CN212643905U

CN212643905U - Robot walking in urban pipeline

Info

Publication number: CN212643905U
Application number: CN202021252845.7U
Authority: CN
Inventors: 李小雄
Original assignee: Nanjing Hongxiang Testing Technology Co ltd
Current assignee: Nanjing Hongxiang Testing Technology Co ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2021-03-02
Anticipated expiration: 2030-06-30

Abstract

The utility model provides a walking robot in urban duct, including the automobile body, install the video acquisition device at the automobile body top at the wheel of hindering more of automobile body both sides and installing, the equal fixedly connected with fixed plate in both sides of automobile body head, the top fixedly connected with gear box of fixed plate, actuating mechanism is installed at the top of gear box, is provided with first gear, second gear, third gear and the fourth gear of meshing in proper order in the gear box. The utility model discloses an actuating mechanism drives first gear revolve, and first gear drives second gear, third gear and fourth gear revolve, and then drives and connect the bull stick and clear up the brush rotation, clears away the barrier of automobile body front side to both sides, avoids surmounting the wheel touching barrier for walking robot keeps on the exact shape orbit, avoids the user to constantly adjust the robot gesture, with the improvement measurement of efficiency and the degree of accuracy, the utility model has the advantages of reasonable design simply, convenient to use is swift, has very strong practicality.

Description

Robot walking in urban pipeline

Technical Field

The utility model relates to a pipeline measurement field specifically is a walking robot in urban pipeline.

Background

With the advance of municipal construction work in China, pipeline operation is advanced to standardization and systematization, a pipeline robot which is put into application at present is adaptive to a used pipeline, a large amount of pipeline operation is generated along with the development of an underground space, the conditions that the space is too small, the working environment is harmful to human bodies and the like occur along with the construction of an underground pipeline network, and the condition that the pipeline robot replaces people to carry out pipeline operation occurs in a large amount.

Because the inside barrier that appears of pipeline easily, for example some barriers such as small stone, plastic case, fine sand can hinder walking robot's operation, change walking robot's walking orbit for the user need constantly adjust walking robot's posture, has brought the inconvenience for the measurement, has reduced measuring efficiency and degree of accuracy.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a walking robot in urban duct has the function of removing obstacles to guarantee that walking robot's walking orbit is correct, avoid the user constantly to adjust the robot gesture, with the improvement measurement of efficiency and the degree of accuracy.

To achieve the above objective, the present invention provides the following technical solutions: a robot walking in an urban pipeline comprises a vehicle body, obstacle crossing wheels arranged on two sides of the vehicle body and a video acquisition device arranged on the top of the vehicle body, both sides of the head of the vehicle body are fixedly connected with fixing plates, the top of each fixing plate is fixedly connected with a gear box, the top of the gear box is provided with a driving mechanism, a first gear, a second gear, a third gear and a fourth gear which are meshed in sequence are arranged in the gear box, the output end of the driving mechanism penetrates through the inner cavity of the gear box and is fixedly connected with the first gear, the bottoms of the first gear, the second gear, the third gear and the fourth gear are fixedly connected with rotating shafts, the rotating shaft penetrates through the gear box and the fixed plate in sequence and extends to the bottom of the fixed plate, the bottom end of the rotating shaft is fixedly connected with a connecting rotating rod, the bottom of connecting the bull stick fixedly connected with clearance brush, the clearance brush is located the front side of hindering the wheel more.

Further, the utility model discloses in, the afterbody fixedly connected with couple of automobile body.

Further, the utility model discloses in, the head of automobile body is fixedly connected with baffle still, the baffle is located and hinders between wheel and the clearance brush more.

Further, the utility model discloses in, the width of baffle is greater than the width of automobile body.

Further, in the present invention, the driving mechanism is a servo motor, and the servo motor is of the type ECMA-E21320 RS.

Further, the utility model discloses in, the bottom of baffle is less than the bottom of clearance brush, the bottom of baffle is higher than the bottom of obstacle crossing wheel.

The beneficial effects are that the technical scheme of this application possesses following technological effect: the utility model discloses an actuating mechanism drives first gear revolve, and first gear drives second gear, third gear and fourth gear revolve, and then drives and connect the bull stick and clear up the brush rotation, clears away the barrier of automobile body front side to both sides, avoids surmounting the wheel touching barrier for walking robot keeps on the exact shape orbit, avoids the user to constantly adjust the robot gesture, with the improvement measurement of efficiency and the degree of accuracy, the utility model has the advantages of reasonable design simply, convenient to use is swift, has very strong practicality.

It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of the present disclosure unless such concepts are mutually inconsistent.

The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of the specific embodiments in accordance with the teachings of the present invention.

Drawings

The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:

fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic perspective view of another perspective of the present invention.

Fig. 3 is a perspective view of the local structure of the present invention.

In the figures, the meaning of the reference numerals is as follows: 1. a vehicle body; 2. obstacle crossing wheels; 3. a video capture device; 4. a fixing plate; 5. a gear case; 6. a drive mechanism; 7. a first gear; 8. a second gear; 9. a third gear; 10. a fourth gear; 11. connecting the rotating rod; 12. cleaning the brush; 13. hooking; 14. and a baffle plate.

Detailed Description

For a better understanding of the technical content of the present invention, specific embodiments are described below in conjunction with the accompanying drawings. In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any implementation. Additionally, some aspects of the present disclosure may be used alone or in any suitable combination with other aspects of the present disclosure.

