CN106003082A - Environment-friendly large-area sewage purification robot - Google Patents
Environment-friendly large-area sewage purification robot Download PDFInfo
- Publication number
- CN106003082A CN106003082A CN201610471767.1A CN201610471767A CN106003082A CN 106003082 A CN106003082 A CN 106003082A CN 201610471767 A CN201610471767 A CN 201610471767A CN 106003082 A CN106003082 A CN 106003082A
- Authority
- CN
- China
- Prior art keywords
- walking
- fixed
- feeds intake
- support
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000010865 sewage Substances 0.000 title claims abstract description 26
- 238000000746 purification Methods 0.000 title claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 230000006835 compression Effects 0.000 claims description 39
- 238000007906 compression Methods 0.000 claims description 39
- 230000033228 biological regulation Effects 0.000 claims description 34
- 230000033001 locomotion Effects 0.000 claims description 33
- 239000000463 material Substances 0.000 claims description 27
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 26
- 235000021050 feed intake Nutrition 0.000 claims description 22
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 230000007704 transition Effects 0.000 claims description 15
- 230000006698 induction Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 241000276425 Xiphophorus maculatus Species 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000009194 climbing Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 239000004744 fabric Substances 0.000 claims 1
- 210000003437 trachea Anatomy 0.000 claims 1
- 230000000694 effects Effects 0.000 description 15
- 239000000126 substance Substances 0.000 description 13
- 238000000034 method Methods 0.000 description 8
- 230000006872 improvement Effects 0.000 description 7
- 238000013519 translation Methods 0.000 description 5
- 230000014616 translation Effects 0.000 description 5
- 239000003643 water by type Substances 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 4
- 239000008187 granular material Substances 0.000 description 4
- 239000000843 powder Substances 0.000 description 4
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 description 3
- LYCAIKOWRPUZTN-UHFFFAOYSA-N Ethylene glycol Chemical compound OCCO LYCAIKOWRPUZTN-UHFFFAOYSA-N 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 239000003651 drinking water Substances 0.000 description 3
- 235000020188 drinking water Nutrition 0.000 description 3
- 229940079593 drug Drugs 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 239000002574 poison Substances 0.000 description 3
- 231100000614 poison Toxicity 0.000 description 3
- 241000282326 Felis catus Species 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000001301 oxygen Substances 0.000 description 2
- 229910052760 oxygen Inorganic materials 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- SCYULBFZEHDVBN-UHFFFAOYSA-N 1,1-Dichloroethane Chemical class CC(Cl)Cl SCYULBFZEHDVBN-UHFFFAOYSA-N 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- LSDPWZHWYPCBBB-UHFFFAOYSA-N Methanethiol Chemical compound SC LSDPWZHWYPCBBB-UHFFFAOYSA-N 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000003513 alkali Substances 0.000 description 1
- 229910052785 arsenic Inorganic materials 0.000 description 1
- RQNWIZPPADIBDY-UHFFFAOYSA-N arsenic atom Chemical compound [As] RQNWIZPPADIBDY-UHFFFAOYSA-N 0.000 description 1
- 238000011953 bioanalysis Methods 0.000 description 1
- 229910052793 cadmium Inorganic materials 0.000 description 1
- BDOSMKKIYDKNTQ-UHFFFAOYSA-N cadmium atom Chemical compound [Cd] BDOSMKKIYDKNTQ-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000029087 digestion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 1
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 239000007800 oxidant agent Substances 0.000 description 1
- 230000001590 oxidative effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Water Supply & Treatment (AREA)
- Chemical & Material Sciences (AREA)
- Organic Chemistry (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention relates to an environment-friendly large-area sewage purification robot. The environment-friendly large-area sewage purification robot comprises a land traveling device, water traveling devices, a lifting device, a delta parallel mechanism and a feeding device. The water traveling devices are located on the left side and the right side of the land traveling device correspondingly. The lifting device is located over the land traveling device, and the lower end of the lifting device is connected with the upper end of the land traveling device. The lower end of the delta parallel mechanism is connected with the lifting device, and the upper end of the delta parallel mechanism is connected with the feeding device. The environment-friendly large-area sewage purification robot has a land traveling function, a water traveling function, a direction and angle adjustment function and charging and feeding functions; automatic feeding for sewage purification can be achieved in the sewage treatment and purification process; in addition, the intelligentization degree is high, adjustment of the direction and angle is convenient and flexible, the feeding speed is high, and the feeding distance is long; and the problems that according to existing manual feeding by ship, the workload is large, the risk is high, and the efficiency is low are solved, and water resources are effectively protected.
Description
Technical field
The present invention relates to technical field of sewage, specifically one large area sewage purification environment-friendly type robot.
Background technology
It is to be caused the use value of water reduce or lose by harmful chemical that water pollutes, and pollutes the water of environment, contains in sewage
The organic poisons such as the compound such as acid, alkali, oxidant and copper, cadmium, hydrargyrum, arsenic and benzene, dichloroethanes, ethylene glycol, can poison with poison
Aquatile, affects drinking water source, scenic spot view；The oxygen in water, shadow is consumed when Organic substance in sewage is decomposed by the microorganisms
Ringing hydrobiological life, after oxygen in water exhausts, Organic substance carries out anaerobic digestion, produces the unpleasant gas such as hydrogen sulfide, mercaptan
Body, makes water quality deteriorate further.China is that a shortage of water resources, water disaster are the most national, and gross amount of water resources occupies the world
Six, occupancy volume per person only has 2500 cubic metres, about the 1/4 of world's water yield per capita, arranges the 110th in the world, is joined
Close state and be classified as one of 13 poor-water countries；For many years, water resources in china quality constantly declines, and water environment is continuous worsening, due to dirt
Hydropenia and accident that dye is caused constantly occur, and not only make plant downtime, the agricultural underproduction even have no harvest, and cause bad
Social influence and bigger economic loss, seriously threatened the sustainable development of society, threatened the existence of the mankind.
Method for waste water control has Physical, chemical method and bioanalysis at present, and wherein chemical method administers sewage is exactly to sewage
Middle input chemicals, utilizes chemical reaction or physics chemical action to purify sewage, at present for reservoir, lake, river, pond
It is all artificial input chemicals in sewage by ship that the chemical method on the ground such as the pool purifies the mode of sewage, the most not only occupies a large amount of
Labour force, it is low to throw in efficiency, and has certain danger.In consideration of it, it is clean to the invention provides a kind of large area sewage
Change environment-friendly type robot.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of large area sewage purification environment-friendly type robot.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of large area sewage purification environment-friendly type robot, including land walking device, water surface running gear, lowering or hoisting gear, delta
Parallel institution and charging device；Described water surface running gear quantity is two, and water surface running gear lays respectively at land walking dress
The left and right sides put, water surface running gear is connected with land walking device, and lowering or hoisting gear is positioned at directly over land walking device,
And lowering or hoisting gear lower end is connected with land walking device upper end, delta parallel institution between lowering or hoisting gear and charging device,
And delta parallel institution lower end is connected with lowering or hoisting gear, delta parallel institution upper end is connected with charging device.
As a further improvement on the present invention, described land walking device includes chassis, drives motor, drive shaft, treads
Wheel, tight locking button and traveling crawler, and drive the quantity of motor, tight locking button and traveling crawler to be two, drive shaft and walking belt wheel
Quantity is four；Described chassis is in rectangular configuration, and the left and right sides, chassis offers U-type groove respectively, and rear and front end, chassis is opened respectively
It is provided with mounting groove, drives motor to be separately fixed at before and after chassis in the mounting groove of both sides, and drive motor to use Biaxial synchronous output
Motor, drive shaft one end with drive motor output shaft be connected, the drive shaft other end with walking belt wheel be connected, and drive shaft and
Being fixed by tight locking button between walking belt wheel, walks on belt wheel rotating around being enclosed within traveling crawler two ends, and outside traveling crawler
It is evenly arranged with semicircle tread plate；By driving the rotation rotating drive treads wheel of motor, thus drive traveling crawler
Motion, land walking device is mainly used in the walking of the present invention, movement and turns to, and land walking device is by using crawler type
Structure easily facilitates the walking of hollow physical features ground condition so that the suitability of the present invention is higher.
As a further improvement on the present invention, described water surface running gear include walk plate, walking hinge, angle adjusting mechanism,
Walking rotating disk, walking expansion link, fixed support, jet cylinder, appendix and pulsometer；Described walking plate is bar shaped tabular knot
Structure, walking plate medial extremity is connected with the U-type groove medial wall on chassis by walking hinge, and angle adjusting mechanism quantity is two, and
Angle adjusting mechanism is respectively symmetrically layout along the central transverse axis of walking plate, and angle adjusting mechanism lower end fixes with walking plate,
Walking rotating disk is positioned at walking plate lateral wall center position, and walking expansion link one end is connected with walking rotating disk, and walking expansion link is another
One end is connected with fixed support, and walking expansion link is hollow cylinder shell structure, and fixed support rear end is provided with fixing bar,
Fixed support front end is provided with Ω type frame, and Ω type frame is linearly equally spaced along fixing bar, and jet cylinder is arranged on fixed support
Ω type frame in, jet cylinder front end is cone-shaped structure, and jet tube rear end offers puff prot, and appendix one end is stretched through walking
Contracting bar is connected with jet cylinder, and the appendix other end is connected with pulsometer, and pulsometer is fixed on the center of upper surface, chassis
Place；Described angle adjusting mechanism includes regulating ear mount, the first regulation axle, adjusting yoke, the second regulation axle and regulation support；
The described U-shaped structure of regulation ear mount, regulation ear mount is fixed on walking plate, and adjusting yoke lower end is by the first regulation axle and tune
Joint ear mount is connected, and is connected by the second regulation axle between adjusting yoke upper end with regulation support, and adjusting yoke is electronic stretching
Contracting formula structure, regulation support is in the y-type structure stood upside down, and regulation pedestal lower end is fixed on chassis.Can be driven by walking rotating disk
The rotary motion on XZ vertical of the jet cylinder, thus regulate the water surface walking inclination angle of jet cylinder, it is simple to the present invention is in different in flow rate
The water surface on walking move；The side-to-side movement on XY horizontal plane of the jet cylinder can be driven by walking expansion link, thus control
Extension elongation when jet cylinder is walked mobile on the water surface；Can control to walk plate with walking hinge for rotation by angle adjusting mechanism
Rotating shaft rotates, thus drives the rotation on YZ vertical of the jet cylinder, so regulation jet cylinder drinking water inclination angle, i.e. this
Bright draft amount, it is simple to the present invention walks mobile in the waters of different depth；Jet cylinder ejection gas can be controlled by pulsometer
The flow velocity of body, thus regulate the gait of march of the present invention；Water surface running gear can carry out a translation two and rotate the sky of Three Degree Of Freedom altogether
Between move, it can walk mobile in the waters of different in flow rate and different depth, and the speed of travel and draft amount the most adjustable, regulate
Fast and easy.
As a further improvement on the present invention, described lowering or hoisting gear includes lifting push rod, lifting round platform and electric turntable；Described
Lifting push rod quantity be four, lifting push rod be positioned at lifting round platform below, and lifting push rod upper end with lifting round platform lower surface be connected
Connecing, electric turntable is fixed on lifting round platform upper surface center position.
As a further improvement on the present invention, described delta parallel institution includes fixed platform, moving platform, motor cabinet, parallel connection
Motor, the first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described
Fixed platform and moving platform the most rounded shape structure, moving platform is positioned at directly over fixed platform, and the quantity of motor cabinet and rotating basis is
Three, motor cabinet is fixed on fixed platform upper surface in equilateral triangle shape centered by the center of circle of fixed platform, and rotating basis is with moving platform
The center of circle centered by be arranged on moving platform lower surface in equilateral triangle shape, and motor cabinet installation site and rotating basis installation site
One_to_one corresponding respectively, parallel-connected induction motors is fixed installation by motor cabinet, and parallel-connected induction motors uses adjustable speed twin shaft output motor,
First rotating shaft one end is connected with parallel-connected induction motors main shaft, and the first rotating shaft other end is connected with first connecting rod upper end, under first connecting rod
Using rotational pin to be attached between end and second connecting rod upper end, second connecting rod lower end is connected with second rotating shaft one end, second turn
The axle other end is arranged on rotating basis, and rotating basis lower end is provided with swivel bearing, and swivel bearing and moving platform upper surface phase
Fixing, rotating basis upper end is provided with the double end sleeve matched with the second rotating shaft, in first connecting rod middle inside and second connecting rod
Middle side part is provided with the first mounting seat and the second mounting seat respectively, limit spring between the first mounting seat and the second mounting seat,
And limit spring upper end is connected with the first mounting seat, limit spring lower end is connected with the second mounting seat；During specific works, logical
That crosses parallel-connected induction motors rotates the rotation driving the first rotating shaft, and first connecting rod and the first rotating shaft are coaxially connected, thus by first
The rotation rotating drive second connecting rod of connecting rod, and then drive the motion of moving platform, and reduce delta also by limit spring
Jitter during connection mechanism kinematic, adds the stationarity of delta parallel institution motion, delta parallel institution and serial mechanism phase
Specific stiffness is big, and flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and delta parallel institution can enter in space in motion
Row three translates the motion in three rotations six-freedom degree direction altogether, and space is little, movement velocity is fast, kinematic dexterity is good, will
Delta parallel institution is applied in the present invention, on the one hand serves the effect of entirety orientation angles regulation when feeding intake charging device,
The present invention be may be under various attitude angle can omnibearing carry out feeding intake operation, feed intake the convenient and swift and model that feeds intake
Enclose wide；On the other hand improve the damping performance of the present invention by delta parallel institution, the present invention on land or goes in water
When walking, even at jolting or time under nonequilibrium condition, charging device is in horizontal plateau all the time, prevents charging device
Feed intake operation time the problem that cannot be carried out because of jitter or the excessive operation that causes feeding intake of obliquity, further increase the present invention and throw
Stability during material operation and safety.
As a further improvement on the present invention, described charging device includes feed intake pedestal, batch charging mechanism and material storage tube；Described
Batch charging mechanism quantity is four, and batch charging mechanism is respectively symmetrically layout along the central axis of the pedestal that feeds intake, and material storage tube is positioned at and feeds intake on pedestal
End center position；Described batch charging mechanism include feeding intake ear mount, the first rotating shaft, the support that feeds intake, the second rotating shaft, shovel material support,
Feed intake scraper bowl, actuating unit, the first compression spring and the second compression spring；Described feed intake pedestal lower end by the first rotating shaft with
The ear mount that feeds intake is connected, and the pedestal upper end that feeds intake is connected with shovel material support one end by the second rotating shaft, and the support that feeds intake is cat ladder shape knot
Structure, inside the support that feeds intake, spaced set has cross bar, shovel material support to use the rectangular box structure of hydraulic telescopic type, and feed intake scraper bowl
Being fixed on the shovel material support other end, and the cross section transverse of the scraper bowl that feeds intake is sector structure, actuating unit is positioned at below the support that feeds intake,
First compression spring is feeding intake pedestal and feeding intake between support, and the first compression spring upper end is provided with the first rotary column, first turn
Column articulated on the cross bar feeding intake support, the first compression spring lower end is provided with a connecting seat, and a connecting seat is fixed on and feeds intake
On pedestal upper surface, the second compression press spring is positioned at inside the first compression spring, and the second compression spring upper end is provided with the second rotary column,
Second rotary column is hinged on the cross bar of the support that feeds intake, and the second compression spring lower end is provided with the second connection seat, and second connects seat fixes
Feeding intake on pedestal upper surface.
As a further improvement on the present invention, described actuating unit includes power shaft, follow-up pulley, steel wire rope, actively slides
Wheel, transition axis, rolling bearing units, driven gear, driving gear, power motor, mobile motor seat and motorized rails, and driven
The quantity of pulley, steel wire rope, driving pulley, transition axis and rolling bearing units is two；Described power shaft is through feeding intake on support
End, follow-up pulley is respectively symmetrically and is fixed on power shaft two ends, and steel wire rope one end is fixed on follow-up pulley, the steel wire rope other end
Being wrapped on driving pulley, use key to be connected between transition axis one end and driving pulley, the transition axis other end is provided with driving tooth
Wheel, is fixed on by rolling bearing units in the middle part of transition axis and feeds intake on pedestal upper surface, and driving gear is fixed on the output shaft of power motor
On, and driving gear is meshed with driven gear, and power motor is arranged on motorized rails by mobile motor seat, and electronic leads
The cross section transverse of rail is I-shaped structure.
When specifically feeding intake, the stretching first passing through shovel material support drives the scraper bowl that feeds intake to move diagonally downward, when the scraper bowl that feeds intake is deep
When entering in material storage tube the chemical cleaning method drug powder or granule that store, drive, by the contractile motion of shovel material support, the scraper bowl that feeds intake
Tilt upward to move, it is achieved thereby that the function of the scraper bowl charging that feeds intake；Then by mobile motor seat on motorized rails inside
Lateral movement drives the medial movement of power motor, when driving gear coaxial mounted with power motor output shaft is nibbled mutually with driven gear
During conjunction, by the rotation rotarily driving driving gear of power motor, and driving gear is meshed with driven gear, driven gear
Coaxially fixedly mount with driving pulley, it is achieved thereby that the rotation of driving pulley, reached to shrink the effect of steel wire rope, and steel wire
Rope is connected with follow-up pulley, and follow-up pulley fixes with power shaft, and power shaft is fixed on and feeds intake on support, thus at steel wire
Under the pulling force effect of rope, the support that feeds intake rotates counterclockwise with the first rotating shaft for rotary shaft, the first compression spring and the second compression bullet
Spring is under highly compressed state；Again by mobile motor seat driving outside power motor toward movement outside on motorized rails
Side shifting, driving gear and driven gear are in released state, in the compression reaction power of the first compression spring and the second compression spring
Under effect, the support that feeds intake rotates clockwise with the first rotating shaft for rotary shaft rapidly, thus drives the scraper bowl that feeds intake to dish out laterally,
Reach the effect fed intake；Finally after chemical cleaning method drug powder or granule are launched, in the first compression spring and the second pressure
Under the extension recovery power effect of contracting spring, the support that feeds intake rotates counterclockwise with the first rotating shaft for rotary shaft, it is achieved that regains and feeds intake
The function of scraper bowl；Charging device can realize automatic charge and the function fed intake, and omnidistance intelligence degree is high, feeds simple and quick,
Rate of feeding is fast, distance is remote.
Compared with prior art, the invention have the advantages that
(1) present invention has the function that land walking, water surface walking, orientation angles regulation and charging feed intake, in sewage disposal
In purification process, the function of sewage purification automatic charging can be realized, and intelligence degree is high, orientation angles is easy to adjust flexibly,
The fast distance of rate of feeding is remote, the problem such as solve that the existing workload that manually feeds intake by ship is big, dangerous big and efficiency is low, effectively
Protect water resource.
(2) land walking device and the water surface running gear of the present invention coordinates conversion to use, and changes convenient and swift, is adaptable to
Land walking and water surface walking, reached the effect of amphibious walking, and water surface running gear can carry out a translation two rotate totally three from
By the space motion spent, it can walk mobile in the waters of different in flow rate and different depth, and the speed of travel and draft amount
Adjust, easy to adjust quickly.
(3) the delta parallel institution of the present invention can carry out the motion in three translations three rotation six-freedom degree directions altogether in space,
And space is little, movement velocity is fast, kinematic dexterity is good, is applied in the present invention by delta parallel institution, on the one hand rise
To the effect of entirety orientation angles regulation when charging device is fed intake so that the present invention may be at may be used under various attitude angle
With the omnibearing operation that carries out feeding intake, feed intake convenient and swift and the scope that feeds intake is wide；On the other hand improved by delta parallel institution
The damping performance of the present invention, the present invention is on land or in water during walking, even at jolting or time under nonequilibrium condition,
Charging device is in horizontal plateau all the time, prevent charging device feed intake operation time because of jitter or obliquity excessive cause throw
The material problem that cannot be carried out of operation, further increase the present invention feed intake operation time stability and safety.
(4) charging device of the present invention can realize automatic charge and the function fed intake, and omnidistance intelligence degree is high, and charging is simple
Quickly, rate of feeding is fast, distance is remote.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view after the present invention removes charging device；
Fig. 3 is perspective view when land walking device of the present invention, water surface running gear and lowering or hoisting gear cooperation；
Fig. 4 is perspective view when land walking device of the present invention and the cooperation of water surface running gear；
Fig. 5 is perspective view when delta parallel institution of the present invention and charging device cooperation；
Fig. 6 is the perspective view of delta parallel institution of the present invention；
Fig. 7 is the perspective view of charging device of the present invention；
Fig. 8 is the perspective view of batch charging mechanism of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 8, a kind of large area sewage purification environment-friendly type robot, including land walking device 1, water surface row
Walking apparatus 2, lowering or hoisting gear 3, delta parallel institution 4 and charging device 5；Described water surface running gear 2 quantity is two,
And water surface running gear 2 lays respectively at the left and right sides of land walking device 1, water surface running gear 2 and land walking device 1
Being connected, lowering or hoisting gear 3 is positioned at directly over land walking device 1, and lowering or hoisting gear 3 lower end and land walking device 1 upper end
Be connected, delta parallel institution 4 between lowering or hoisting gear 3 and charging device 5, and delta parallel institution 4 lower end with
Lowering or hoisting gear 3 is connected, and delta parallel institution 4 upper end is connected with charging device 5.
As shown in Figure 3 and Figure 4, described land walking device 1 includes chassis 11, drives motor 12, drive shaft 13, OK
Walk belt wheel 14, tight locking button 15 and traveling crawler 16, and drive the quantity of motor 12, tight locking button 15 and traveling crawler 16 to be
Two, drive shaft 13 and walking belt wheel 14 quantity are four；Described chassis 11 is in rectangular configuration, and rear and front end, chassis 11 is respectively
Offer mounting groove, drive motor 12 to be separately fixed in the mounting groove of both sides front and back, chassis 11, and it is double to drive motor 12 to use
Axle synchronism output motor, drive shaft 13 one end is connected with driving motor 12 output shaft, drive shaft 13 other end and walking belt wheel
14 are connected, and are fixed by tight locking button 15 between drive shaft 13 and walking belt wheel 14, and traveling crawler 16 two ends are respectively
Around being enclosed within walking belt wheel 14, and outside traveling crawler 16, it is evenly arranged with semicircle tread plate；By driving turning of motor 12
The dynamic rotation driving walking belt wheel 14, thus drive the motion of traveling crawler 16, land walking device 1 is mainly used in the present invention
Walking, movement and turn to, and land walking device 1 by use track structure easily facilitate hollow physical features ground condition walking,
The suitability making the present invention is higher.
As shown in Figure 3 and Figure 4, described water surface running gear 2 includes walk plate 21, walking hinge 22, angle adjusting mechanism
23, walking rotating disk 24, walking expansion link 25, fixed support 26, jet cylinder 27, appendix 28 and pulsometer 29；Described
Walking plate 21 in bar shaped platy structure, walking plate 21 medial extremity is by the U-type groove medial wall of walking hinge 22 with chassis 11
Being connected, angle adjusting mechanism 23 quantity is two, and angle adjusting mechanism 23 is the most right along the central transverse axis of walking plate 21
Claiming to arrange, angle adjusting mechanism 23 lower end fixes with walking plate 21, and walking rotating disk 24 is positioned at walking center, plate 21 lateral wall
Position, walking expansion link 25 one end is connected with walking rotating disk 24, walking expansion link 25 other end and fixed support 26 phase
Connecting, and walking expansion link 25 is hollow cylinder shell structure, fixed support 26 rear end is provided with fixing bar, fixed support 26
Front end is provided with Ω type frame, and Ω type frame is linearly equally spaced along fixing bar, and jet cylinder 27 is arranged on fixed support 26
In Ω type frame, jet cylinder 27 front end is cone-shaped structure, and jet cylinder 27 rear end offers puff prot, and appendix 28 one end passes
Walking expansion link 25 is connected with jet cylinder 27, and appendix 28 other end is connected with pulsometer 29, and pulsometer 29 is fixed on
The center position of upper surface, chassis 11；Described angle adjusting mechanism 23 include regulating ear mount 231, first regulate axle 232,
Adjusting yoke 233, second regulates axle 234 and regulation support 235；The described U-shaped structure of regulation ear mount 231, regulates ear mount
231 are fixed on walking plate 21, and adjusting yoke 233 lower end is connected with regulation ear mount 231 by the first regulation axle 232, adjusts
Being connected by the second regulation axle 234 between joint pull bar 233 upper end with regulation support 235, adjusting yoke 233 is stretched for electronic
Contracting formula structure, regulation support 235 is in the y-type structure stood upside down, and regulation support 235 lower end is fixed on chassis 11.By walking
Rotating disk 24 can drive the jet cylinder 27 rotary motion on XZ vertical, thus regulates the water surface walking inclination angle of jet cylinder 27,
It is easy to present invention walking on the water surface of different in flow rate move；Jet cylinder 27 can be driven at XY water by walking expansion link 25
Side-to-side movement in plane, thus control extension elongation when jet cylinder 27 is walked mobile on the water surface；Pass through angle adjusting mechanism
23 can control walking plate 21 rotates with walking hinge 22 for rotary shaft, thus drives jet cylinder 27 on YZ vertical
Rotation, and then regulation jet cylinder 27 drinking water inclination angle, i.e. the draft amount of the present invention, it is simple to the present invention is in the waters of different depth
Middle walking is mobile；Jet cylinder 27 can be controlled by pulsometer 29 and spray the flow velocity of gas, thus regulate the traveling speed of the present invention
Degree；Water surface running gear 2 can carry out a translation two and rotate the space motion of Three Degree Of Freedom altogether, and it can be in different in flow rate with the deepest
In the waters of degree, walking is mobile, and the speed of travel and draft amount the most adjustable, easy to adjust quickly.
As it is shown on figure 3, described lowering or hoisting gear 3 includes lifting push rod 31, lifting round platform 32 and electric turntable 33；Described
Lifting push rod 31 quantity is four, and lifting push rod 31 is positioned at below lifting round platform 32, and lifts push rod 31 upper end and lifting round platform
32 lower surfaces are connected, and electric turntable 33 is fixed on lifting round platform 32 upper surface center position.
As shown in Figure 5 and Figure 6, described delta parallel institution 4 include fixed platform 41, moving platform 42, motor cabinet 43,
Parallel-connected induction motors the 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod the 48, second rotating shaft 49, rotating basis
410 and limit spring 411；Described fixed platform 41 and moving platform 42 the most rounded shape structure, moving platform 42 is positioned at fixed platform
Directly over 41, the quantity of motor cabinet 43 and rotating basis 410 is three, and motor cabinet 43 is centered by the center of circle of fixed platform 41
Be fixed in equilateral triangle shape on fixed platform 41 upper surface, rotating basis 410 centered by the center of circle of moving platform 42 in positive triangle
Arrangements is on moving platform 42 lower surface, and one a pair respectively of motor cabinet 43 installation site and rotating basis 410 installation site
Should, parallel-connected induction motors 44 is fixed installation by motor cabinet 43, and parallel-connected induction motors 44 uses adjustable speed twin shaft output motor, the
One rotating shaft 45 one end is connected with parallel-connected induction motors 44 main shaft, and first rotating shaft 45 other end is connected with first connecting rod 46 upper end,
Rotational pin 47 is used to be attached between first connecting rod 46 lower end and second connecting rod 48 upper end, second connecting rod 48 lower end and second
Rotating shaft 49 one end is connected, and second rotating shaft 49 other end is arranged on rotating basis 410, and rotating basis 410 lower end is provided with
Swivel bearing, and swivel bearing fixes with moving platform 42 upper surface, rotating basis 410 upper end is provided with and the second rotating shaft 49
The double end sleeve matched, first connecting rod 46 middle inside and second connecting rod 48 middle inside are provided with the first mounting seat respectively
With the second mounting seat, limit spring 411 is between the first mounting seat and the second mounting seat, and limit spring 411 upper end and the
One mounting seat is connected, and limit spring 411 lower end is connected with the second mounting seat；During specific works, motor 44 in parallel
Rotate the rotation driving the first rotating shaft 45, and first connecting rod 46 is coaxially connected with the first rotating shaft 45, thus pass through first connecting rod
The rotation rotating drive second connecting rod 48 of 46, and then drive the motion of moving platform 42, and reduced by limit spring 411
Jitter when delta parallel institution 4 moves, adds the stationarity of delta parallel institution 4 motion, delta parallel institution 4
Big with serial mechanism phase specific stiffness, flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, delta parallel institution 4 in motion
Three translations three can be carried out in space and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity fast, motion
Motility is good；Delta parallel institution 4 is applied in the present invention, on the one hand serves entirety side when charging device 5 is fed intake
The effect of position angular adjustment so that the present invention may be at can omnibearing carrying out feeding intake under various attitude angle operation, throws
Expect convenient and swift and the scope that feeds intake is wide；On the other hand the damping performance of the present invention is improve by delta parallel institution 4, this
Bright on land or in water during walking, even at jolting or time under nonequilibrium condition, charging device 5 is in level all the time
Plateau, prevent charging device 5 feed intake operation time because of asking that jitter or the excessive operation that causes feeding intake of obliquity cannot be carried out
Topic, further increase the present invention feed intake operation time stability and safety.
As shown in Figure 7 and Figure 8, described charging device 5 includes feed intake pedestal 51, batch charging mechanism 52 and material storage tube 53；Institute
Batch charging mechanism 52 quantity stated is four, and batch charging mechanism 52 is respectively symmetrically layout, material storage tube along the central axis of the pedestal 51 that feeds intake
53 are positioned at the pedestal 51 upper end center position that feeds intake；Described batch charging mechanism 52 include feeding intake ear mount the 521, first rotating shaft 522,
Feed intake support the 523, second rotating shaft 524, shovel material support 525, the scraper bowl 526 that feeds intake, actuating unit the 527, first compression spring
528 and second compression spring 529；Described support 523 lower end that feeds intake is connected with the ear mount 521 that feeds intake by the first rotating shaft 522,
Feed intake support 523 upper end by the second rotating shaft 524 with shovel material support 525 one end be connected, the support 523 that feeds intake is tied in cat ladder shape
Structure, inside the support 523 that feeds intake, spaced set has cross bar, shovel material support 525 to use the rectangular box structure of hydraulic telescopic type,
The scraper bowl 526 that feeds intake is fixed on shovel material support 525 other end, and the cross section transverse of the scraper bowl 526 that feeds intake is sector structure, engine
Structure 527 is positioned at below the support 523 that feeds intake, and the first compression spring 528 is feeding intake pedestal 521 and feed intake between support 523,
And first compression spring 528 upper end be provided with the first rotary column, the first rotary column is hinged on the cross bar of the support 523 that feeds intake, first pressure
Contracting spring 528 lower end is provided with a connecting seat, and a connecting seat is fixed on and feeds intake on pedestal 51 upper surface, the second compression press spring
529 are positioned at inside the first compression spring 528, and the second compression spring 529 upper end is provided with the second rotary column, and the second rotary column is hinged
On the cross bar feeding intake support 523, the second compression spring 529 lower end is provided with the second connection seat, and second connects seat is fixed on throwing
On material pedestal 51 upper surface.
As shown in Figure 7 and Figure 8, described actuating unit 527 includes power shaft 5271, follow-up pulley 5272, steel wire rope
5273, driving pulley 5274, transition axis 5275, rolling bearing units 5276, driven gear 5277, driving gear 5278, power
Motor 5279, mobile motor seat 527a and motorized rails 527b, and follow-up pulley 5272, steel wire rope 5273, driving pulley
5274, the quantity of transition axis 5275 and rolling bearing units 5276 is two；Described power shaft 5271 is through feeding intake on support 523
End, follow-up pulley 5272 is respectively symmetrically and is fixed on power shaft 5271 two ends, and steel wire rope 5273 one end is fixed on follow-up pulley
On 5272, steel wire rope 5273 other end is wrapped on driving pulley 5274, transition axis 5275 one end and driving pulley 5274 it
Between use key be connected, transition axis 5275 other end is provided with driving gear 5278, passes through rolling bearing units in the middle part of transition axis 5275
5276 are fixed on and feed intake on pedestal 51 upper surface, and driving gear 5278 is fixed on the output shaft of power motor 5279, and main
Moving gear 5278 is meshed with driven gear 5277, and power motor 5279 is arranged on motorized rails by mobile motor seat 527a
On 527b, and the cross section transverse of motorized rails 527b is I-shaped structure.
As shown in Figure 7 and Figure 8, when specifically feeding intake, the stretching first passing through shovel material support 525 drives the scraper bowl 526 that feeds intake
Move diagonally downward, when the chemical cleaning method drug powder stored in the scraper bowl 526 that feeds intake is deep into material storage tube 53 or granule, logical
The contractile motion crossing shovel material support 525 drives the scraper bowl 526 that feeds intake to tilt upward to move, it is achieved thereby that the scraper bowl 526 that feeds intake feeds
Function；Then by mobile motor seat 527a on motorized rails 527b toward medial motion drive power motor 5279 in
Side shifting, when being meshed with driven gear 5277 with the power motor 5279 coaxial mounted driving gear of output shaft 5278, logical
Cross the rotation rotarily driving driving gear 5278 of power motor 5279, and driving gear 5278 is nibbled with driven gear 5277 phase
Closing, driven gear 5277 coaxially fixedly mounts with driving pulley 5274, it is achieved thereby that the rotation of driving pulley 5274, reaches
Shrinking the effect of steel wire rope 5273, and steel wire rope 5273 is connected with follow-up pulley 5272, follow-up pulley 5272 turns with power
Axle 5271 fixes, and power shaft 5271 is fixed on and feeds intake on support 523, thus under the pulling force effect of steel wire rope 5273,
The support 523 that feeds intake rotates counterclockwise with the first rotating shaft 522 for rotary shaft, the first compression spring 528 and the second compression spring 529
It is under highly compressed state；Pass through the mobile motor seat 527a past movement outside on motorized rails 527b again and drive power
The outer side shifting of motor 5279, driving gear 5278 and driven gear 5277 are in released state, in the first compression spring 528
With under the compression reaction power effect of the second compression spring 529, the support 523 that feeds intake does suitable with the first rotating shaft 522 rapidly for rotary shaft
Hour hands rotate, thus drive the scraper bowl 526 that feeds intake to dish out laterally, have reached the effect fed intake；Finally when chemical cleaning method medicine powder
After end or granule are launched, under the extension recovery power effect of the first compression spring 528 and the second compression spring 529, feed intake
Support 523 rotates counterclockwise with the first rotating shaft 522 for rotary shaft, it is achieved that regain the function of the scraper bowl 526 that feeds intake；Feed intake dress
Put 5 and can realize automatic charge and the function fed intake, and omnidistance intelligence degree is high, feeds simple and quick, rate of feeding is fast, away from
Away from from.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (4)
1. a large area sewage purification environment-friendly type robot, it is characterised in that: include land walking device, water surface running gear,
Lowering or hoisting gear, delta parallel institution and charging device；Described water surface running gear quantity is two, and water surface running gear divides
Not being positioned at the left and right sides of land walking device, water surface running gear is connected with land walking device, and lowering or hoisting gear is positioned at land
Directly over running gear, and lowering or hoisting gear lower end is connected with land walking device upper end, and delta parallel institution is positioned at lifting dress
Put between charging device, and delta parallel institution lower end be connected with lowering or hoisting gear, delta parallel institution upper end with feed intake
Device is connected；Wherein:
Described land walking device includes chassis, drives motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and
The quantity driving motor, tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；Described chassis is square
Shape structure, the left and right sides, chassis offers U-type groove respectively, and rear and front end, chassis offers mounting groove respectively, drives motor respectively
Be fixed on before and after chassis in the mounting groove of both sides, and drive motor to use Biaxial synchronous output motor, drive shaft one end with drive electricity
Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and is tipped in by locking between drive shaft and walking belt wheel
Row is fixing, and traveling crawler two ends are rotating around being enclosed within walking belt wheel, and are evenly arranged with semicircle tread plate outside traveling crawler；
Described water surface running gear include walk plate, walking hinge, angle adjusting mechanism, walking rotating disk, walking expansion link,
Fixed support, jet cylinder, appendix and pulsometer；Described walking plate is bar shaped platy structure, and walking plate medial extremity is by row
Walking hinge to be connected with the U-type groove medial wall on chassis, angle adjusting mechanism quantity is two, and angle adjusting mechanism is along walking plate
Central transverse axis is respectively symmetrically layout, and angle adjusting mechanism lower end fixes with walking plate, and walking rotating disk is positioned at outside walking plate
Wall center position, walking expansion link one end is connected with walking rotating disk, and the walking expansion link other end is connected with fixed support,
And walking expansion link is hollow cylinder shell structure, fixed support rear end is provided with fixing bar, and fixed support front end is provided with Ω type
Frame, and Ω type frame is linearly equally spaced along fixing bar, jet cylinder is arranged in support bracket fastened Ω type frame, jet cylinder front end
For cone-shaped structure, jet tube rear end offers puff prot, and appendix one end is connected through walking expansion link with jet cylinder, defeated
The trachea other end is connected with pulsometer, and pulsometer is fixed on the center position of upper surface, chassis；
Described delta parallel institution include fixed platform, moving platform, motor cabinet, parallel-connected induction motors, the first rotating shaft, first connecting rod,
Rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described fixed platform and moving platform the most rounded shape knot
Structure, moving platform is positioned at directly over fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet with the center of circle of fixed platform is
Center is that equilateral triangle shape is fixed on fixed platform upper surface, rotating basis centered by the center of circle of moving platform in equilateral triangle shape cloth
Put on moving platform lower surface, and motor cabinet installation site and rotating basis installation site one_to_one corresponding respectively, parallel-connected induction motors passes through
Motor cabinet is fixed installation, and parallel-connected induction motors uses adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motors main shaft
Being connected, the first rotating shaft other end is connected with first connecting rod upper end, uses and turn between first connecting rod lower end and second connecting rod upper end
Untie-sell is attached, and second connecting rod lower end is connected with second rotating shaft one end, and the second rotating shaft other end is arranged on rotating basis,
Rotating basis lower end is provided with swivel bearing, and swivel bearing fixes with moving platform upper surface, rotating basis upper end be provided with
The double end sleeve that second rotating shaft matches, first connecting rod middle inside and second connecting rod middle inside are provided with the first installation respectively
Seat and the second mounting seat, limit spring is between the first mounting seat and the second mounting seat, and limit spring upper end is installed with first
Seat is connected, and limit spring lower end is connected with the second mounting seat；
Described charging device includes feed intake pedestal, batch charging mechanism and material storage tube；Described batch charging mechanism quantity is four, batch charger
Structure is respectively symmetrically layout along the central axis of the pedestal that feeds intake, and material storage tube is positioned at the pedestal upper end center position that feeds intake；Described feeds intake
Mechanism include feeding intake ear mount, the first rotating shaft, the support that feeds intake, the second rotating shaft, shovel material support, the scraper bowl that feeds intake, actuating unit, the
One compression spring and the second compression spring；The described pedestal lower end that feeds intake is connected with the ear mount that feeds intake by the first rotating shaft, feeds intake and props up
Frame upper end is connected with shovel material support one end by the second rotating shaft, and the support that feeds intake is in climbing ladder-shaper structure, inside the support that feeds intake equidistantly
Being provided with cross bar, shovel material support uses the rectangular box structure of hydraulic telescopic type, and the scraper bowl that feeds intake is fixed on the shovel material support other end,
And the cross section transverse of the scraper bowl that feeds intake is sector structure, actuating unit is positioned at below the support that feeds intake, and the first compression spring is positioned at material-feeding platform
Seat and feeding intake between support, and the first compression spring upper end is provided with the first rotary column, and the first rotary column is hinged on the cross bar of the support that feeds intake
On, the first compression spring lower end is provided with a connecting seat, and a connecting seat is fixed on and feeds intake on pedestal upper surface, the second compression
Stage clip is positioned at inside the first compression spring, and the second compression spring upper end is provided with the second rotary column, and the second rotary column is hinged on to feed intake and props up
On the cross bar of frame, the second compression spring lower end is provided with the second connection seat, and the second connection seat is fixed on and feeds intake on pedestal upper surface.
A kind of large area the most according to claim 1 sewage purification environment-friendly type robot, it is characterised in that: described lifting
Device includes lifting push rod, lifting round platform and electric turntable；Described lifting push rod quantity is four, and lifting push rod is positioned at lifting circle
Below platform, and lifting push rod upper end is connected with lifting round platform lower surface, and electric turntable is fixed on lifting round platform upper surface centre bit
Put place.
A kind of large area the most according to claim 1 sewage purification environment-friendly type robot, it is characterised in that: described angle
Governor motion includes regulating ear mount, the first regulation axle, adjusting yoke, the second regulation axle and regulation support；Described regulation ear mount
U-shaped structure, regulation ear mount is fixed on walking plate, and adjusting yoke lower end is connected with regulation ear mount by the first regulation axle,
Being connected by the second regulation axle between adjusting yoke upper end with regulation support, adjusting yoke is electric telescopic formula structure, regulation
Support is in the y-type structure stood upside down, and regulation pedestal lower end is fixed on chassis.
A kind of large area the most according to claim 1 sewage purification environment-friendly type robot, it is characterised in that: described power
Mechanism includes power shaft, follow-up pulley, steel wire rope, driving pulley, transition axis, rolling bearing units, driven gear, driving tooth
Wheel, power motor, mobile motor seat and motorized rails, and follow-up pulley, steel wire rope, driving pulley, transition axis and axle of usheing to seat
The quantity held is two；Described power shaft is through feeding intake pedestal upper end, and follow-up pulley is respectively symmetrically and is fixed on power shaft two ends,
Steel wire rope one end is fixed on follow-up pulley, and the steel wire rope other end is wrapped on driving pulley, transition axis one end and driving pulley it
Between use key be connected, the transition axis other end is provided with driving gear, is fixed on, by rolling bearing units, the pedestal that feeds intake in the middle part of transition axis
On upper surface, driving gear is fixed on the output shaft of power motor, and driving gear is meshed with driven gear, power motor
It is arranged on motorized rails by mobile motor seat, and the cross section transverse of motorized rails is I-shaped structure.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810036992.1A CN108161948B (en) | 2016-06-23 | 2016-06-23 | Robot |
| CN201610471767.1A CN106003082B (en) | 2016-06-23 | 2016-06-23 | A kind of large area sewage purification environmental protection humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610471767.1A CN106003082B (en) | 2016-06-23 | 2016-06-23 | A kind of large area sewage purification environmental protection humanoid robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810036992.1A Division CN108161948B (en) | 2016-06-23 | 2016-06-23 | Robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106003082A true CN106003082A (en) | 2016-10-12 |
| CN106003082B CN106003082B (en) | 2017-12-19 |
Family
ID=57085179
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610471767.1A Active CN106003082B (en) | 2016-06-23 | 2016-06-23 | A kind of large area sewage purification environmental protection humanoid robot |
| CN201810036992.1A Expired - Fee Related CN108161948B (en) | 2016-06-23 | 2016-06-23 | Robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810036992.1A Expired - Fee Related CN108161948B (en) | 2016-06-23 | 2016-06-23 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN106003082B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820450A (en) * | 2019-04-11 | 2019-05-31 | 陈艳艳 | A kind of external wall cleaning robot |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109110110B (en) * | 2018-09-07 | 2021-10-12 | 深圳市鑫疆基业科技有限责任公司 | Intelligent unmanned aerial vehicle undercarriage structure for taking off and landing on water surface |
| CN109110111B (en) * | 2018-09-07 | 2020-07-24 | 温州明览科技有限公司 | Amphibious unmanned aerial vehicle structure |
| CN109828568B (en) * | 2019-02-15 | 2022-04-15 | 武汉理工大学 | NAO robot ball-searching gait optimization method for RoboCup game |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1406780A (en) * | 2001-08-24 | 2003-04-02 | 任治国 | Amphibious robot with capability of climbing on board from aside |
| CN102452074A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN103038147A (en) * | 2010-05-24 | 2013-04-10 | F.B.科技有限公司 | A system for manipulating objects |
| CN204868856U (en) * | 2015-08-14 | 2015-12-16 | 深圳市德富莱自动化设备有限公司 | Delta parallel robot |
| EP3031651A1 (en) * | 2012-12-22 | 2016-06-15 | Maytronics Ltd. | Underwater station for pool cleaning robots |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2677532B2 (en) * | 1995-07-05 | 1997-11-17 | 株式会社エイ・ティ・アール通信システム研究所 | Movable plate support device |
| EP2705935A1 (en) * | 2012-09-11 | 2014-03-12 | Hexagon Technology Center GmbH | Coordinate measuring machine |
| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
| CN103010439A (en) * | 2013-01-14 | 2013-04-03 | 胡文忠 | High-speed ship on basis of double inclinable screw propellers |
| CN204250315U (en) * | 2014-10-28 | 2015-04-08 | 山东省科翰水域环保科技有限公司 | A kind of amphibious mowing clean ship |
| CN104802151A (en) * | 2015-04-28 | 2015-07-29 | 上海大学 | Robot for carrying, assembling and moving heavy loads |
| CN105150787B (en) * | 2015-10-24 | 2017-11-07 | 冯亿坤 | Amphibious multi-environment Work robot |
-
2016
- 2016-06-23 CN CN201610471767.1A patent/CN106003082B/en active Active
- 2016-06-23 CN CN201810036992.1A patent/CN108161948B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1406780A (en) * | 2001-08-24 | 2003-04-02 | 任治国 | Amphibious robot with capability of climbing on board from aside |
| CN103038147A (en) * | 2010-05-24 | 2013-04-10 | F.B.科技有限公司 | A system for manipulating objects |
| CN102452074A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| EP3031651A1 (en) * | 2012-12-22 | 2016-06-15 | Maytronics Ltd. | Underwater station for pool cleaning robots |
| CN204868856U (en) * | 2015-08-14 | 2015-12-16 | 深圳市德富莱自动化设备有限公司 | Delta parallel robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820450A (en) * | 2019-04-11 | 2019-05-31 | 陈艳艳 | A kind of external wall cleaning robot |
| CN109820450B (en) * | 2019-04-11 | 2021-06-08 | 安徽德茂建设工程有限公司 | Building outer wall cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106003082B (en) | 2017-12-19 |
| CN108161948A (en) | 2018-06-15 |
| CN108161948B (en) | 2021-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106003082A (en) | Environment-friendly large-area sewage purification robot | |
| CN105383586B (en) | Crawler leg composite movable robot | |
| CN105292281B (en) | A kind of substation inspection wheel carries out formula barrier-surpassing robot | |
| CN103266751A (en) | Robot | |
| CN108253231A (en) | A kind of shooting, collecting is intelligently equipped | |
| CN212349380U (en) | Screening sand device that civil engineering used | |
| CN106143026A (en) | Full-automatic ocean water environment inspection observation equipment | |
| CN106305368A (en) | Intelligent greening robot | |
| CN108445918A (en) | A kind of solar energy Internet-based is from trend day tracks of device | |
| CN106003080A (en) | Lake sewage purification treatment intelligent robot | |
| CN106218747A (en) | Solar biomimetric robot | |
| CN208306789U (en) | A kind of power steel pipe tower climbing robot | |
| CN106002946B (en) | A kind of large area sewage purification environmental protection humanoid robot is used as industry manipulator | |
| CN105603948B (en) | Over-water floats collection device | |
| CN207029507U (en) | It is a kind of to integrate the Shui Zhong robots searched and rescued with amusement function | |
| CN106004282A (en) | Intelligent robot for multi-degree-of-freedom overwater shooting operation | |
| CN104742995B (en) | The modular leg unit of polypody mobile robot | |
| CN106069963A (en) | A kind of fishery cultivating automatic charging machine people | |
| CN106006781A (en) | Special parallel-series base for intelligent robot for purification treatment of lake sewage | |
| CN207173764U (en) | Multi-functional gecko robot leg mechanism based on bionic design | |
| CN106041887B (en) | A kind of lake sewage purified treatment intelligent robot manipulator | |
| CN106080068B (en) | A kind of amphibious automation integrated machine of environment-friendly type water quality monitoring | |
| CN106428444B (en) | A kind of small-size water surface decontaminates ship | |
| CN106114093B (en) | A kind of large area sewage purification machine people is with multiple degrees of freedom pedestal | |
| CN207617945U (en) | underwater walking roller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Jianying Inventor after: Wang Hongbo Inventor after: Cao Yu Inventor before: Yu Tianle |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20171121 Address after: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Applicant after: Hagongda robot group (Harbin) Asset Management Co., Ltd. Address before: Room 315, building No. 1, No. 80 science and technology entrepreneurship Park, Tianzhu mountain road, Anqing Development Zone, Anhui Province Applicant before: Anhui Saobao Intelligent Technology Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190708 Address after: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Beijing Economic and Technological Development Zone, 100176 Patentee after: Beijing hi tech robot Co., Ltd. Address before: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee before: Hagongda robot group (Harbin) Asset Management Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191018 Address after: Room 501, entrepreneurial service center, Chengdong Industrial Park, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee after: Harbin University of technology robot group (Shandong) Co., Ltd. Address before: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Beijing Economic and Technological Development Zone, 100176 Patentee before: Beijing hi tech robot Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220429 Address after: 250200 room B16, South First Road, Xiushui Street, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee after: Shandong Hagong Intelligent Equipment Research Institute Co.,Ltd. Address before: 250200 Room 501, entrepreneurship service center, Chengdong Industrial Park, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee before: Harbin University of technology robot group (Shandong) Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220608 Address after: 250000 west of Industrial Park, Xusheng village, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee after: SHANDONG JINGONG Co.,Ltd. Address before: 250200 room B16, South First Road, Xiushui Street, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee before: Shandong Hagong Intelligent Equipment Research Institute Co.,Ltd. |