CN210372538U - Be applied to running gear who cleans on robot - Google Patents
Be applied to running gear who cleans on robot Download PDFInfo
- Publication number
- CN210372538U CN210372538U CN201920807030.1U CN201920807030U CN210372538U CN 210372538 U CN210372538 U CN 210372538U CN 201920807030 U CN201920807030 U CN 201920807030U CN 210372538 U CN210372538 U CN 210372538U
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- robot
- running gear
- transmission
- climbing
- strutting arrangement
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Abstract
The utility model discloses a be applied to running gear on cleaning robot, include: controller, strutting arrangement, climbing running gear and hydraulic means. The device is fixedly arranged on a robot body, wherein a controller is arranged in the robot body and electrically connected with a climbing walking device and a hydraulic device; the supporting device is fixedly connected with the outer side of the robot body; climbing running gear installs on strutting arrangement, includes: the device comprises a plurality of connecting rods hinged on a supporting device, a movable crawler assembly hinged at the other end of each connecting rod, and a lifting seat in transmission connection with the movable crawler assembly; hydraulic means fixed mounting includes on strutting arrangement: the articulated seat of fixed mounting on strutting arrangement to and connect the pneumatic cylinder on articulated seat. The utility model discloses installation climbing running gear and hydraulic means can make climbing running gear hug closely the pipeline wall under the control of controller, satisfy the level, and the process is sparingly cleaned to needs of multiple types pipeline such as perpendicular, slope.
Description
Technical Field
The utility model belongs to the robot field, especially, be applied to the running gear who cleans on the robot.
Background
The existing cleaning robot can only be suitable for cleaning horizontal and flat road sections, particularly, in the cleaning process of a central air-conditioning coil, the pipeline to be cleaned is vertical and obliquely installed in addition to the horizontal pipeline, so that the existing cleaning robot can only be applied to cleaning of the horizontal pipeline, and in the cleaning processes of other pipelines, manual cleaning is mainly used, and the cleaning efficiency is not high, time and labor are wasted.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model provides a running gear who is applied to cleaning robot to solve the above-mentioned problem that prior art exists.
The technical scheme is as follows: a walking device applied to a cleaning robot is fixedly installed on a robot body and comprises:
the controller is arranged on the robot body;
the supporting device is fixedly connected with the outer side of the robot body;
climbing running gear installs on strutting arrangement, includes: the device comprises a plurality of connecting rods hinged on a supporting device, a movable crawler assembly hinged at the other end of each connecting rod, and a lifting seat in transmission connection with the movable crawler assembly;
hydraulic means, fixed mounting is on strutting arrangement, includes: the articulated seat of fixed mounting on strutting arrangement to and connect the pneumatic cylinder on articulated seat.
In a further embodiment, the moving track assembly comprises: the transmission device comprises a plurality of transmission shafts and a transmission crawler belt sleeved on the transmission shafts, wherein one end of the bottom transmission shaft is connected with a driving motor.
In a further embodiment, a piston rod is arranged inside the hydraulic cylinder, one end of the piston rod is connected with a lifting seat, a square gap is formed in the supporting device, the bottom of the lifting seat is inserted into the square gap, a transmission connecting rod is hinged to the bottom of the lifting seat, and the other end of the transmission connecting rod is connected with the movable crawler assembly.
In a further embodiment, one side of the climbing walking device is also provided with an adsorption device communicated with a robot vacuum pump.
In a further embodiment, the transmission connecting rods are symmetrically connected to two sides of the lifting seat and the movable crawler assembly, and two ends of the two transmission connecting rods are connected with the rotating shaft.
In a further embodiment, the controller is also electrically connected to an infrared reflector disposed on the robot body to control the hydraulic device.
Has the advantages that: compared with the prior art, the utility model, climbing running gear and hydraulic means can make climbing running gear hug closely the pipeline wall under the control of controller, satisfy the level, and the process is sparingly cleaned to needs of multiple types pipeline such as perpendicular, slope.
Drawings
Figure 1 is the structure schematic diagram of the climbing walking device of the utility model.
Figure 2 is a side view of the climbing walking device of the present invention.
Figure 3 is the utility model discloses climb the plan view that running gear installed on the robot.
The reference signs are: support device 30, connecting rod 31, moving track assembly 32, transmission shaft 320, transmission track 321, drive motor 322, lifting seat 33, rotating shaft 34, hinged seat 50, hydraulic cylinder 51, piston rod 52, square gap 53 and transmission link 54.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.
A traveling device applied to a cleaning robot as shown in fig. 1 to 3 includes: a controller, a support device 30, a climbing walking device and a hydraulic device. The device is fixedly arranged on a robot body, wherein a controller is arranged in the robot body, and the controller is electrically connected with a climbing walking device and a hydraulic device; the supporting device 30 is fixedly connected with the outer side of the robot body; climbing running gear installs on strutting arrangement 30, includes: a plurality of connecting rods 31 hinged on the supporting device 30, a moving track assembly 32 hinged at the other end of the connecting rods 31, and a lifting seat 33 in transmission connection with the moving track assembly 32; the hydraulic device is fixedly mounted on the support device 30 and comprises: a hinge seat 50 fixedly installed on the support device 30, and a hydraulic cylinder 51 connected to the hinge seat 50.
The supporting device 30 includes: the mounting base plate is provided with a plurality of screw holes for fixedly connecting the fixing blocks, the hinge connecting rods 31 and the hinge bases 50, the connecting rods 31 are symmetrically hinged on the screw holes of the screws, and the other ends of the connecting rods are connected with the movable crawler belt assembly 32; the hinge base 50 is fixedly welded to an end of the mounting base plate remote from the connecting rod 31.
The moving track assembly 32 includes: a drive shaft 320, a drive track 321, and a drive motor 322. Drive track 321 cup joints on a plurality of transmission shafts 320, and driving motor 322 is connected to the one end of bottom transmission shaft 320, and driving motor 322 drives the motion of transmission shaft 320 to realize the rotation of drive track 321, three climbing device can evenly share the resistance of upwards crawling and the gravity of robot. The drive motor 322 is model HR 2125.
One side of the hydraulic device is connected with a hydraulic control center on the robot body through a hose, a piston rod 52 is arranged inside the hydraulic cylinder 51, the extending end of the piston rod 52 is fixedly connected with the lifting seat 33, a square gap 53 is formed in the part, installed on the installation bottom plate, of the lifting seat 33, a connecting slide block is arranged at the bottom of the lifting seat 33 and penetrates into the square gap 53, and the connecting slide block moves up and down in the direction gap under the action of the hydraulic cylinder 51. The bottom of the lifting seat 33 is hinged with a transmission connecting rod 54, the other end of the transmission connecting rod 54 is connected with the moving crawler assembly 32, and the lifting seat 33 moves up and down and drives the moving crawler assembly 32 to move back and forth.
Example 1
The walking device is in a single-direction walking working state when applied to a vertical pipeline; climbing running gear's one side still is provided with the adsorption equipment with the robot vacuum pump intercommunication, can increase the adsorption affinity to the pipeline wall at the climbing in-process, reduces the resistance of climbing under the gravity state.
The transmission connecting rods 54 are symmetrically connected to two sides of the lifting seat 33 and the movable crawler assembly 32, and two ends of each of the two transmission connecting rods 54 are connected with the rotating shaft 34, so that the transmission connecting rods 54 can be driven to move synchronously, and the movement stability is improved.
The controller is also electrically connected with an infrared reflector arranged on the robot body, and the infrared reflector accurately positions the interior of the pipeline wall and the shape and size of the pipeline wall, so that the hydraulic device is controlled to stretch and retract the hydraulic cylinder 51, and the movable crawler belt assembly 32 is further controlled to be attached to the pipeline wall, so that the controller is suitable for adjusting various pipeline shapes and sizes and simultaneously judges whether the advancing condition is met.
Example 2
When the robot walks in a complex pipeline which is vertical, inclined and arc-shaped;
the infrared reflector carries out periodic signal emission on the pipeline wall on the advancing side, the relative position of the pipeline wall to be corresponding and adjusted of each group of moving crawler assemblies 32 is calculated through the controller, a control command is sent to the hydraulic control center, the telescopic length of the hydraulic cylinder 51 of the moving crawler assembly 32 connected with each group of hydraulic devices is adjusted, when the moving crawler assembly 32 is not attached to the detected pipeline wall, the controller automatically closes the rotation of the driving motor 322, an alarm signal is sent out to inform a worker that the current road section cannot advance. And informing the working personnel to take out the cleaning robot in time.
The working principle is as follows:
place the pipeline mouth department that will clean the robot, infrared reflector scans pipeline wall inner wall advancing the in-process, thereby make the controller adjust hydraulic means according to the relative position that the robot of scanning corresponds the pipeline wall, make the transmission track 321 who connects hydraulic means drive among the removal track subassembly 32 hug closely the pipeline wall, climbing in-process controller opens adsorption equipment, make the robot increase the adsorption affinity to the pipeline wall, it rises or the slip in-process appears in the gliding process because of the action of gravity to reduce, in time inform the staff and take out the robot before the pipeline wall that the robot moves to hydraulic means is difficult to the adjustment and can't advance, prevent the robot damage.
The utility model discloses climbing running gear and hydraulic means can make climbing running gear hug closely the pipeline wall under the control of controller, satisfy the level, and the process is sparingly cleaned to needs of multiple types pipeline such as perpendicular, slope.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be modified to perform various equivalent transformations, which all belong to the protection scope of the present invention.
Claims (6)
1. The utility model provides a be applied to running gear who cleans on robot, fixed mounting is on the robot fuselage which characterized in that includes:
the controller is arranged on the robot body;
the supporting device is fixedly connected with the outer side of the robot body;
climbing running gear installs on strutting arrangement, includes: the device comprises a plurality of connecting rods hinged on a supporting device, a movable crawler assembly hinged at the other end of each connecting rod, and a lifting seat in transmission connection with the movable crawler assembly;
hydraulic means, fixed mounting includes on strutting arrangement: the articulated seat of fixed mounting on strutting arrangement to and connect the pneumatic cylinder on articulated seat.
2. A walking device for a cleaning robot as claimed in claim 1, wherein the moving track assembly comprises: a plurality of transmission shafts and the drive track of cup jointing on the transmission shaft, the drive motor is connected to the one end of bottom transmission shaft.
3. The walking device applied to the cleaning robot as claimed in claim 1, wherein a piston rod is arranged inside the hydraulic cylinder, one end of the piston rod is connected with the lifting seat, the supporting device is provided with a square gap, the bottom of the lifting seat is inserted into the square gap, the bottom of the lifting seat is hinged with a transmission connecting rod, and the other end of the transmission connecting rod is connected with the movable track assembly.
4. The walking device applied to the cleaning robot as claimed in claim 1, wherein an adsorption device communicated with a robot vacuum pump is further arranged on one side of the climbing walking device.
5. The walking device of claim 3, wherein the two transmission links are symmetrically connected to two sides of the lifting seat and the moving track assembly, and two ends of the two transmission links are connected to a rotating shaft.
6. The traveling device for a cleaning robot according to claim 1, wherein the controller is further electrically connected to an infrared reflector provided on the robot body, thereby controlling the hydraulic device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920807030.1U CN210372538U (en) | 2019-05-31 | 2019-05-31 | Be applied to running gear who cleans on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920807030.1U CN210372538U (en) | 2019-05-31 | 2019-05-31 | Be applied to running gear who cleans on robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210372538U true CN210372538U (en) | 2020-04-21 |
Family
ID=70263069
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920807030.1U Expired - Fee Related CN210372538U (en) | 2019-05-31 | 2019-05-31 | Be applied to running gear who cleans on robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210372538U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114904854A (en) * | 2022-05-11 | 2022-08-16 | 马世成 | Portable nondestructive testing device for pressure pipeline |
-
2019
- 2019-05-31 CN CN201920807030.1U patent/CN210372538U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114904854A (en) * | 2022-05-11 | 2022-08-16 | 马世成 | Portable nondestructive testing device for pressure pipeline |
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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: 20200421 Termination date: 20210531 |
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| CF01 | Termination of patent right due to non-payment of annual fee |