Generally, a walking robot in an urban pipeline can avoid obstacles when meeting large obstacles, but some small obstacles cause the change of the track of the robot, which brings inconvenience to measurement, in order to clear away small obstacles which are easy to appear in front of the walking robot, such as small stones, plastic boxes, fine sands and other obstacles, the embodiment provides the walking robot in the urban pipeline, as shown in fig. 1-3, comprising a vehicle body 1, obstacle crossing wheels 2 arranged on two sides of the vehicle body 1 and a video acquisition device 3 arranged on the top of the vehicle body 1, in the prior art, the vehicle body 1, the obstacle crossing wheels 2 and the video acquisition device 3 are used in cooperation, so that the measurement function can be realized, and the description is omitted.

In order to remove small obstacles on the front side of the vehicle body 1 during measurement, fixing plates 4 are fixedly connected to two sides of the head of the vehicle body 1, a gear box 5 is fixedly connected to the top of the fixing plates 4, and a driving mechanism 6 is mounted on the top of the gear box 5. in the embodiment, the driving mechanism 6 is a servo motor, the type of the servo motor 6 is ECMA-E21320RS, a first gear 7, a second gear 8, a third gear 9 and a fourth gear 10 which are meshed in sequence are arranged in the gear box 5, the output end of the driving mechanism 6 penetrates through the inner cavity of the gear box 5 and is fixedly connected with the first gear 7, rotating shafts are fixedly connected to the bottoms of the first gear 7, the second gear 8, the third gear 9 and the fourth gear 10, the rotating shafts penetrate through the gear box 5 and the fixing plates 4 in sequence and extend to the bottom of the fixing plates 4, and are rotatably connected with the fixing plates, in order to guarantee the rotation that first gear 7, second gear 8, third gear 9 and fourth gear 10 can be stable, the bottom fixedly connected with of pivot connects bull stick 11, connects the bottom fixedly connected with clearance brush 12 of bull stick 11, and clearance brush 12 is located the front side of obstacle crossing wheel 2.

When using, when walking robot is when walking, open actuating mechanism 6, actuating mechanism 6's output drives first gear 7 and rotates, first gear 7 drives second gear 8, third gear 9 and fourth gear 10 rotate, first gear 7, second gear 8, third gear 9 and fourth gear 10 drive through the pivot and connect bull stick 11 and rotate, connect bull stick 11 and drive clearance brush 12, clearance brush 12 clears away automobile body 1 barrier to the both sides of automobile body 1, avoid surmounting wheel 2 striking barrier to lead to the condition that the skew appears in the route.

In order to avoid the cleaning brush 12 to clean the obstacle to the obstacle crossing wheel 2, in this embodiment, the head of the vehicle body 1 is further fixedly connected with a baffle 14, the baffle 14 is located between the obstacle crossing wheel 2 and the cleaning brush 12, the width of the baffle 14 is greater than that of the vehicle body 1, the bottom of the baffle 14 is lower than that of the cleaning brush 12, the bottom of the baffle 14 is higher than that of the obstacle crossing wheel 2, the baffle 14 can block the obstacle to avoid contacting with the obstacle crossing wheel 2, meanwhile, the cleaning brush 12 close to the baffle 14 can sweep the obstacle on the baffle 14 to avoid the obstacle from being accumulated on the baffle 14, meanwhile, the baffle 14 can also protect the vehicle body 1 to avoid the vehicle body 1 from being damaged, and the service life of the vehicle body 1 is prolonged.

In this embodiment, a hook 13 is fixedly connected to the tail of the vehicle body 1. Through the setting of couple 13, can the person of facilitating the use fix the stay cord on automobile body 1, and then the person of facilitating the use retrieves walking robot.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. The present invention is intended to cover by those skilled in the art various modifications and adaptations of the invention without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention is subject to the claims.

Claims

1. The utility model provides a walking robot in urban duct, includes automobile body (1), install obstacle crossing wheel (2) in automobile body (1) both sides and install video acquisition device (3) at automobile body (1) top, its characterized in that: the two sides of the head of the vehicle body (1) are fixedly connected with fixing plates (4), the top of each fixing plate (4) is fixedly connected with a gear box (5), a driving mechanism (6) is installed at the top of each gear box (5), a first gear (7), a second gear (8), a third gear (9) and a fourth gear (10) which are meshed in sequence are arranged in each gear box (5), the output end of each driving mechanism (6) penetrates through the inner cavity of each gear box (5) and is fixedly connected with the first gear (7), rotating shafts are fixedly connected at the bottoms of the first gear (7), the second gear (8), the third gear (9) and the fourth gear (10) and penetrate through the gear boxes (5) and the fixing plates (4) in sequence and extend to the bottoms of the fixing plates (4), and the bottom of each rotating shaft is fixedly connected with a connecting rotating rod (11), the bottom of the connecting rotating rod (11) is fixedly connected with a cleaning brush (12), and the cleaning brush (12) is located on the front side of the obstacle crossing wheel (2).

2. The urban pipeline walking robot of claim 1, wherein: the tail part of the vehicle body (1) is fixedly connected with a hook (13).

3. The urban pipeline walking robot of claim 1, wherein: the head of the vehicle body (1) is also fixedly connected with a baffle (14), and the baffle (14) is positioned between the obstacle crossing wheel (2) and the cleaning brush (12).

4. The urban pipeline walking robot of claim 3, wherein: the width of the baffle (14) is larger than that of the vehicle body (1).

5. The urban pipeline walking robot of claim 1, wherein: the driving mechanism (6) is a servo motor, and the type of the servo motor is ECMA-E21320 RS.

6. The urban pipeline walking robot of claim 4, wherein: the bottom of the baffle plate (14) is lower than the bottom of the cleaning brush (12), and the bottom of the baffle plate (14) is higher than the bottom of the obstacle crossing wheel (2).