CN216833997U

CN216833997U - Robot suspension system

Info

Publication number: CN216833997U
Application number: CN202121085107.2U
Authority: CN
Inventors: 饶虹; 何坚大; 叶锦润; 饶胜; 黄卫忠; 邓超雄; 黄清强; 黄艳雄; 周建恒; 叶云; 钟姮; 伍毅
Original assignee: Guangzhou City Drainage Co ltd
Current assignee: Guangzhou City Drainage Co ltd
Priority date: 2021-05-19
Filing date: 2021-05-19
Publication date: 2022-06-28
Anticipated expiration: 2031-05-19

Abstract

The utility model provides a suspension system of robot, including support frame and the articulated supporting beam of being connected with it, wherein the support frame is the font structure of falling V, a supporting beam is connected in the articulated respectively at support frame both ends, a supporting beam passes through U-shaped joint structure and track front-axle beam fixed connection, set up angle adjustment mechanism on two supporting beams, angle adjustment mechanism includes the telescopic link of being connected with a supporting beam is articulated, the tilting arm of being connected with the telescopic link other end is articulated, wherein the tilting arm is L font structure, the horizontal section of tilting arm is connected with a supporting beam is articulated, the vertical section of tilting arm is connected with the telescopic link is articulated, the horizontal section of tilting arm still with track front-axle beam fixed connection. The suspension system can control the telescopic rod to stretch and retract according to the pipe diameter of the sewage discharge pipeline, so that the included angle between the crawler and the machine body is controlled, and the crawler is attached to the inner wall of the pipeline. The dredging robot crawler belt using the suspension system is even in stress, the crawler belt is not easy to fall off in the advancing process, and the suspension system is suitable for sewage pipes and canal boxes with different wall surfaces.

Description

Robot suspension system

Technical Field

The utility model belongs to the technical field of the desilting robot is used in the clearance of urban drainage system and specifically relates to a robot suspension system is related to.

Background

The urban drainage system comprises a drainage pipe network, a channel box, a pump station and the like. In the maintenance of urban drainage systems, the dredging of the pipeline of a drainage pipe network is an important part, namely the dredging of the pipeline is carried out, the sludge in the pipeline is cleaned, and the long-term smoothness is kept. A large amount of sundries discharged from residents in the drainage pipeline and cement sand in the capital construction site are precipitated and deposited to cause the pipeline to be blocked. The regular cleaning of the drainage pipeline has extremely important significance for protecting the urban environment, avoiding pollution, maintaining the appearance of the city and improving the life quality of people.

Because the drainage pipe network is buried underground more, long-term, the dredging relies on the formula high pressure water shower nozzle of dragging to carry out the spary to the pipe network, and this kind of technique consuming time length is strong to pipe network wall harm. With the development of automatic control technology, the dredging robot participates in the dredging work of the drainage system more and more. However, because most of the existing dredging robots drive the caterpillar to be fixed below the suspension of the machine body and to be vertical to the machine body, the robot is only suitable for dredging the channel box with a plane bottom. The robot product with the driving crawler belt and the machine body forming a certain inclination angle is also continuously pushed out in two years, the crawler belt of the robot can be attached to the inner wall of the arc-shaped pipeline, the wall grabbing force of the crawler belt is enhanced, the robot is driven, and a certain type of the robot only corresponds to a sewage discharge pipe with a certain middle pipe diameter. However, due to the complexity of the municipal drainage pipe network, drain pipes with different pipe diameters are often generated in one region, and a ditch box and a pump station can be generated. According to conventional operation, only the multi-model dredging robots can be collected to participate in work, the operation is complex, equipment resources are consumed, and actual requirements cannot be met.

Therefore, the suspension system is developed, so that the track of the dredging robot and the machine body form different angles, and finally the track is attached to the pipe walls with different pipe diameters or the flat wall surface has great market prospect.

