CN2859502Y - Calibrated sampling robot for central air-conditioning wind pipe - Google Patents
Calibrated sampling robot for central air-conditioning wind pipe Download PDFInfo
- Publication number
- CN2859502Y CN2859502Y CN 200520052464 CN200520052464U CN2859502Y CN 2859502 Y CN2859502 Y CN 2859502Y CN 200520052464 CN200520052464 CN 200520052464 CN 200520052464 U CN200520052464 U CN 200520052464U CN 2859502 Y CN2859502 Y CN 2859502Y
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- driving
- scraper plate
- driving circuit
- circuit
- drive motor
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Abstract
A quantitative sampling robot that is suit for sampling in central air conditioner pipeline. Its major structure is : the auto body with walking pedrail at both sides has on board quantitative sampling device which is linked with elevator and has a sampling area of 50cm<2>-200cm<2>. CCD camera and illuminating lamp are installed on the upper body , can move upward and downward,turn left side and right side, all working processes may be controled by notebook. This device is charactered in that which has good sampling effect, stable performance and convenient operating ,simple and compact structure while its weight is light, has high sampling accuracy and is convenient to carry with and can be controlled with notebook,can perform duty such as camera shot,etc.
Description
Technical field
The utility model relates to a kind of quantitative sampling machine people who is used for the central air conditioner airduct.
Background technology
At present, both at home and abroad central air conditioning wind pipe is carried out sampling before and after the cleaning and sterilizing, mostly be manual sampling, because hand sampling is random big, and section of tubing can't gather sample, causes sampled result inaccurate.
The utility model content
The technical problems to be solved in the utility model is, there is defective at prior art, design a kind of quantitative sampling machine people who is used for the central air conditioner airduct, its available notebook computer is controlled, its quantitative sampling stable performance and accuracy height, has camera function, simple to operate, high efficiency, in light weight, easy to carry.
Technical solution of the present utility model is, it is the vehicle body of traveling crawler that the described quantitative sampling machine people who is used for the central air conditioner airduct has both sides, the wheel beam warp one conical gear pair that each skidding is walked the crawler driving whell that is connected with its inner ring one end in the crawler belt circle spool is connected with the track drive motor, a vertical pivot is equipped with at vehicle body end face rear portion, a support is equipped with in this vertical pivot upper end, shooting and the two side ends of lighting lamphouse are hinged on the corresponding two upright arms of described support respectively and one end jointed shaft spool being connected through the same reclining driving motor of a gear driving pair, the axle of the same left rotation and right rotation driving motor of lower end one gear driving pair of described vertical pivot connects, camera and illuminating lamp are equipped with in the front of described shooting and lighting lamphouse, its design feature is, be provided with the quantitative sampling device that same vertical lifting mechanism is connected in the space between the traveling crawler of described body forward structure both sides, this device has a pedestal, it is uncovered scraper plate chamber that there is a bottom front portion of described pedestal, be contained in that both sides, scraper plate back in this scraper plate chamber connect with the front end of corresponding screw rod respectively and described screw in being fixed in the nut of vehicle body and its rear end be connected with the axle of corresponding screw drive motor; Front portion, described scraper plate chamber is connected with an ash bucket, a side of the described relatively scraper plate of this ash bucket for opening and its upper cover have scraping blade, corresponding magnet is housed on described scraping blade and the scraper plate.
Make below in conjunction with accompanying drawing and to further specify.
Referring to Fig. 1 and Fig. 2, it is the vehicle body of traveling crawler 5 that the utility model has both sides, and as shown in Figure 6, the wheel beam warp one conical gear pair 29 that each skidding is walked the crawler driving whell 6 that is connected with its inner ring one end in crawler belt 5 circle spool is connected with track drive motor 27; As Fig. 1,3, shown in 6, a vertical pivot 50 is equipped with at vehicle body end face rear portion, a support 1 is equipped with in these vertical pivot 50 upper ends, shooting and the two side ends of lighting lamphouse 51 are hinged on the corresponding two upright arms of described support 1 respectively and one end jointed shaft spool being connected through a gear driving pair 11 same reclining driving motors 12, the lower end of described vertical pivot 50 (referring to Fig. 4) connects through the axle of a gear driving pair 13 same left rotation and right rotation driving motors 14, camera 9 and illuminating lamp 10 are equipped with in the front of described shooting and lighting lamphouse 51, its design feature is, be provided with the quantitative sampling device that same vertical lifting mechanism is connected in the space between the described body forward structure both sides traveling crawler 5, referring to Fig. 1,2,3,4,5, this device has a pedestal 32, it is uncovered scraper plate chamber 33 that there is a bottom front portion of described pedestal 32, is contained in that both sides, scraper plate 8 back in this scraper plate chamber 33 connect with the front end of corresponding screw rod 26 respectively and described screw rod 26 is contained in the nut 22 that is fixed in pedestal 32 and its rear end is connected with the axle of corresponding screw drive motor 23; 33 front portions, described scraper plate chamber are connected with an ash bucket 31, a side of the described relatively scraper plate 8 of this ash bucket 31 for opening and its upper cover have scraping blade 24, corresponding magnet is housed on described scraping blade 24 and the scraper plate 8.
Referring to Fig. 1 and Fig. 5, a kind of structure of described vertical lifting mechanism is, the lower end of vertical screw 15 is fixedly connected with the top of pedestal 32, this vertical screw 15 is meshed with perforation in the middle part that is contained in a sprocket wheel 117 on the vehicle body, this sprocket wheel 117 connects with another sprocket wheel 17 through chain 18, and this sprocket wheel 17 is connected with the axle of drive motor 21; Also be provided with the vertical operation guiding mechanism of forming by guide pole 19 and the guide groove 20 that pulley is housed between described pedestal 32 and the vehicle body.
Machine work principle of the present utility model is (referring to Fig. 1 to Fig. 6), starting 27 in track drive motor shown in Figure 6 drives described crawler driving whell 6 through conical gear secondary 29 and rotates, thereby drive crawler belt 5 runnings and realize the car body walking, described track drive the motor 27 synchronous or asynchronous rotations of control both sides, then can realize the advancing of car body, retreat, about turn to and stop; The crawler belt that adopts rubber to make makes car body have extremely strong adhesion, can creep the heavy grade inclined-plane and stop upright thereon; Shown in Fig. 3,4, start reclining driving motor 12, then shooting and lighting lamphouse 51 can carry out with respect to the horizontal plane bow, face upward operation; Start left rotation and right rotation driving motor 14, this is made a video recording carry out left and right deflection in lighting lamphouse 51, thereby make camera 9 can do very with great visual angle scanning, illuminating lamp 10 provides light source for camera 9; And for example shown in Fig. 1,5, described vertical lifting mechanism raises up built on stilts (pipeline bottom surface) with described quantitative sampling device, start screw drive motor 23, then screw rod 26 is done the forward and backward to-and-fro movement of horizontal direction in nut 22, it is at first pushed scraper plate 8 to be positioned at the scraping blade 24 of ash bucket 31 ports and by the adhesive effect of described permanent magnet this scraping blade 24 is held, and screw rod 26 commutation rotations drive scraping blades 24 and retreat to the left-hand portion in scraper plate chamber 33 then; Restart vertical lifting mechanism the bottom port (uncovered) that described quantitative sampling device is lowered into scraper plate chamber 33 is touched the bottom surface, then start screw drive motor 23, screw rod 26 closes scraper plate 8 its anterior scraping blade 24 again and pushes ash bucket 31 to, the dust of the particular area on the ground that scraping blade 24 is relative with 33 bottoms, scraper plate chamber in this operational process (pipeline bottom surface) sweeps, push in the ash bucket 31, realize quantitative sampling; The scraping blade 24 this moment capping ash inlet of ash bucket 31 more just in time, vertical lifting mechanism is mentioned described quantitative sampling device once more, handles dolly and releases pipeline, takes out ash bucket 31, promptly finishes sampling.
The composition of notebook computer long-distance intelligent control circuit of the present utility model is (referring to Fig. 8), the signal input part that the output of the serial ports of notebook computer 34 is connected to single-chip microcomputer 37 through first level shifting circuit 35 and second level shifting circuit 36 of interface circuit successively, the corresponding control signal output terminal of described single-chip microcomputer 37 is respectively with the driving circuit 46 of two-way track drive motor 27,47, the driving circuit 45 of left rotation and right rotation motor and reclining driving motor 12, the driving circuit 44 of screw drive motor 23 and drive motor 21, the driving circuit 40 of illuminating lamp 10,41, the control utmost point of the driving circuit 42 of video frequency collection card 43 connects, 12V power circuit 39 provides working power and to illuminating lamp driving circuit 40 through Voltage stabilizing module 38 to single- chip microcomputer 37,41 and video frequency collection card driving circuit 42 working power is provided, the signal connection end of video frequency collection card 43 is connected with camera 9 the corresponding interface with notebook computer 34 respectively, 24V power circuit 48 is to the driving circuit 46 of described track drive motor 27,47 power supplies, the driving loop of described each driving circuit is connected with corresponding motor power end.
As known from the above, the utility model is a kind of quantitative sampling machine people who is used for the central air conditioner airduct, available notebook computer is controlled the sampling before and after the pipe-line purging that is suitable for central air conditioner system, it is stable, easy to operate to have described multi-functional and effective, equipment performance, the sampling precision height, efficient height, simple and compact structure, characteristics such as in light weight, easy to carry are got grey area and are reached 50～200 square centimeters, the 55 ° of slopes of can ascending, obstacle clearing capability can reach 4.5cm.
Description of drawings
Fig. 1 is the car body side-looking structural representation (band broken section) of a kind of embodiment of the utility model;
Fig. 2 is the plan structure synoptic diagram of car body shown in Figure 1;
Fig. 3 is the right TV structure synoptic diagram of car body shown in Figure 1;
Fig. 4 is the structural representation of a kind of embodiment rotary drive mechanism of shooting and lighting lamphouse;
Fig. 5 is vertical lifting mechanism in the car body shown in Figure 1 and a kind of example structure synoptic diagram of quantitative sampling device;
Fig. 6 is a kind of example structure synoptic diagram of track driving mechanism;
Fig. 7 is a kind of example structure synoptic diagram of sampling mechanism;
Fig. 8 is the control circuit block diagram;
Fig. 9 is the serial communication circuit figure among Fig. 8;
Figure 10 is the single chip machine controlling circuit among Fig. 8;
Figure 11 is the practical circuit diagram of driving circuit among Fig. 8.
In the accompanying drawings:
The 1-support, the 4-side plate, the 5-traveling crawler,
The 6-crawler driving whell, 7-cable plug, the 8-scraper plate,
The 9-camera, the 10-illuminating lamp, the 11-gear driving pair,
12-reclining driving motor, the 13-gear driving pair, 14-left rotation and right rotation driving motor,
The 15-vertical screw, 17, the 117-sprocket wheel, the 18-chain,
The 19-guide pole, the 20-guide groove, the 21-drive motor,
The 22-nut, the 23-screw drive motor, the 24-scraping blade,
The 25-screw rod, the 26-screw rod, 27-track drive motor,
28-motor case, 29-conical gear pair, the 30-bearing holder (housing, cover),
The 31-ash bucket, the 32-pedestal, 33-scraper plate chamber,
The 34-notebook computer, 35-first level shifting circuit, 36-second level shifting circuit,
The 37-single-chip microcomputer, the 38-Voltage stabilizing module, the 39-12V power circuit,
The 40-driving circuit, the 41-driving circuit, the 42-driving circuit,
The 43-video frequency collection card, the 44-driving circuit, the 45-driving circuit,
The 46-driving circuit, the 47-driving circuit, the 48-24V power circuit,
The 50-vertical pivot, 51-shooting and lighting lamphouse.
Embodiment
According to the utility model sampling robot that Fig. 1 to Fig. 6 closes and states structure, the uncovered area in 33 bottoms, scraper plate chamber in the pedestal 32 shown in Figure 5 is 50cm
2～200cm
2, the relevant technologies parameter has:
1, the quantitative sampling area is: 50～200 square centimeters, and as 50 square centimeters of (7cm * 7.15cm).
2, physical dimension: 310 * 220 * 160cm.
3, drive part index: obstacle clearing capability: 4cm; Climbing capacity: 45 ° (smooth iron plate); Load-carrying: 40kg.
4, monitor portion index: camera: 480 everything elements; 360 ° of camera left rotation and right rotation, Rotate 180 ° up and down.
As shown in Figure 1, traveling crawler 5 adopts the rubber of great friction coefficient to make, and adopts the separately-driven structure of both sides crawler belt, promptly in the zone circle space of each side crawler belt 5 drive motor is set, and its bearing holder (housing, cover) transmission one conical gear is connected with the wheel conical gear; Illuminating lamp 10 adopts Halogen lamp LED, and camera 9 adopts the high definition product.
Fig. 8 is complete machine control and a kind of circuit block diagram that drives.This scheme adopts notebook computer control, has the operating platform of intellectuality, robotization and software implementation, and device volume is little, flexible and convenient to use, and walking, cleaning accurate positioning, shooting and video recording are in time convenient, can directly generate video files.
Fig. 9,10, the 11st, the practical circuit diagram of block diagram shown in Figure 8.
Among Figure 10, the instruction after the J1 output conversion, J2 connects the serial ports of notebook computer (host computer).
Sampler is the level shifting circuit 35,36 in the circuit block diagram 8, is made up of U4, R1 in Fig. 9.Signal is input to the single-chip microcomputer 37 (slave computer) in the circuit block diagram 8, just is U3 in circuit diagram 9.C3 among Fig. 9, C4, Y1, U2, JR1, JR2, JR3 are the SCM peripheral elements, C3, C4, Y1 provide time clock to single-chip microcomputer, JR1, JR2, JR3 are the single-chip microcomputer pull-up resistors, wherein U2 is that its program of being mainly used in of watchdog chip produces look-at-me when makeing mistakes and can stop everything, during recovery from interruptions.U5 among Fig. 9, U1 are two chip for driving, and J1, J2 are drive signal stand output terminals.
Video frequency collection card directly is inserted on the notebook computer just passable.
Figure 10,11 is respectively the actual track figure of single chip machine controlling circuit and driving circuit.
Claims (4)
1, a kind of quantitative sampling machine people who is used for the central air conditioner airduct, it is the vehicle body of traveling crawler (5) that both sides are arranged, and the wheel beam warp one conical gear pair (29) that each skidding is walked the crawler driving whell (6) that is connected with its inner ring one end in crawler belt (5) circle spool is connected with track drive motor (27); A vertical pivot (50) is equipped with at vehicle body end face rear portion, a support (1) is equipped with in this vertical pivot (50) upper end, shooting and the two side ends of lighting lamphouse (51) are hinged on the corresponding two upright arms of described support (1) respectively and one end jointed shaft spool being connected through the same reclining driving motor of a gear driving pair (11) (12), the axle of the same left rotation and right rotation driving motor of lower end one gear driving pair (13) (14) of described vertical pivot (50) connects, camera (9) and illuminating lamp (10) are equipped with in the front of described shooting and lighting lamphouse (51), it is characterized in that, be provided with the quantitative sampling device that same vertical lifting mechanism is connected in the space between the described body forward structure both sides traveling crawlers (5), this device has a pedestal (32), it is uncovered scraper plate chamber (33) that there is a bottom front portion of described pedestal (32), is contained in that scraper plate (8) both sides, back in this scraper plate chamber (33) connect with the front end of corresponding screw rod (26) respectively and described screw rod (26) is contained in the nut (22) that is fixed in pedestal (32) and its rear end is connected with the axle of corresponding screw drive motor (23); Front portion, described scraper plate chamber (33) is connected with an ash bucket (31), a side of the described relatively scraper plate of this ash bucket (31) (8) for opening and its upper cover have scraping blade (24), corresponding magnet is housed on described scraping blade (24) and the scraper plate (8).
2, according to the described quantitative sampling machine people who is used for the central air conditioner airduct of claim 1, it is characterized in that, the structure of described vertical lifting mechanism is, the top of the same pedestal in lower end (32) of vertical screw (15) is fixedly connected, this vertical screw (15) is meshed with perforation in the middle part that is contained in the sprocket wheel (117) on the vehicle body, this sprocket wheel (117) connects with another sprocket wheel (17) through chain (18), and the axle of the same drive motor of this sprocket wheel (17) (21) is connected.
3, according to the described quantitative sampling machine people who is used for the central air conditioner airduct of claim 1, it is characterized in that, shown in the uncovered area in bottom, scraper plate chamber (33) in the pedestal (32) be 50cm
2～200cm
2
4, according to the described quantitative sampling machine people who is used for the central air conditioner airduct of claim 1, it is characterized in that, the signal input part that the output of the serial ports of notebook computer (34) is connected to single-chip microcomputer (37) through first level shifting circuit (35) and second level shifting circuit (36) of interface circuit successively, the corresponding control signal output terminal of described single-chip microcomputer (37) is respectively with the driving circuit (46 of two-way track drive motor (27), 47), the driving circuit (45) of left rotation and right rotation motor and reclining driving motor (12), the driving circuit (44) of screw drive motor (23) and drive motor (21), the driving circuit (40 of illuminating lamp (10), 41), the control utmost point of the driving circuit (42) of video frequency collection card (43) connects, 12V power circuit (39) provides working power and to illuminating lamp driving circuit (40 through Voltage stabilizing module (38) to single-chip microcomputer (37), 41) and video frequency collection card driving circuit (42) working power is provided, the same respectively camera of the signal connection end of video frequency collection card (43) (9) is connected with the corresponding interface of notebook computer (34), 24V power circuit (48) is to the driving circuit (46 of described track drive motor (27), 47) power supply, the driving loop of described each driving circuit is connected with corresponding motor power end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520052464 CN2859502Y (en) | 2005-11-16 | 2005-11-16 | Calibrated sampling robot for central air-conditioning wind pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520052464 CN2859502Y (en) | 2005-11-16 | 2005-11-16 | Calibrated sampling robot for central air-conditioning wind pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2859502Y true CN2859502Y (en) | 2007-01-17 |
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ID=37612361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520052464 Expired - Lifetime CN2859502Y (en) | 2005-11-16 | 2005-11-16 | Calibrated sampling robot for central air-conditioning wind pipe |
Country Status (1)
| Country | Link |
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| CN (1) | CN2859502Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101893524A (en) * | 2010-06-09 | 2010-11-24 | 雷学军 | Air duct intelligent identifying, detecting and sampling robot |
| CN101614624B (en) * | 2009-06-19 | 2011-09-14 | 雷学军 | Quantitative sampling robot suitable for multiple environments |
| CN103028580A (en) * | 2012-12-04 | 2013-04-10 | 吕亮霞 | Intelligent pipeline cleaner |
| CN103196005A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Pipe exploration robot based on real-time image transmission system |
| CN106931274A (en) * | 2017-04-23 | 2017-07-07 | 诸暨市合纵科技有限公司 | A kind of pipe robot for being easily installed camera |
| CN110470578A (en) * | 2018-05-09 | 2019-11-19 | 郑州科技学院 | A kind of intelligent measurement robot system |
-
2005
- 2005-11-16 CN CN 200520052464 patent/CN2859502Y/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101614624B (en) * | 2009-06-19 | 2011-09-14 | 雷学军 | Quantitative sampling robot suitable for multiple environments |
| CN101893524A (en) * | 2010-06-09 | 2010-11-24 | 雷学军 | Air duct intelligent identifying, detecting and sampling robot |
| CN101893524B (en) * | 2010-06-09 | 2011-09-28 | 雷学军 | Air duct intelligent identifying, detecting and sampling robot |
| CN103028580A (en) * | 2012-12-04 | 2013-04-10 | 吕亮霞 | Intelligent pipeline cleaner |
| CN103196005A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Pipe exploration robot based on real-time image transmission system |
| CN106931274A (en) * | 2017-04-23 | 2017-07-07 | 诸暨市合纵科技有限公司 | A kind of pipe robot for being easily installed camera |
| CN106931274B (en) * | 2017-04-23 | 2018-08-21 | 诸暨市合纵科技有限公司 | A kind of pipe robot being easily installed camera |
| CN110470578A (en) * | 2018-05-09 | 2019-11-19 | 郑州科技学院 | A kind of intelligent measurement robot system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Jin Yinlong Inventor after: Lei Xuejun Inventor before: Lei Xuejun |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: LEI XUEJUN TO: JIN YINLONG; LEI XUEJUN |
|
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20091209 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |