism with installation manipulator arm, holder 40
On, and holder 40 can be gone up and down under the driving of elevating mechanism, for example, when pipe diameter becomes smaller or there are can drop when barrier
Low clouds platform 40, when having rubbish for clearance above holder 40, it is clear on holder 40 in order to be mounted on to increase holder 40
Reason device can clear up rubbish, and the flexibility of holder 40 is good, and the height of holder 40 can be adjusted according to caliber, adapt to energy to pipeline
Power is strong.Control device can be connected with walking mechanism 10 and elevating mechanism respectively, and control device can be used for controlling walking mechanism
10 and elevating mechanism, it can control the speed of travel or the direction of walking mechanism 10, can control elevating mechanism and be raised and lowered, with
Just the height of holder 40 is adjusted, operator can control control device by station, and then control walking mechanism 10 and rise
Descending mechanism.
According to the robot 100 of the utility model embodiment, different cleaning devices can be installed as needed, gone up and down
Holder 40 can be gone up and down under the driving of mechanism, and then the cleaning device installed on holder 40 is enabled to go up and down, and can adapt to not
With the pipeline of caliber, walking is stablized, and flexibility is good, and to adaptable to pipeline, the robot architecture is simple, it is easy to accomplish, it is real
It is strong with property.
In some embodiments of the utility model, walking mechanism 10 may include at least two crawler belts, and crawler belt can be
Two, two crawler belts can be distributed in the left and right sides of car body 20, and crawler belt may include Athey wheel 11, crawler belt motor 12, chain
Sprocket wheel 13 and rubber belt track 14, wherein Athey wheel 11 can be connected with car body 20, and Athey wheel 11 can relative to the angle of car body 20
To adjust, angle can be adjusted according to the size of caliber, so that robot can adapt to pipeline.Crawler belt motor 12 can divide
Be not connected with Athey wheel 11 and control device, crawler belt motor 12 can be used for driving Athey wheel 11, can by control device come
Crawler belt motor 12 is controlled, and then controls the walking of crawler belt, can also include crawler belt motor driver 15, crawler belt motor driver 15
It can be connected respectively with control device and crawler belt motor 12, crawler belt motor driver 15 can be controlled by control device, in turn
Crawler belt motor 12 is driven by crawler belt motor driver 15 again, it is ensured that 12 stable operation of crawler belt motor, crawler belt motor cross line
Connector can connect crawler belt motor 12 and power supply unit, can connect battery, and when maintenance can disconnect.
Chain sprocket 13 can be connected with Athey wheel 11 and crawler belt motor 12, and crawler belt motor 12 can pass through chain sprocket 13
Athey wheel 11 is driven, rubber belt track 14 can be connected with Athey wheel 11, and rubber belt track 14 can buffer crawler belt and inner wall of the pipe
Active force mitigates the collision of crawler belt and inner wall of the pipe, avoids damaging pipeline, drives lower chain sprocket wheel in crawler belt motor 12
13, which interlock rubber belt track 14, advances, and entire crawler belt is walked, which improves obstacle detouring, strong and powerful shoe
Translator 12 and the adaptation stronger Athey wheel 11 of road surface property ensure that the stabilization of pipe robot traveling, can be improved obstacle detouring energy
Power, passability is good, and track structure improves obstacle detouring, and 20 lower space of car body is big, and passability is preferable, can also be under car body 20
It is good that side installs tools, the row regularity oftimekeepings such as soil pick-up pump additional.
In other embodiments of the utility model, walking mechanism 10 may include connector 50, and connector 50 can be with
It is connected with car body 20, can be fixedly linked, can also be connected by pin shaft, and multiple adjustment holes can be equipped on connector 50
51, the connection for adjusting adjustment hole 51 and Athey wheel 11 can adjust angle, so that robot adapts to different pipelines, connector 50
It can be four, four connectors 50 can be respectively distributed to the four corners of 20 bottom of car body, and connector 50 can substantially shape
As circle, or it is rectangular, it can divide along multiple adjustment holes 51 that are circumferentially with of connector 50, multiple adjustment holes 51
Cloth is on curved line, for example, as shown in Figure 1, adjustment hole 51 can be five, wherein week of three adjustment holes 51 along connector 50
To distribution, adjustment hole 51 is successively spaced apart arc-shaped distribution in a downward direction, other two adjustment hole 51 can be distributed in three
The top of a adjustment hole 51 can use pin shaft by adjustment hole 51 come connecting band track wheel 11 and connector 50, can pass through vehicle
Angular adjustment of the body 20 from the connected realization Athey wheel 11 of different adjustment holes 51 relative to car body 20, angular adjustment are simple and convenient.
The size of pipe diameter determines the position that Athey wheel 11 is connect with adjustment hole 51, for example, five adjustment holes 51 in Fig. 1, wherein three
A adjustment hole 51 successively adapts to pipeline, 1000mm pipeline, the 1200mm pipeline that diameter is 800mm from the top down, other two tune
Knothole 51 successively adapts to 1500mm pipeline and road driving from the top down, more adjustment holes 51 also can be set, according to pipeline
Pipe diameter size select suitable adjustment hole 51, so that robot can adapt to pipeline.
Some embodiments according to the present utility model, elevating mechanism may include electric pushrod 31, driver 32, push rod company
Fitting 33 and connecting rod 34, wherein the first end of electric pushrod 31 can be hinged with car body 20, for example, can be with the top of car body 20
Portion is hinged, and driver 32 can be used for driving electric pushrod 31 flexible, driver 32 may be mounted on car body 20 and with control
Device processed is connected, and driver 32 can be controlled by control device, then stretch by the control driving electric pushrod 31 of driver 32
Long or shortening, the first end of push rod connector 33 can be hinged with the second end of electric pushrod 31.
The first end of connecting rod 34 can be hinged with the second end of push rod connector 33, and the second end of connecting rod 34 can be with car body
20 is hinged, and holder 40 can be connected with the first end of connecting rod 34, and connecting rod 34 is interlocked when electric pushrod 31 stretches and drives 40 liters of holder
Drop, the second end of connecting rod 34 can be hinged with the top of car body 20, can be equipped with pedestal 83 at the top of car body 20, connecting rod 34
Second end can be connected with pedestal 83, and the support force to connecting rod 34 can be enhanced in pedestal 83, so that entire elevating mechanism is stablized.Cloud
Platform 40 can also be connected by holder connector 49 with the first end of connecting rod 34, and electric pushrod 31 elongates or shortens gearing connecting rod
Holder 40 is raised and lowered in holder connector 49 on 34, in order to clear up or avoiding barrier.Elevating mechanism can be with
Realize that lifting, lifting use electric pushrod 31 as needed, lifting bearing capacity is big, stablizes, and can bear the giant installed additional
Huge reaction force ensures the safety of operation.
Other embodiments according to the present utility model, robot 100 can also include left and right steering engine 41, connection frame 42,
Pitch-control motor 43 and function mounting block 44, wherein left and right steering engine 41 can be located on holder 40, can be located at the top of holder 40
Portion, left and right steering engine 41 can swing, can according to need and adjust in the lateral direction, and connection frame 42 can be with left and right steering engine
41 are connected, and connection frame 42 can be formed as U-shaped, and the opening direction of U-shaped connection frame 42 deviates from left and right steering engine 41.Pitch-control motor 43 can
To be connected with connection frame 42, pitch-control motor 43 can be located at the outside of one end of U-shaped connection frame 42, and pitch-control motor 43 can be upper and lower
It swings, left and right steering engine 41 and pitch-control motor 43 can link as two axis robots, left and right steering engine 41 and pitch-control motor 43
It can be connected respectively with control device, left and right steering engine 41 and pitch-control motor 43 can be controlled by control device.
Function mounting block 44 can be connected with pitch-control motor 43 and connection frame 42 respectively, and function mounting block 44 can be in pitching
It is rotated upwardly and downwardly under the driving of steering engine 43, preformed hole 89 can be equipped on function mounting block 44, it can when needing to install cleaning plant
To install by preformed hole 89, it is easily installed disassembly, for example, giant, mud in pipeline can be installed by preformed hole 89
It is cut or is cleaned with tube wall.Holder shell 84 can be equipped on holder 40, left and right steering engine 41 can be with 84 phase of holder shell
Even, the other structures being connected with holder 40 can also be located on holder shell 84.Holder 40 can rotate on a large scale and pitching, convenient
Observation and maintenance pipeline, can install different cleaning plant or functional module additional, realize detection, cleaning and reparation to pipeline.
In some specific embodiments of the utility model, robot 100 can also include camera 45, and camera 45 can
To be located on function mounting block 44, camera 45 can also be mounted on the other positions of car body 20, camera 45 can have it is multiple,
Camera 45 can be infrared camera, and camera 45 can be used for observing ambient enviroment, and camera 45 can pass through left and right rudder
Machine 41 and pitch-control motor 43 are realized to be rotated up in left and right and upper and lower, realizes the multi-angle observation of camera 45, is managed in cleaning
When road, situation in pipeline is observed using camera 45, is encountered in the case that urban pipe network tube wall has adhesion object or breakage, it can
Tooling is installed additional on preformed hole 89 adhesion object and damaged tube wall are cleaned and be repaired.
In other specific embodiments of the utility model, robot 100 can also include rain brush steering engine 46 and rain brush
Piece 47, rain brush steering engine 46 can be located on connection frame 42, may be mounted at the other end of U-shaped connection frame 42, rain brush steering engine 46 with
Wiper blade 47 is connected, and rain brush steering engine 46 can drive wiper blade 47 to clean camera 45, and rain brush steering engine 46 can be with control device
It is connected, rain brush steering engine 46 can be controlled by control device.When due to operation in the duct, have in pipeline more spot or
Muddy water, steam is larger, and water mist or spot are formed easily on the eyeglass on camera 45, influences the sight of camera 45 and clear
Degree, when having water mist or spot on the eyeglass of camera 45, can by rain brush steering engine 46 drive wiper blade 47 clear up spot or
Water mist keeps the clean of eyeglass, and after completing cleaning, wiper blade 47 may be located remotely from eyeglass under the driving of rain brush steering engine 46, avoid
Block the sight of camera 45.
Some embodiments according to the present utility model, robot 100 can also include shield 48, and shield 48 can be located at cloud
On platform 40, left and right steering engine 41, pitch-control motor 43, function mounting block 44 and camera 45 are placed under shield 48, due in pipeline
Environment is complicated, can be damaged in operation process to avoid structure shield 48 under by shield 48, prevent from colliding with sharply
Object is hit.
Other embodiments according to the present utility model, car body 20 can be respectively formed with the electrical cabin 21 with hatch and electricity
Pond cabin 22, car body 20 can be generally formed into rectangular-shape, and it further includes being used for that concrete shape can also select according to actual needs
Close or open the battery hatch 24 of 22 hatch of electrical hatchcover 23 and battery flat of electrical 21 hatch of cabin, electrical hatchcover 23 and battery
It can be equipped with heat release hole on hatchcover 24, be convenient for ventilation and heat, electrical 21 hatch of cabin can be located at the top of car body 20, electrical hatchcover
23 are located at the top of car body 20, and when normal operation, electrical hatchcover 23 closed electrical 21 hatch of cabin, and electricity can be opened when needing to overhaul
Gas hatchcover 23, some electrical components can be located in electrical cabin 21, and electrical component is prevented to be collided, for example, for driving electricity
The flexible driver 32 of dynamic push rod 31, crawler belt motor driver 15 can be located in electrical cabin 21.
Battery flat 22 can be used to install battery 25, and battery 25 can power for robot, and battery 25 can be big for 100AH
Capacity Lithium batteries, battery flat 22 and the shape size of battery 25 match, as shown in figure 4, the planform of battery 25 can be
Rectangular-shape.As shown in figure 3, voltage module 26, the voltage reduction module 81 for converting voltage can also be equipped in electrical cabin 21
With the relay 27 of control switch amount, it can be used to control and stablize the output voltage of battery 25, be also provided with for connecting
The terminal block 30 of route.It can be equipped with cushion in battery flat 22, avoid the collision of battery 25 Yu 22 inner wall of battery flat, reduce
The vibration of battery 25.Waterproof aviation plug 29 can be equipped on car body 20, convenient for the grafting of electricity piece, for example, waterproof aviation plug 29 can
Using the charge port as battery 25, if low battery, can charge in time, it is convenient and efficient, it can be located at the top of car body 20, than
Such as, on electrical hatchcover 23, it can be equipped with power switch 90 on car body 20, to cut off or be connected to battery power supply, can be avoided
The muddy water of duct bottom enters.Power supply line and control line on car body 20 can also cross wire terminal from waterproof aviation plug 29 and crawler belt motor
It disconnects, maintenance easy to disassemble.
In some specific embodiments of the utility model, robot 100 can also include warm and humid sensor 60, warm and humid biography
Sensor 60 can be located in electrical cabin 21, for sensing the temperature and humidity in electrical cabin 21.Due to being equipped in electrical cabin 21
More electrical component, in operation, electrical component can generate more heat, and the muddy water in pipeline is more, and moisture is high, high temperature
The environment of high fever is easy to adversely affect electrical component, therefore, can be monitored in electrical cabin 21 by warm and humid sensor 60
Temperature and humidity, warm and humid sensor 60 can be connected with control device, when warm and humid sensor 60 detects in electrical cabin 21
When temperature and humidity reaches preset value, control device can control robot 100 and stop working or standby, until temperature declines
It starts to work, for example, battery power supply can be cut off, is prevented because electrical component damages caused by temperature humidity is excessively high again later.
Some embodiments according to the present utility model, robot 100 can also include gyroscope 70, and gyroscope 70 can be set
In electrical cabin 21, the walking posture of robot can be controlled by gyroscope 70.
Other embodiments according to the present utility model, robot 100 can also include antenna 80 and transmission module,
In, antenna 80 can be located on car body 20, for example, can be located on electrical hatchcover 23, can ensure communication, and transmission module can be with
It is connected with antenna 80 and control device, transmission module can be located in electrical cabin 21, and operator can be controlled by console
Control device, and then control by control device steering engine, camera 45, walking mechanism 10, elevating mechanism, electricity in robot
The output voltage and switch in pond 25, transmission module can be used for obtaining the data of robot and sends data to console, than
Such as, data may include the posture of robot, the state of each electrical component, the output voltage of battery 25, warm and humid sensor 60
The temperature and humidity data and left and right steering engine 41 of detection, pitch-control motor 43 and the status data of rain brush steering engine 46 etc..
Transmission module may include data module 85 and figure transmission module 86, and antenna 80 may include that number passes antenna 87 and figure biography
Antenna 88, number passes antenna 87 and figure passes the top that antenna 88 can be located at car body 20.It can be located on electrical hatchcover 23, data mould
Block 85 can pass antennas 87 with number and be connected, and data can be passed to console by passing antennas 87 by number, and figure transmission module 86 can be with
Figure passes antenna 88 and is connected, and antenna 88 can be passed by figure by figure and pass to console, for example, the picture of the shooting of camera 45 can be with
Antenna 88 is passed by figure and passes to console, convenient for the environmental aspect in operator's analysis and observation pipeline.
In the implementation process of some embodiments of the utility model, robot 100 can also include hawkeye lamp 82, hawkeye lamp
82 can be located on holder 40 for illuminating, and since light is poor in pipeline, hawkeye lamp 82 can improve the light of pipeline, convenient for taking the photograph
As first 45 clear observation.
Robot it is specifically used during, before going into the well be directed to sewer caliber, first to Athey wheel 11 relative to vehicle
The angle of body 20 is adjusted, and the size of sewer caliber determines the link position of Athey wheel 11 and adjustment hole 51, passes through selection
The adjustment hole 51 of suitable position adjusts angle, so as to pipe robot fitting inner wall of the pipe walking.11 angular adjustment of Athey wheel
After, suspender belt is fastened respectively on four hanging rings 28, the cleaning plant of needs is installed on function mounting block 44, for example, high
Hydraulic giant or mechanical arm are pressed, pipe robot is steadily put into vertical shaft, crawler belt motor 12 is then manipulated and drives crawler belt to horizontal well
It advances, the Athey wheel 11 regulated is bonded with tube wall, and car body 20 can be made more firm, be not easy to turn on one's side.
Into after horizontal well, by camera 45 observe pipeline field the case where, can if the water surface is excessively high or there is barrier in top
Elevating mechanism is adjusted to adjust the height of holder 40, the observation of camera 45 is adjusted by left and right steering engine 41 and pitch-control motor 43
Angle, makes to get a clear view or avoiding barrier, if observing that inside pipe wall has sludge, adjustable elevator by camera 45
Structure, left and right steering engine 41 and pitch-control motor 43 make giant be directed at sludge, clear up sludge with giant.In traveling, work as pipe
Hawkeye lamp 9 can be turned on when road dark, to provide good illumination.
Sewer mud and water is more, when the sight of water mist on 45 eyeglass of camera or the more influence camera 45 of spot, leads to
Crossing rain brush steering engine 46 drives wiper blade 47 to carry out fan-shaped cleaning to 45 eyeglass of camera, guarantees the clarity of observation.Operation is multiple
Afterwards, it such as after 4-5 times, needs to overhaul complete machine, because complete machine is modularized design, holder 40, car body 20, walking mechanism 10
Etc. can easy removal, power supply line and control line can also cross wire terminal disconnection, and openable electricity from waterproof aviation plug 29 and crawler belt motor
Gas hatchcover 23 in electrical cabin 21 electrical component and route check, open battery hatch 24 to the battery 25 of battery flat 22
It is checked and is replaced, modularization makes robot use and maintenance is more convenient flexibly.
According to the robot 100 of the utility model embodiment, obstacle climbing ability can be improved, passability is good, can be according to need
Different cleaning devices is installed, holder 40 can be gone up and down under the driving of elevating mechanism, and then enable to pacify on holder 40
The cleaning device of dress is gone up and down, and Athey wheel 11 can be adjusted relative to the angle of car body 20, can adapt to the pipeline of different tube diameters, spirit
Activity is good, and to adaptable to pipeline, camera 45 can clearly observe pipeline middle ring border, and wiper blade 47 can clear up camera
45 eyeglass guarantees that observation is clear, can monitor the temperature and humidity in electrical cabin 21 by warm and humid sensor 60, prevent Yin Wen
Humidity is excessively high that electrical component is caused to damage for degree, and the robot architecture is simple, it is easy to accomplish, it is practical.
The above is preferred embodiments of the present invention, it is noted that for the ordinary skill of the art
For personnel, under the premise of not departing from principle described in the utility model, it can also make several improvements and retouch, these improvement
It also should be regarded as the protection scope of the utility model with retouching.
Claims (13)
1. a kind of robot characterized by comprising
Walking mechanism, for being moved on walking surface；
Car body, the car body are connected with the walking mechanism；
Elevating mechanism, the elevating mechanism are located on the car body；
Holder, for installing cleaning plant, the holder is located on the elevating mechanism and can be in the drive of the elevating mechanism
Dynamic lower lifting；
Control device, for controlling the walking mechanism and the elevating mechanism.
2. robot according to claim 1, which is characterized in that the walking mechanism includes at least two crawler belts, described
Crawler belt includes:
Athey wheel, the Athey wheel is connected with the car body and adjustable angle of the Athey wheel relative to the car body；
Crawler belt motor, the crawler belt motor is connected with the Athey wheel and the control device respectively, for driving the crawler belt
Wheel；
Chain sprocket, the chain sprocket are connected with the Athey wheel and the crawler belt motor；
Rubber belt track, the rubber belt track are connected with the Athey wheel, and the chain sprocket connects under the crawler belt motor driven
The rubber belt track is moved to advance.
3. robot according to claim 2, which is characterized in that the walking mechanism includes:
Connector, the connector is connected with the car body and the connector is equipped with multiple adjustment holes, adjusts the adjusting
The connection of hole and the Athey wheel can adjust the angle.
4. robot according to claim 1, which is characterized in that the elevating mechanism includes:
Electric pushrod；The first end of the electric pushrod and the car body are hinged；
Driver, for driving the electric pushrod flexible, the driver is installed on the car body and fills with the control
It sets connected；
Push rod connector；The first end of the push rod connector and the second end of the electric pushrod are hinged；
Connecting rod, the first end of the connecting rod and the second end of the push rod connector are hinged, the second end of the connecting rod with it is described
Car body is hinged, and the holder is connected with the first end of the connecting rod, and the electric pushrod interlocks the connecting rod driving institute when flexible
State holder lifting.
5. robot according to claim 1, which is characterized in that further include:
Left and right steering engine, the left and right steering engine are located on the holder；
Connection frame, the connection frame are connected with the left and right steering engine；
Pitch-control motor, the pitch-control motor are connected with the connection frame, the left and right steering engine and the pitch-control motor respectively with institute
Control device is stated to be connected；
Function mounting block, the function mounting block are connected with the pitch-control motor and the connection frame respectively.
6. robot according to claim 5, which is characterized in that further include:
Camera, the camera are located on the function mounting block for observing ambient enviroment.
7. robot according to claim 6, which is characterized in that further include:
Rain brush steering engine, the rain brush steering engine are located on the connection frame；
Wiper blade, the rain brush steering engine are connected with the wiper blade and the wiper blade are driven to clean the camera.
8. robot according to claim 6, which is characterized in that further include:
Shield, the shield are located on the holder, the left and right steering engine, the pitch-control motor, the function mounting block and institute
Camera is stated to be placed under the shield.
9. robot according to claim 1, which is characterized in that the car body be respectively formed with the electrical cabin with hatch and
Battery flat further includes the battery flat of the electrical hatchcover and the battery flat hatch for closing or opening the electrical cabin hatch
Lid.
10. robot according to claim 9, which is characterized in that further include:
Warm and humid sensor, the warm and humid sensor are located in the electrical cabin, for sensing the temperature and humidity in the electrical cabin.
11. robot according to claim 9, which is characterized in that further include:
Gyroscope, the gyroscope is located in the electrical cabin, for controlling the walking posture of the robot.
12. robot according to claim 1, which is characterized in that further include:
Antenna, the antenna are located on the car body；
Transmission module, the transmission module are connected with the antenna and the control device, for obtaining the number of the robot
Console is transmitted to according to and by the data.
13. robot according to claim 1, which is characterized in that further include:
Hawkeye lamp, the hawkeye lamp are located on the holder for illuminating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821155312.XU CN208816963U (en) | 2018-07-20 | 2018-07-20 | A kind of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821155312.XU CN208816963U (en) | 2018-07-20 | 2018-07-20 | A kind of robot |
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| Publication Number | Publication Date |
|---|---|
| CN208816963U true CN208816963U (en) | 2019-05-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821155312.XU Active CN208816963U (en) | 2018-07-20 | 2018-07-20 | A kind of robot |
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| Country | Link |
|---|---|
| CN (1) | CN208816963U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111156368A (en) * | 2020-01-22 | 2020-05-15 | 福建丽塔智能科技有限公司 | Crawler-type pipeline crawling robot |
| CN112482552A (en) * | 2020-12-02 | 2021-03-12 | 安徽信息工程学院 | Intelligent city sewer dredging robot |
| CN113374987A (en) * | 2021-06-17 | 2021-09-10 | 中广核研究院有限公司 | Pipeline crawling device and modular driving device thereof |
-
2018
- 2018-07-20 CN CN201821155312.XU patent/CN208816963U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111156368A (en) * | 2020-01-22 | 2020-05-15 | 福建丽塔智能科技有限公司 | Crawler-type pipeline crawling robot |
| CN112482552A (en) * | 2020-12-02 | 2021-03-12 | 安徽信息工程学院 | Intelligent city sewer dredging robot |
| CN113374987A (en) * | 2021-06-17 | 2021-09-10 | 中广核研究院有限公司 | Pipeline crawling device and modular driving device thereof |
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Address after: 065000 room 404, 1 unit 1, 99 fruit Road, science and Technology Park, Langfang economic and Technological Development Zone, Hebei, China Patentee after: Hebei Sanwei Purun Environmental Protection Technology Co., Ltd Address before: 065000 room 404, 1 unit 1, 99 fruit Road, science and Technology Park, Langfang economic and Technological Development Zone, Hebei, China Patentee before: Hebei three dimensional Technology Co., Ltd. |