Disclosure of Invention

An object of the utility model is to research and develop a can be through the sewage pipes inner wall of the different pipe diameters of the track laminating that simply operates even desilting robot, or the robot suspension system of the ditch case that has level and smooth wall, concrete technical scheme is as follows:

the utility model provides a suspension system of robot, including support frame and the articulated supporting beam of being connected with it, wherein the support frame is the font structure of falling V, a supporting beam is connected in the articulated respectively at support frame both ends, a supporting beam passes through U-shaped joint structure and track front-axle beam fixed connection, set up angle adjustment mechanism between two supporting beams, angle adjustment mechanism includes the telescopic link of being connected with a supporting beam is articulated, the tilting arm of being connected with the telescopic link other end is articulated, wherein the tilting arm is L font structure, the horizontal section of tilting arm is connected with a supporting beam is articulated, the vertical section of tilting arm is connected with the telescopic link is articulated, the horizontal section of tilting arm still with track front-axle beam fixed connection. After the assembly is completed, the two support beams are respectively hinged to the fixed end of a telescopic rod while being fixedly connected with the front crawler beam, the movable ends of the two telescopic rods are hinged to the inclined arm, at the moment, the axial distance between the two support beams is fixed through the support frames, the extension or the shortening of the telescopic rods are controlled to drive the inclined arm to turn over, the other end of the inclined arm is fixed to the front crawler beam, the angle formed by the corresponding crawler and the machine body is changed, and the actual effect is that the crawler is attached to the inner wall of the sewage discharge pipeline. The telescopic rod can be controlled to stretch and retract according to the pipe diameter of the sewage discharge pipeline by the suspension, so that the included angle between the crawler and the machine body is controlled, and the crawler is finally attached to the inner wall of the target pipeline. The stress of the crawler belt is uniform in such a state, and the problem that the crawler belt falls off in the robot traveling process is not easy to occur. It is worth mentioning that the support frame is of an inverted V-shaped structure, so that the distance between the crawler belt and the machine body can be increased, and the overturning stroke of the crawler belt is further lengthened.

The utility model provides a suspension system of robot can realize under angle adjustment mechanism's the drive that the contained angle is from 0 degree to 72 degrees change stroke between two tracks, and the track changes the stroke with the vertical tangent plane contained angle of fuselage for 0 to 36 degrees promptly, and this kind of angle stroke change makes the robot of using this suspension system be fit for horizontal work scene such as pump station, ditch case promptly, is fit for the blow off pipe arc inner wall work scene of multiple different pipe diameters again.

Preferably, the supporting beam is of a circular tubular structure, first through holes matched with the outer diameter of the supporting beam are formed in two ends of the supporting frame, and the supporting beam penetrates through the first through holes and is hinged with the supporting frame. The circular tubular supporting beam is connected with the first through hole of the supporting frame, so that the suspension frame is simpler in structure, and more convenient to assemble due to the fact that a connecting piece is omitted. Meanwhile, the circular tubular supporting beam is simpler in structure when being hinged with the inclined arm, and the structure of the suspension system is integrally simplified. The articulated connection ensures that the two parts connected rotate about an axis with one stationary and the other, which advantageously assists the suspension system in effecting the rolling of the track.

Preferably, the transverse section of the inclined arm is provided with a second through hole matched with the outer diameter of the support beam, and the support beam penetrates through the second through hole to be connected with the inclined arm in an articulated mode. The support beam is inserted into the second through hole of the inclined arm, and the inclined arm takes the support beam as a support and turns around the support beam, so that the angle adjusting mechanism is simple in structure.

Preferably, the fixed end of the telescopic rod is hinged with the supporting beam through a pull ring sleeved on the supporting beam, and the pull ring comprises a sleeve hole sleeved with the supporting beam and a bolt hole hinged with the fixed end of the telescopic rod through a shaft pin. The equipment is convenient to assemble through sleeve hole sleeve connection and through hinge connection of the bolt hole and the shaft pin, and the flexibility of equipment disassembly and assembly is improved.

Preferably, two ends of the supporting beam are fixedly connected with two front beams of the track through two U-shaped clamping structures respectively, each U-shaped clamping structure comprises a clamping plate with 4 screw holes, and two U-shaped clamps detachably connected with the clamping plates through screws. The two ends of the supporting beam are fixedly connected with the front beams at the two ends of the track through the U-shaped clamping structures, so that the supporting beam and the front beam of the track can be fixed on the same plane, and the structure is more stable.

Preferably, the number of the supporting frames is at least two, and the supporting frames are hinged to the supporting beam in parallel. The more than two support frames and the two support beams enable the suspension system to integrally form a rectangular structure, and stability of the system is improved.

Preferably, the organism mounting frame is fixedly arranged in the middle of the supporting frame and connected with the organism connecting frame. The robot body matched with the suspension system is provided with a body connecting frame, the body connecting frame is used as an attachment frame for other components such as a shell, a controller and the like in the body connecting frame, and the body on the suspension can be simply replaced through a body connecting piece. This makes the robot suspension system compatibility strong, and the maintenance is changed more portably.

Preferably, the telescopic rod is a hydraulic telescopic rod. The flexible thrust of hydraulic telescoping rod is stronger, is fit for the use of different weight model robots, as long as pass through the hydraulic pressure union coupling at the pneumatic cylinder both ends of hydraulic stem and hydraulic controller when using the hydraulic stem can, hydraulic system is common power pack on the desilting robot, directly uses the compatibility that increases suspension system.

Preferably, the horizontal section of tilting arm passes through front beam fixed plate and track front beam fixed connection, and front beam fixed plate welded fastening is between 2 track front beams for the thrust of tilting arm conduction is used in the track uniformly, and angle adjustment's process is more smooth and easy, and overall structure is more stable.

The utility model has the advantages that: the utility model provides a robot suspension system can be according to the flexible length of sewage pipes's pipe diameter control telescopic link, and then the contained angle of control track and fuselage, finally realizes the inner wall of track laminating target pipeline. The stress of the crawler belt is uniform in such a state, and the problem that the crawler belt falls off in the robot traveling process is not easy to occur. The robot just can easily deal with the desilting demand that appears different pipe diameters blow off pipe in the same region after having used this kind of suspension system, and need not to carry different model robots. And the whole structure of the suspension system is simplified, the compatibility is strong, and the operation and the maintenance are simpler.

Drawings

Fig. 1 is a schematic structural diagram of a robot suspension system according to the present invention;

fig. 2 is an exploded view of a part of a robot suspension system according to the present invention;

fig. 3 is a component exploded view of a robot suspension system according to the present invention;

fig. 4 is the state diagram of the utility model relates to a robot suspension system angle adjustment mechanism after driving the track upset.

Detailed Description

Other advantages and effects of the present invention will become apparent to those skilled in the art from the following description, which is made for the purpose of illustrating the embodiments of the present invention by way of specific examples and with reference to the accompanying drawings. The present invention can be implemented or applied by other different embodiments, and various details in the present specification can be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention.

The utility model provides a robot suspension system, this system have following structural feature:

as shown in fig. 1 to 4, the suspension system of the robot includes a support frame 001 and a support beam 002 hinged thereto, wherein the supporting frame 001 is in an inverted V-shaped structure, two ends of the supporting frame 001 are respectively hinged with a supporting beam 002, the supporting beam 002 is fixedly connected with a front crawler beam 004 through a U-shaped clamping structure 003, an angle adjusting mechanism 005 is arranged between the two supporting beams 002, the angle adjusting mechanism 005 comprises a telescopic rod 0051 with one end hinged with the supporting beam 002 and an inclined arm 0052 hinged with the other end of the telescopic rod 0051, wherein the arm 0052 is L font structure, and the horizontal section and a supporting beam 002 of arm 0052 are articulated to be connected, and the vertical section of arm 052 upwards stretches out and is articulated with telescopic link 0051 other end to be connected, and the horizontal section and the track front-axle beam 004 fixed connection of arm 0052 are fixed on the angle adjustment mechanism and are equipped with the organism mounting bracket, and angle adjustment mechanism is used for adjusting the contained angle between track front-axle beam and the organism mounting bracket.

Further, supporting beam 002 is circular tubular structure, and support frame 001 both ends are provided with the first through-hole 006 that matches with supporting beam 002 external diameter, and supporting beam 002 passes first through-hole 006 and is connected with support frame 001 is articulated.

Further, a second through hole 0061 matched with the outer diameter of the support beam 002 is arranged in the middle of the tilting arm 0052, and the support beam 002 passes through the second through hole 0061 to be connected with the tilting arm 0052 in a hinged manner.

Further, telescopic link 0051 stiff end is connected with a supporting beam 002 through cup jointing pull ring 007 on a supporting beam 002 is articulated, and pull ring 007 includes trepanning 0062 that cup joints with a supporting beam 002 and passes through pivot 0071 articulated keyhole 0072 with telescopic link 0051 stiff end.

Further, the telescopic link 0051 is a hydraulic telescopic link.

Further, a supporting beam 002 both ends are respectively through two U-shaped joint structures 003 and two track front beam 004 fixed connection, and U-shaped joint structure 003 is including cardboard 0031 that has 4 screw, and can dismantle two U-shaped cards 0032 of being connected through the screw with cardboard 0031.

Further, there are at least two supporting frames 001, and they are hinged to the supporting beam 002 in parallel.

Further, an organism mounting frame 008 is fixedly installed in the middle of the supporting frame 001, and is connected with a body connection frame (a robot body component, not shown). The angle adjusting mechanism 005 drives the caterpillar to turn over, and then the maximum included angle A between the caterpillar and the vertical tangent plane of the robot body is 36 degrees.

Further, a lateral section of the tilting arm 0052 is fixedly connected with the track front beam 004 through the front beam fixing plate 009.

It should be understood that the terms "first", "second", etc. are used herein to describe various information, but the information should not be limited to these terms, and these terms are only used to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit the scope of the present invention, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. The utility model provides a robot suspension system, its characterized in that, suspension system includes support frame and the articulated supporting beam who is connected with it, and wherein the support frame is for falling V font structure, and a supporting beam is connected in the articulated respectively at support frame both ends, and a supporting beam passes through U-shaped joint structure and track front-axle beam fixed connection, sets up angle adjustment mechanism between two supporting beams, and angle adjustment mechanism includes the telescopic link of being connected with a supporting beam is articulated, the articulated tilting arm that connects of the telescopic link other end, the tilting arm is L font structure, and the horizontal section of tilting arm is connected with a supporting beam is articulated, and the vertical section and the telescopic link of tilting arm are articulated to be connected, and the horizontal section of tilting arm still with track front-axle beam fixed connection.

2. A robot suspension system according to claim 1, wherein the support beam is a circular tubular structure, and the support frame is provided at both ends thereof with first through holes matching with the outer diameter of the support beam, and the support beam passes through the first through holes and is hingedly connected to the support frame.

3. A robot suspension system according to claim 2, characterized in that the transverse section of the tilting arm is provided with a second through hole matching the outer diameter of the support beam, through which the support beam is hingedly connected to the tilting arm.

4. The suspension system of claim 2, wherein the fixed end of the telescoping rod is pivotally connected to the support beam by a pull ring that is received on the support beam, the pull ring including a receiving hole that is received in the support beam and a bolt hole that is pivotally connected to the fixed end of the telescoping rod by a pivot pin.

5. The suspension system of claim 2, wherein the two ends of the support beam are respectively and fixedly connected with the two front track beams through two U-shaped clamping structures, each U-shaped clamping structure comprises a clamping plate with 4 screw holes and two U-shaped clamps detachably connected with the clamping plates through screws.

6. A robot suspension system according to claim 1, wherein said at least two support frames are hinged to said support beam in parallel.

7. The suspension system of claim 1, wherein the body mount is fixedly mounted to the middle of the support frame and coupled to the body mount.

8. A robot suspension system according to claim 1, wherein the telescopic rod is a hydraulic telescopic rod.

9. A robot suspension system according to claim 1, wherein the transverse section of the tilting arm is fixedly connected to the front track beam by a front beam fixing plate.