CN209245574U - A kind of reservoir culvert detection robot obstruction-avoiding control system - Google Patents
A kind of reservoir culvert detection robot obstruction-avoiding control system Download PDFInfo
- Publication number
- CN209245574U CN209245574U CN201821291518.5U CN201821291518U CN209245574U CN 209245574 U CN209245574 U CN 209245574U CN 201821291518 U CN201821291518 U CN 201821291518U CN 209245574 U CN209245574 U CN 209245574U
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- China
- Prior art keywords
- supporting block
- fixedly connected
- electric pushrod
- control system
- robot
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Abstract
The utility model discloses a kind of reservoir culverts to detect robot obstruction-avoiding control system, including supporting block and robot body, the first electric pushrod is fixedly connected in the supporting block, one end of first electric pushrod is fixedly connected with support plate, the side of the supporting block is fixedly installed with turntable bearing, one end of second electric pushrod is fixedly connected on the side of robot body, the side of the supporting block is equipped with decelerating motor, the side of the supporting block offers through-hole, shaft one end of the decelerating motor is through through-hole and is fixedly connected on the side center of fixed plate.When detection robot encounters obstacle, the supporting leg of robot body is shrinkable, and is supported by supporting block, by the elongation of the second electric pushrod, so that robot body surmounts obstacles；By the design of decelerating motor, can robot body be rotated, the position of robot body stabilizer blade be adjusted, to be staggered with obstacle, convenient for surmounting obstacles.
Description
Technical field
The utility model relates to reservoir culvert detection technique field, specially a kind of reservoir culvert detects robot obstacle-avoiding control
System processed.
Background technique
Pipeline is very widely used as a kind of material means of delivery easily and effectively.Pipeline in the long-term use,
Phenomena such as inevitably cracked, leakage, especially reservoir culvert causes reservoir dam damage sequence very tight once problem occurs
Weight.Reservoir culvert caliber is smaller, and no branch turnout, culvert pipe inner wall has the objects such as moss, and ponding, mud are arranged at bottom, and with broken
The obstacles such as stone, pit, personnel can not be directly entered, and the detection to reservoir culvert is a very difficult thing.Only use
Pipe robot could be detected efficiently, and the detection of reservoir culvert is completed by equipment such as its sensor, the cameras that carry
Work.
However existing detecting robot of pipe is when in use, the barrier being likely to encounter in culvert pipe, before hindering robot
Row.Existing robot is when encountering barrier, it is often necessary to for a long time adjust angle, the barrier that can just be staggered carry out it is forward,
The a large amount of time is wasted, therefore we need to propose that one kind detects robot obstruction-avoiding control system convenient for reservoir culvert.
Utility model content
The purpose of this utility model is to provide a kind of reservoir culverts to detect robot obstruction-avoiding control system, is easy to implement water
Obstacle is hidden by library culvert pipe detection robot, and structure is simple, to solve the problems mentioned in the above background technology.
To achieve the above object, the utility model provides the following technical solutions:
A kind of reservoir culvert detection robot obstruction-avoiding control system, including supporting block and robot body, the supporting block
On be fixedly connected with the first electric pushrod, one end of first electric pushrod is fixedly connected with support plate, the supporting block
Side is fixedly installed with turntable bearing, and the side of the turntable bearing is fixedly connected with fixed plate, and the side of the fixed plate is solid
Surely it is connected with the second electric pushrod, one end of second electric pushrod is fixedly connected on the side of robot body, the branch
The side of bracer is equipped with decelerating motor, and the side of the supporting block offers through-hole, and shaft one end of the decelerating motor is passed through
It is through at through-hole and is fixedly connected on the side center of fixed plate.
Preferably, the inside of the supporting block be fixedly installed with for power supply battery and for control decelerating motor,
The PLC controller of first electric pushrod and the second electric pushrod.
Preferably, the waterproof charge port that the surface of the supporting block offers convenient for charging to battery, and PLC is controlled
Device processed is built-in with bluetooth module.
Preferably, the turntable bearing includes bearing outer ring and bearing inner race, between the bearing outer ring and bearing inner race
Ball is installed, the bearing outer ring is fixedly connected on the side of supporting block, and the bearing inner race is fixedly connected on fixed plate
Side.
Preferably, one end of the robot body is equipped with camera.
Preferably, the top of the support plate is set as arcuate structure, and the upper surface of support plate be fixedly connected with it is wear-resisting
Rubber pad.
Compared with prior art, the utility model has the beneficial effects that
1, by the design of supporting block, when detection robot encounters obstacle, the supporting leg of robot body is shrinkable, and leads to
Supporting block is crossed to be supported, after supporting block support, by the elongation of the second electric pushrod, so that robot body surmounts obstacles,
It is easy to use；
2, by the design of decelerating motor, can robot body be rotated, adjusts robot body stabilizer blade
Position, to be staggered with obstacle, convenient for surmounting obstacles.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the side structure schematic view of the utility model supporting block；
Fig. 3 is the side structure schematic view of the utility model robot body；
Fig. 4 is the schematic diagram of internal structure of the utility model supporting block.
In figure: 1 supporting block, 2 first electric pushrods, 3 support plates, 4 turntable bearings, 5 second electric pushrods, 6 robot sheets
Body, 7 decelerating motors, 8 through-holes, 10 cameras, 11 fixed plates, 12 bearing outer rings, 13 bearing inner races, 14 balls, 15 PLC control
Device, 16 bluetooth modules, 17 batteries, 18 shafts.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
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 embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Please refer to Fig. 1-4, the utility model provides a kind of technical solution: the reservoir culvert detects robot avoidance obstacle system
It unites, including supporting block 1 and robot body 6, is fixedly connected with the first electric pushrod 2 in the supporting block 1, described first is electronic
One end of push rod 2 is fixedly connected with support plate 3, and the side of the supporting block 1 is fixedly installed with turntable bearing 4, the turntable shaft
The side for holding 4 is fixedly connected with fixed plate 11, and the side of the fixed plate 11 is fixedly connected with the second electric pushrod 5, and described
One end of two electric pushrods 5 is fixedly connected on the side of robot body 6, and the side of the supporting block 1 is equipped with decelerating motor
7, the side of the supporting block 1 offers through-hole 8, and 18 one end of shaft of the decelerating motor 7 through through-hole 8 and is fixedly connected
At the side center of fixed plate 11.
Specifically, the inside of the supporting block 1 is fixedly installed with for the battery 17 of power supply and for controlling the electricity that slows down
The PLC controller 15 of machine 7, the first electric pushrod 2 and the second electric pushrod 5.First electric pushrod 2 and the second electric pushrod 5 are
For axis not electric rotary push rod.
Specifically, the waterproof charge port that the surface of the supporting block 1 offers convenient for charging to battery 17, and
PLC controller 15 is built-in with bluetooth module 16.Signal transmitting can be carried out by bluetooth module 16.
Specifically, the turntable bearing 4 includes bearing outer ring 12 and bearing inner race 13, in the bearing outer ring 12 and bearing
Ball 14 is installed, the bearing outer ring 12 is fixedly connected on the side of supporting block 1, and the bearing inner race 13 is fixed between circle 13
It is connected to the side of fixed plate 11.Turntable bearing 4 can play rotation supporting role.
Specifically, one end of the robot body 6 is equipped with camera 10.By camera 10 convenient in monitoring culvert pipe
Portion's barrier.
Specifically, the top of the support plate 3 is set as arcuate structure, and the upper surface of support plate 3 be fixedly connected with it is resistance to
Rubber milling pad.It is supported on culvert pipe inner wall by 3 easy to support pieces 1 of support plate.
Working principle: when in use, pass through the design of supporting block 1, when detection robot encounters obstacle, robot body
Supporting leg it is shrinkable, and be supported by supporting block 1, after supporting block 1 supports, by the elongation of the second electric pushrod 5 so that
Robot body 6 surmounts obstacles, easy to use；By the design of decelerating motor 7, robot body 6 can be made to be rotated,
The position for adjusting 6 stabilizer blade of robot body, to be staggered with obstacle, convenient for surmounting obstacles.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of reservoir culvert detects robot obstruction-avoiding control system, including supporting block (1) and robot body (6), feature
It is: is fixedly connected with the first electric pushrod (2) on the supporting block (1), one end of first electric pushrod (2) is fixed is connected
It is connected to support plate (3), the side of the supporting block (1) is fixedly installed with turntable bearing (4), the side of the turntable bearing (4)
It is fixedly connected with fixed plate (11), the side of the fixed plate (11) is fixedly connected with the second electric pushrod (5), second electricity
The one end of dynamic push rod (5) is fixedly connected on the side of robot body (6), and the side of the supporting block (1) is equipped with deceleration electricity
The side of machine (7), the supporting block (1) offers through-hole (8), and shaft (18) one end of the decelerating motor (7) is through logical
Hole (8) and the side center for being fixedly connected on fixed plate (11).
2. a kind of reservoir culvert according to claim 1 detects robot obstruction-avoiding control system, it is characterised in that: the branch
The inside of bracer (1) is fixedly installed with for the battery (17) of power supply and for controlling decelerating motor (7), the first electric pushrod
(2) and the PLC controller (15) of the second electric pushrod (5).
3. a kind of reservoir culvert according to claim 1 detects robot obstruction-avoiding control system, it is characterised in that: the branch
The waterproof charge port that the surface of bracer (1) offers convenient for charging to battery (17), and PLC controller (15) is built-in with
Bluetooth module (16).
4. a kind of reservoir culvert according to claim 1 detects robot obstruction-avoiding control system, it is characterised in that: described turn
It includes bearing outer ring (12) and bearing inner race (13) that dish axle, which holds (4), is pacified between the bearing outer ring (12) and bearing inner race (13)
Equipped with ball (14), the bearing outer ring (12) is fixedly connected on the side of supporting block (1), and the bearing inner race (13) is fixed to be connected
Connect the side in fixed plate (11).
5. a kind of reservoir culvert according to claim 1 detects robot obstruction-avoiding control system, it is characterised in that: the machine
One end of device human body (6) is equipped with camera (10).
6. a kind of reservoir culvert according to claim 1 detects robot obstruction-avoiding control system, it is characterised in that: the branch
The top of fagging (3) is set as arcuate structure, and the upper surface of support plate (3) is fixedly connected with abrasion-proof rubber cushion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821291518.5U CN209245574U (en) | 2018-08-11 | 2018-08-11 | A kind of reservoir culvert detection robot obstruction-avoiding control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821291518.5U CN209245574U (en) | 2018-08-11 | 2018-08-11 | A kind of reservoir culvert detection robot obstruction-avoiding control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209245574U true CN209245574U (en) | 2019-08-13 |
Family
ID=67516063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821291518.5U Expired - Fee Related CN209245574U (en) | 2018-08-11 | 2018-08-11 | A kind of reservoir culvert detection robot obstruction-avoiding control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209245574U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023283992A1 (en) * | 2021-07-13 | 2023-01-19 | 南京涵铭置智能科技有限公司 | Robot having turnover function for use in inner wall of narrow steel plate pipe |
-
2018
- 2018-08-11 CN CN201821291518.5U patent/CN209245574U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023283992A1 (en) * | 2021-07-13 | 2023-01-19 | 南京涵铭置智能科技有限公司 | Robot having turnover function for use in inner wall of narrow steel plate pipe |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190813 Termination date: 20200811 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |