CN106003082B - A kind of large area sewage purification environmental protection humanoid robot - Google Patents
A kind of large area sewage purification environmental protection humanoid robot Download PDFInfo
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- CN106003082B CN106003082B CN201610471767.1A CN201610471767A CN106003082B CN 106003082 B CN106003082 B CN 106003082B CN 201610471767 A CN201610471767 A CN 201610471767A CN 106003082 B CN106003082 B CN 106003082B
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- motor
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- 239000010865 sewage Substances 0.000 title claims abstract description 23
- 238000000746 purification Methods 0.000 title claims abstract description 16
- 230000007613 environmental effect Effects 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 53
- 235000021050 feed intake Nutrition 0.000 claims abstract description 39
- 230000033228 biological regulation Effects 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims description 41
- 230000006835 compression Effects 0.000 claims description 40
- 238000007906 compression Methods 0.000 claims description 40
- 230000007246 mechanism Effects 0.000 claims description 31
- 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 28
- 239000000463 material Substances 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
- 238000003860 storage Methods 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 9
- 241000276425 Xiphophorus maculatus Species 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 2
- 239000004744 fabric Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 description 14
- 239000000126 substance Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000006872 improvement Effects 0.000 description 7
- 238000013519 translation Methods 0.000 description 6
- 230000014616 translation Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 239000003643 water by type Substances 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 4
- 229940079593 drug Drugs 0.000 description 4
- 239000002245 particle 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
- 239000007789 gas Substances 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003651 drinking water Substances 0.000 description 2
- 235000020188 drinking water Nutrition 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 239000005416 organic matter Substances 0.000 description 2
- 239000001301 oxygen Substances 0.000 description 2
- 229910052760 oxygen Inorganic materials 0.000 description 2
- 239000002574 poison Substances 0.000 description 2
- 231100000614 poison Toxicity 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
- 150000001875 compounds Chemical class 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000008602 contraction Effects 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
- 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
- 229910052753 mercury Inorganic materials 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007800 oxidant agent Substances 0.000 description 1
- 230000001590 oxidative effect Effects 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
- 238000003911 water pollution Methods 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 present invention relates to a kind of large area sewage purification environmental protection humanoid robot, including land walking device, water surface running gear, lowering or hoisting gear, delta parallel institutions and charging device, water surface running gear is located at the left and right sides of land walking device respectively, lowering or hoisting gear is located at directly over land walking device, and lowering or hoisting gear lower end is connected with land walking device upper end, delta parallel institutions lower end is connected with lowering or hoisting gear, and delta parallel institutions upper end is connected with charging device.The present invention has the function that land walking, water surface walking, orientation angles regulation and charging feed intake; in sewage disposal purification process; the function of sewage purification automatic charging can be achieved; and intelligence degree is high, orientation angles are easy to adjust flexibly, distance is remote soon for rate of feeding; solve the problems such as the existing artificial workload that feeds intake by ship is big, dangerous big and efficiency is low, be effectively protected water resource.
Description
Technical field
The present invention relates to technical field of sewage, specifically a kind of large area sewage purification environmental protection humanoid robot.
Background technology
Water pollution is to cause the use value of water to reduce or lose by harmful chemical, pollutes the water of environment, in sewage
The organic poison such as compound and benzene, dichloroethanes, ethylene glycol such as the acid, alkali, oxidant and the copper that contain, cadmium, mercury, arsenic, can poison
Dead aquatile, influence drinking water source, scenic spot landscape；The oxygen in water is consumed when organic matter in sewage is decomposed by the microorganisms,
The life of aquatile is influenceed, after oxygen in water exhausts, organic matter carries out anaerobic digestion, and it is unpleasant to produce hydrogen sulfide, mercaptan etc.
Gas, water quality is set further to deteriorate.China is that shortage of water resources, a water disaster are frequently national, and gross amount of water resources occupies the world
6th, occupancy volume per person only has 2500 cubic metres, about the world per capita water 1/4, the 110th is arranged 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
Water shortage and accident caused by dye constantly occur, and not only make plant downtime, the agriculture underproduction or even have no harvest, and cause bad
Social influence and larger economic loss, the sustainable development of society is seriously threatened, has threatened the existence of the mankind.
The method for waste water control has Physical, chemical method and bioanalysis at present, and wherein chemical method improvement sewage is exactly
Chemicals is launched into sewage, sewage is purified using chemical reaction or physics chemical action, at present for reservoir, lake, river
The mode of the chemical method purification sewage on the ground such as stream, pond is all that chemicals is manually launched into sewage by ship, is so not only accounted for
With substantial amounts of labour, dispensing efficiency is low, and has certain danger.In consideration of it, the invention provides a kind of big face
Contamination Water warfare environmental protection humanoid robot.
The content of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of large area sewage purification environmental protection humanoid robot.
The present invention to be solved its technical problem and use following technical scheme to realize.
A kind of large area sewage purification environmental protection humanoid robot, including land walking device, water surface running gear, lifting dress
Put, delta parallel institutions and charging device；Described water surface running gear quantity is two, and water surface running gear is located at respectively
The left and right sides of land walking device, water surface running gear are connected with land walking device, and lowering or hoisting gear is located at land walking
Directly over device, and lowering or hoisting gear lower end is connected with land walking device upper end, delta parallel institutions be located at lowering or hoisting gear and
Between charging device, and delta parallel institutions lower end is connected with lowering or hoisting gear, delta parallel institutions upper end and charging device
It is connected.
As a further improvement on the present invention, described land walking device includes chassis, motor, drive shaft, OK
Belt wheel, tight locking button and traveling crawler are walked, and the quantity of motor, tight locking button and traveling crawler is two, drive shaft and walking
Belt wheel quantity is four；Described chassis is in rectangular configuration, offers U-type groove, chassis rear and front end point at left and right sides of chassis respectively
Mounting groove is not offered, and motor is separately fixed in the mounting groove of chassis front and rear sides, and motor is same using twin shaft
Output motor is walked, drive shaft one end is connected with driving motor output shaft, and the drive shaft other end is connected with walking belt wheel, and drives
Moving axis and walking belt wheel between be fixed by tight locking button, traveling crawler both ends rotating around be enclosed on walking belt wheel on, and walk
Semicircle tread plate is evenly arranged with the outside of crawler belt；The rotation of treads wheel is driven by the rotation of motor, so as to drive
The motion of traveling crawler, land walking device is mainly used in walking, move and turning to for the present invention, and land walking device passes through
Using the walking of track structure with easily facilitating hollow physical features condition so that applicability of the invention is stronger.
As a further improvement on the present invention, described water surface running gear includes walking plate, walking hinge, angular adjustment
Mechanism, walking rotating disk, walking expansion link, fixed support, jet cylinder, appendix and pulsometer；Described walking plate is in stripe board
Shape structure, walking plate medial extremity are connected by hinge of walking with the U-type groove madial wall on chassis, and angle adjusting mechanism quantity is
Two, and central transverse axis of the angle adjusting mechanism along walking plate is respectively symmetrically arranged, angle adjusting mechanism lower end and walking plate
Mutually fixed, walking rotating disk is connected with walking rotating disk, walked positioned at walking plate lateral wall center position, walking expansion link one end
The expansion link other end is connected with fixed support, and expansion link of walking is hollow cylinder shell structure, and fixed support rear end is set
There is fix bar, fixed support front end is provided with Ω type frame, and Ω type frame is linearly equally spaced along fix bar, the installation of jet cylinder
In support bracket fastened Ω type frame, jet cylinder front end is cone-shaped structure, and jet tube rear end offers puff prot, appendix one end
It is connected through walking expansion link with jet cylinder, the appendix other end is connected with pulsometer, and pulsometer is fixed on chassis upper end
The center position in face；Described angle adjusting mechanism includes regulation ear mount, the first adjustment axis, adjusting yoke, the second adjustment axis
And adjusting bracket；The described U-shaped structure of regulation ear mount, regulation ear mount are fixed on walking plate, and adjusting yoke lower end passes through the
One adjustment axis is connected with regulation ear mount, is connected between adjusting yoke upper end and adjusting bracket by the second adjustment axis, adjusts
Pull bar is electric telescopic formula structure, and in the y-type structure to stand upside down, adjusting bracket lower end is fixed on chassis adjusting bracket.Pass through
Walking rotating disk can drive rotary motion of the jet cylinder on XZ vertical planes, so as to adjust the water surface of jet cylinder walking inclination angle, be easy to
Walking movement of the present invention on the water surface different in flow rate；Jet cylinder can be driven on XY horizontal planes by expansion link of walking
Side-to-side movement, so as to control extension elongation of the jet cylinder when walking mobile on the water surface；It can be controlled by angle adjusting mechanism
Walking plate is rotated using hinge of walking as rotary shaft, so as to drive rotation of the jet cylinder on YZ vertical planes, and then adjusts spray
The inclination angle of inflator drinking water, i.e. draft amount of the invention, it is easy to the present invention to be walked in the waters of different depth and moves；Pass through air pressure
Pump can control the flow velocity of jet cylinder ejection gas, so as to adjust the gait of march of the present invention；Water surface running gear can carry out one
Translation two rotates the spatial movement of Three Degree Of Freedom altogether, its movement that can be walked in the different in flow rate and waters of different depth, and row
Walk speed and draft amount is adjustable, it is easy to adjust quick.
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 is four, and lifting push rod lifts push rod upper end and lifting round platform lower end below lifting round platform
Face is connected, and electric turntable is fixed on lifting round platform upper surface center position.
As a further improvement on the present invention, described delta parallel institutions include fixed platform, moving platform, motor cabinet, simultaneously
Join motor, first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described determines
Platform and moving platform structure in rounded shape, moving platform are located 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 centered on the center of circle of fixed platform in positive triangle shape, and rotating basis is with dynamic flat
It is arranged in centered on the center of circle of platform in positive triangle shape on moving platform lower surface, and motor cabinet installation site and rotating basis installation
Position is corresponded respectively, and installation is fixed by motor cabinet in parallel-connected induction motorses, and parallel-connected induction motorses are exported using adjustable speed twin shaft
Motor, first rotating shaft one end are connected with parallel-connected induction motorses main shaft, and the first rotating shaft other end is connected with first connecting rod upper end, and first
It is attached between connecting rod lower end and second connecting rod upper end using rotational pin, second connecting rod lower end is connected with second rotating shaft one end
Connect, the second rotating shaft other end is arranged on rotating basis, and rotating basis lower end is provided with swivel bearing, and swivel bearing is put down with dynamic
Platform upper surface is mutually fixed, and rotating basis upper end is provided with the double end sleeve being engaged with the second rotating shaft, first connecting rod middle inside
Respectively be provided with the first mounting seat and the second mounting seat with second connecting rod middle inside, limit spring be located at the first mounting seat and
Between second mounting seat, and limit spring upper end is connected with the first mounting seat, and limit spring lower end is connected with the second mounting seat
Connect；During specific works, the rotation of first rotating shaft, and first connecting rod and the coaxial phase of first rotating shaft are driven by the rotation of parallel-connected induction motorses
Connection, so as to drive the rotation of second connecting rod by the rotation of first connecting rod, and then the motion of moving platform is driven, and by spacing
Jitter when spring reduces the motion of delta parallel institutions, adds the stationarity of delta parallel institutions motion, and delta is in parallel
Mechanism rigidity compared with serial mechanism is big, and motion is flexible, Stability Analysis of Structures, and bearing capacity is strong and fine motion precision is high, delta parallel machines
Structure can carry out the motion that three translations three rotate six-freedom degree direction altogether in space, and space is small, movement velocity is fast, fortune
Dynamic flexibility is good, and delta parallel institutions are applied in the present invention, on the one hand serve entirety orientation when being fed intake to charging device
The effect of angular adjustment so that the present invention may be under various attitude angles the operation that feeds intake that carries out that can be comprehensive, and throw
Expect that the convenient and swift and scope that feeds intake is wide；On the other hand the damping performance of the present invention, the present invention are improved by delta parallel institutions
When walking on land or in water, even at jolt or nonequilibrium condition under when, charging device is all the time in horizontal flat
Steady state, prevent charging device feed intake operation when because what jitter or the excessive operation that causes to feed intake of obliquity can not be carried out asks
Topic, further increase the present invention feed intake operation when stability and security.
As a further improvement on the present invention, described charging device includes feed intake pedestal, batch charging mechanism and material storage tube；Institute
The batch charging mechanism quantity stated is four, and central axis of the batch charging mechanism along the pedestal that feeds intake respectively symmetrically is arranged, material storage tube, which is located at, to feed intake
Pedestal upper end center opening position；Described batch charging mechanism includes feed intake ear mount, first rotating shaft, the support that feeds intake, the second rotating shaft, shovel material
Support, the scraper bowl that feeds intake, actuating unit, the first compression spring and the second compression spring；The described pedestal lower end that feeds intake is by first
Rotating shaft is connected with the ear mount that feeds intake, and the pedestal upper end that feeds intake is connected by the second rotating shaft with shovel material support one end, and the support that feeds intake is in
Ladder-shaper structure is climbed, spaced set has cross bar on the inside of the support that feeds intake, and shovel material support uses the rectangular box structure of hydraulic telescopic type,
The scraper bowl that feeds intake is fixed on the shovel material support other end, and the cross section transverse for the scraper bowl that feeds intake is in sector structure, and actuating unit, which is located at, to feed intake
Below support, the first compression spring, which is located at, to feed intake between pedestal and the support that feeds intake, and the first compression spring upper end is provided with first
Rotary column, the first rotary column are hinged on the cross bar for the support that feeds intake, and the first compression spring lower end is provided with the first connecting seat, the first connection
Seat, which is fixed on, to feed intake on pedestal upper surface, and the second compression press spring is located on the inside of the first compression spring, and the second compression spring upper end
The second rotary column is provided with, the second rotary column is hinged on the cross bar for the support that feeds intake, and the second compression spring lower end is provided with the second connection
Seat, the second connecting seat, which is fixed on, to feed 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, master
Movable pulley, transition axis, rolling bearing units, driven gear, driving gear, power motor, mobile motor seat and motorized rails, and it is driven
Pulley, steel wire rope, driving pulley, the quantity of transition axis and rolling bearing units are two；Described power shaft is passed through and fed intake on support
End, follow-up pulley are respectively symmetrically fixed on power shaft both ends, and steel wire rope one end is fixed on follow-up pulley, the steel wire rope other end
It is wrapped on driving pulley, is connected between transition axis one end and driving pulley using key, the transition axis other end is provided with actively
Gear, transition axis middle part is fixed on by rolling bearing units to feed intake on pedestal upper surface, and driving gear is fixed on the defeated of power motor
On shaft, and driving gear is meshed with driven gear, and power motor is arranged on motorized rails by mobile motor seat, and electricity
The cross section transverse of dynamic guide rail is in I-shaped structure, and motorized rails, which are fixed on, to feed intake on pedestal upper surface.
It is specific to expect that the stretching routine of support drives the scraper bowl that feeds intake to move diagonally downward by shoveling first when feeding intake, when feeding intake
When scraper bowl is deep into the chemical cleaning method drug powder or particle of storage in material storage tube, expect that the contractile motion of support drives by shoveling
The scraper bowl that feeds intake tilts upward to move, it is achieved thereby that the function for the scraper bowl charging that feeds intake；Then led by mobile motor seat electronic
Past medial motion on rail drives the medial movement of power motor, when with the coaxial mounted driving gear of power motor output shaft with
When driven gear is meshed, the rotation of driving gear, and driving gear and driven gear phase are driven by the rotation of power motor
Engagement, driven gear is coaxially fixedly mounted with driving pulley, it is achieved thereby that the rotation of driving pulley, has reached contraction steel wire rope
Effect, and steel wire rope is connected with follow-up pulley, and follow-up pulley is mutually fixed with power shaft, and power shaft is fixed on the support that feeds intake
On, so as to which under the pulling force effect of steel wire rope, the support that feeds intake rotates counterclockwise by rotary shaft of first rotating shaft, the first compression bullet
Spring and the second compression spring are under highly compressed state；Past movement outside by mobile motor seat on motorized rails again
The outside movement of power motor is driven, driving gear is in released state with driven gear, pressed in the first compression spring and second
Under the compression reaction power effect of contracting spring, the support that feeds intake rotates clockwise rapidly by rotary shaft of first rotating shaft, so as to drive
The scraper bowl that feeds intake is dished out laterally, has reached the effect to feed intake；Finally after chemical cleaning method drug powder or particle are launched,
Under the effect of the extension recovery power of first compression spring and the second compression spring, the support that feeds intake does the inverse time by rotary shaft of first rotating shaft
Pin rotates, and realizes the function of withdrawing the scraper bowl that feeds intake；Charging device can realize automatic charge and the function of feeding intake, and whole intelligence
Change degree is high, and charging is simple and quick, and rate of feeding is fast, distance is remote.
Compared with prior art, the present invention has advantages below：
(1) present invention has the function that land walking, water surface walking, orientation angles regulation and charging feed intake, in sewage
During treatment and purification, the function of sewage purification automatic charging can be achieved, and intelligence degree is high, orientation angles spirit easy to adjust
Distance is remote soon for living, rate of feeding, solves the problems such as the existing artificial workload that feeds intake by ship is big, dangerous big and efficiency is low,
It is effectively protected water resource.
(2) land walking device of the invention and water surface running gear coordinate conversion to use, and conversion is convenient and swift, can fit
It should be walked in land walking and the water surface, reach the effect of amphibious walking, and water surface running gear can carry out a translation two and rotate
The spatial movement of Three Degree Of Freedom altogether, its movement that can be walked in the different in flow rate and waters of different depth, and the speed of travel and eat
Water is adjustable, easy to adjust quick.
(3) delta parallel institutions of the invention can carry out three translations three in space and rotate common six-freedom degree direction
Motion, and space is small, movement velocity is fast, kinematic dexterity is good, and delta parallel institutions are applied in the present invention, a side
Face serves the effect that entirety orientation angles are adjusted when being fed intake to charging device so that the present invention may be at various attitude angles
Down can be comprehensive carry out the operation that feeds intake, the convenient and swift and scope that feeds intake that feeds intake is wide；On the other hand delta parallel machines are passed through
Structure improves the damping performance of the present invention, and the present invention is when walking on land or in water, even at jolting or non-equilibrium
When under state, charging device is in horizontal plateau all the time, prevent charging device feed intake operation when because of jitter or inclination
Property the excessive operation that causes to feed intake the problem of can not carrying out, further increase the present invention feed intake operation when stability and safety
Property.
(4) charging device of the invention can realize automatic charge and the function of feeding intake, and whole intelligence degree is high, charging
Simple and quick, rate of feeding is fast, distance is remote.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is that the present invention removes the dimensional structure diagram after charging device；
Fig. 3 is dimensional structure diagram when land walking device, water surface running gear and lowering or hoisting gear of the present invention coordinate；
Fig. 4 is dimensional structure diagram when land walking device and water surface running gear of the present invention coordinate；
Fig. 5 is dimensional structure diagram when delta parallel institutions and charging device of the present invention coordinate；
Fig. 6 is the dimensional structure diagram of delta parallel institutions of the present invention；
Fig. 7 is the dimensional structure diagram of charging device of the present invention；
Fig. 8 is the dimensional structure diagram of batch charging mechanism of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 8, a kind of large area sewage purification environmental protection humanoid robot, including land walking device 1, the water surface
Running gear 2, lowering or hoisting gear 3, delta parallel institutions 4 and charging device 5；The described quantity of water surface running gear 2 is two, and
Water surface running gear 2 is located at the left and right sides of land walking device 1 respectively, and water surface running gear 2 is connected with land walking device 1
Connecing, lowering or hoisting gear 3 is located at directly over land walking device 1, and the lower end of lowering or hoisting gear 3 is connected with the upper end of land walking device 1,
Delta parallel institutions 4 are between lowering or hoisting gear 3 and charging device 5, and the lower end of delta parallel institutions 4 and the phase of lowering or hoisting gear 3
Connection, the upper end of delta parallel institutions 4 is connected with charging device 5.
As shown in Figure 3 and Figure 4, described land walking device 1 includes chassis 11, motor 12, drive shaft 13, walking
Belt wheel 14, tight locking button 15 and traveling crawler 16, and the quantity of motor 12, tight locking button 15 and traveling crawler 16 is two, is driven
Moving axis 13 and walking belt wheel 14 quantity are four；Described chassis 11 is in rectangular configuration, and the rear and front end of chassis 11 offers peace respectively
Tankage, motor 12 are separately fixed in the mounting groove of the front and rear sides of chassis 11, and motor 12 is defeated using Biaxial synchronous
Going out motor, the one end of drive shaft 13 is connected with the output shaft of motor 12, and the other end of drive shaft 13 is connected with walking belt wheel 14,
And be fixed between drive shaft 13 and walking belt wheel 14 by tight locking button 15, the both ends of traveling crawler 16 are rotating around being enclosed on treads
On wheel 14, and the outside of traveling crawler 16 is evenly arranged with semicircle tread plate；Treads are driven by the rotation of motor 12
The rotation of wheel 14, so as to drive the motion of traveling crawler 16, land walking device 1 be mainly used in the walking of the present invention, it is mobile and
Turn to, and land walking device 1 is by using the walking of track structure with easily facilitating hollow physical features condition so that of the invention
Applicability is stronger.
As shown in Figure 3 and Figure 4, described water surface running gear 2 includes walking plate 21, walking hinge 22, angular adjustment machine
Structure 23, walking rotating disk 24, walking expansion link 25, fixed support 26, jet cylinder 27, appendix 28 and pulsometer 29；Described row
Limp 21 is in bar shaped platy structure, and the walking medial extremity of plate 21 is connected by hinge 22 of walking with the U-type groove madial wall on chassis 11,
The quantity of angle adjusting mechanism 23 is two, and central transverse axis of the angle adjusting mechanism 23 along walking plate 21 is respectively symmetrically arranged,
The lower end of angle adjusting mechanism 23 is fixed with the walking phase of plate 21, and walking rotating disk 24 is located at the walking lateral wall center position of plate 21, OK
Walk the one end of expansion link 25 with walking rotating disk 24 to be connected, the walking other end of expansion link 25 is connected with fixed support 26, and walks
Expansion link 25 is hollow cylinder shell structure, and the rear end of fixed support 26 is provided with fix bar, and the front end of fixed support 26 is provided with Ω
Type frame, and Ω type frame is linearly equally spaced along fix bar, jet cylinder 27 is arranged in the Ω type frame of fixed support 26, jet
27 front ends of cylinder be cone-shaped structure, and the rear end of jet cylinder 27 offers puff prot, the one end of appendix 28 through walking expansion link 25 and
Jet cylinder 27 is connected, and the other end of appendix 28 is connected with pulsometer 29, and pulsometer 29 is fixed in the upper surface of chassis 11
Heart opening position；Described angle adjusting mechanism 23 includes regulation ear mount 231, the first adjustment axis 232, adjusting yoke 233, second and adjusted
Nodal axisn 234 and adjusting bracket 235；Described 231 U-shaped structure of regulation ear mount, regulation ear mount 231 are fixed on walking plate 21,
The lower end of adjusting yoke 233 is connected by the first adjustment axis 232 with regulation ear mount 231, the upper end of adjusting yoke 233 and adjusting bracket
It is connected between 235 by the second adjustment axis 234, adjusting yoke 233 is electric telescopic formula structure, and adjusting bracket 235 is in
Vertical y-type structure, the lower end of adjusting bracket 235 are fixed on chassis 11.By walking, rotating disk 24 can drive jet cylinder 27 to be hung down in XZ
The rotary motion faced directly, so as to adjust the water surface of jet cylinder 27 walking inclination angle, it is easy to the present invention on the water surface different in flow rate
Walking movement；Side-to-side movement of the jet cylinder 27 on XY horizontal planes can be driven by expansion link 25 of walking, so as to control spray
Extension elongation of the inflator 27 when walking mobile on the water surface；Walking plate 21 can be controlled with hinge of walking by angle adjusting mechanism 23
Chain 22 is that rotary shaft is rotated, and so as to drive rotation of the jet cylinder 27 on YZ vertical planes, and then adjusts jet cylinder 27 and absorbs water
Inclination angle, i.e., draft amount of the invention, be easy to the present invention to be walked in the waters of different depth movement；Can be with by pulsometer 29
Jet cylinder 27 is controlled to spray the flow velocity of gas, so as to adjust the gait of march of the present invention；Water surface running gear 2 can carry out a translation
Two rotate the spatial movement of Three Degree Of Freedom altogether, its movement that can be walked in the different in flow rate and waters of different depth, and speed of walking
Degree and draft amount are adjustable, easy to adjust quick.
As shown in figure 3, described lowering or hoisting gear 3 includes lifting push rod 31, lifting round platform 32 and electric turntable 33；Described
It is four to lift the quantity of push rod 31, and lifting push rod 31 lifts the upper end of push rod 31 and lifting round platform 32 positioned at the lower section of lifting round platform 32
Lower surface is connected, and electric turntable 33 is fixed on the lifting upper surface center position of round platform 32.
As shown in Figure 5 and Figure 6, described delta parallel institutions 4 include fixed platform 41, moving platform 42, motor cabinet 43, simultaneously
Join motor 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod 48, the second rotating shaft 49, rotating basis 410 and limit
Position spring 411；Described fixed platform 41 and moving platform 42 structure in rounded shape, moving platform 42 are located at directly over fixed platform 41,
The quantity of motor cabinet 43 and rotating basis 410 is three, and motor cabinet 43 is in positive triangle shape centered on the center of circle of fixed platform 41
It is fixed on the upper surface of fixed platform 41, rotating basis 410 is arranged in dynamic centered on the center of circle of moving platform 42 in positive triangle shape
On the lower surface of platform 42, and the installation site of motor cabinet 43 and the installation site of rotating basis 410 correspond respectively, parallel-connected induction motorses 44
Installation is fixed by motor cabinet 43, and parallel-connected induction motorses 44 use adjustable speed twin shaft output motor, the one end of first rotating shaft 45 with
The main shaft of parallel-connected induction motorses 44 is connected, and the other end of first rotating shaft 45 is connected with the upper end of first connecting rod 46, the lower end of first connecting rod 46 with
It is attached between the upper end of second connecting rod 48 using rotational pin 47, the lower end of second connecting rod 48 is connected with the one end of the second rotating shaft 49,
The other end of second rotating shaft 49 is arranged on rotating basis 410, and the lower end of rotating basis 410 is provided with swivel bearing, and swivel bearing
Mutually to be fixed with the upper surface of moving platform 42, the upper end of rotating basis 410 is provided with the double end sleeve being engaged with the second rotating shaft 49, and first
The middle inside of connecting rod 46 and the middle inside of second connecting rod 48 are respectively provided with the first mounting seat and the second mounting seat, limit spring
411 between the first mounting seat and the second mounting seat, and the upper end of limit spring 411 is connected with the first mounting seat, spacing bullet
The lower end of spring 411 is connected with the second mounting seat；During specific works, the rotation of first rotating shaft 45 is driven by the rotation of parallel-connected induction motorses 44
Turn, and first connecting rod 46 is coaxially connected with first rotating shaft 45, so as to drive second connecting rod 48 by the rotation of first connecting rod 46
Rotation, and then drive moving platform 42 motion, and by limit spring 411 reduce delta parallel institutions 4 move when shake
Property, the stationarity of the motion of delta parallel institutions 4 is added, the rigidity compared with serial mechanism of delta parallel institutions 4 is big, motion spirit
Living, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and delta parallel institutions 4 can carry out three translations three in space and rotate altogether
The motion in six-freedom degree direction, and space is small, movement velocity is fast, kinematic dexterity is good；Should by delta parallel institutions 4
Use in the present invention, on the one hand serve the effect that entirety orientation angles are adjusted when being fed intake to charging device 5 so that the present invention can
With can be comprehensive under various attitude angles carry out the operation that feeds intake, the convenient and swift and scope that feeds intake that feeds intake is wide；It is another
Aspect improves the damping performance of the present invention by delta parallel institutions 4, when the present invention walks on land or in water, i.e.,
Make in jolt or nonequilibrium condition under when, charging device 5 is in horizontal plateau all the time, prevents charging device 5 from feeding intake
The problem of can not being carried out because of jitter or the excessive operation that causes to feed intake of obliquity during operation, further increase the present invention and feed intake
Stability and security during operation.
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
The quantity of batch charging mechanism 52 stated is four, and central axis of the batch charging mechanism 52 along the pedestal 51 that feeds intake respectively symmetrically is arranged, material storage tube 53
Positioned at the upper end center opening position of pedestal 51 that feeds intake；Described batch charging mechanism 52 include feed intake ear mount 521, first rotating shaft 522, feed intake
Support 523, the second rotating shaft 524, shovel material support 525, the scraper bowl 526 that feeds intake, actuating unit 527, the first compression spring 528 and second
Compression spring 529；The described lower end of support 523 that feeds intake is connected by first rotating shaft 522 with the ear mount 521 that feeds intake, and feed intake support
523 upper ends are connected by the second rotating shaft 524 with shovel material support 525 one end, and the support 523 that feeds intake is in ladder-shaper structure is climbed, and feed intake branch
The inner side spaced set of frame 523 has cross bar, and shovel material support 525 is using the rectangular box structure of hydraulic telescopic type, and feed intake scraper bowl 526
The shovel material other end of support 525 is fixed on, and the cross section transverse for the scraper bowl 526 that feeds intake is in sector structure, actuating unit 527, which is located at, to feed intake
The lower section of support 523, the first compression spring 528, which is located at, to feed intake between pedestal 521 and the support 523 that feeds intake, and the first compression spring 528
Upper end is provided with the first rotary column, and the first rotary column is hinged on the cross bar for the support 523 that feeds intake, and the lower end of the first compression spring 528 is set
There is the first connecting seat, the first connecting seat, which is fixed on, to feed intake on the upper surface of pedestal 51, and the second compression press spring 529 is positioned at the first compression bullet
The inner side of spring 528, and the upper end of the second compression spring 529 is provided with the second rotary column, the second rotary column is hinged on the cross bar for the support 523 that feeds intake
On, the lower end of the second compression spring 529 is provided with the second connecting seat, and the second connecting seat, which is fixed on, to feed intake on the upper surface of pedestal 51.
As shown in Figure 7 and Figure 8, described actuating unit 527 includes power shaft 5271, follow-up pulley 5272, steel wire rope
5273rd, driving pulley 5274, transition axis 5275, rolling bearing units 5276, driven gear 5277, driving gear 5278, power motor
5279th, mobile motor seat 527a and motorized rails 527b, and follow-up pulley 5272, steel wire rope 5273, driving pulley 5274, transition
The quantity of axle 5275 and rolling bearing units 5276 is two；Described power shaft 5271 passes through the upper end of support 523 that feeds intake, follow-up pulley
5272 are respectively symmetrically fixed on the both ends of power shaft 5271, and the one end of steel wire rope 5273 is fixed on follow-up pulley 5272, steel wire rope
5273 other ends are wrapped on driving pulley 5274, are connected between the one end of transition axis 5275 and driving pulley 5274 using key,
The other end of transition axis 5275 is provided with driving gear 5278, and the middle part of transition axis 5275 is fixed on material-feeding platform by rolling bearing units 5276
On 51 upper surfaces of seat, driving gear 5278 is fixed on the output shaft of power motor 5279, and driving gear 5278 and driven tooth
Wheel 5277 is meshed, and power motor 5279 is arranged on motorized rails 527b by mobile motor seat 527a, and motorized rails
527b cross section transverse is in I-shaped structure, and motorized rails 527b, which is fixed on, to feed intake on the upper surface of pedestal 51.
As shown in Figure 7 and Figure 8, when specifically feeding intake, expect that the stretching routine of support 525 drives the scraper bowl that feeds intake by shoveling first
526 move diagonally downward, when the scraper bowl 526 that feeds intake is deep into the chemical cleaning method drug powder or particle of storage in material storage tube 53
When, expect that the contractile motion of support 525 drives the scraper bowl 526 that feeds intake to tilt upward to move by shoveling, it is achieved thereby that the scraper bowl 526 that feeds intake
The function of charging；Then power motor 5279 is driven by past medial motions of the mobile motor seat 527a on motorized rails 527b
Medial movement, be meshed when with the coaxial mounted driving gear 5278 of the output shaft of power motor 5279 with driven gear 5277
When, the rotation of driving gear 5278, and driving gear 5278 and driven gear 5277 are driven by the rotation of power motor 5279
It is meshed, driven gear 5277 is coaxially fixedly mounted with driving pulley 5274, it is achieved thereby that the rotation of driving pulley 5274, reaches
The effect for shrinking steel wire rope 5273 has been arrived, and steel wire rope 5273 is connected with follow-up pulley 5272, follow-up pulley 5272 turns with power
The phase of axle 5271 is fixed, and power shaft 5271, which is fixed on, to feed intake on support 523, so as under the pulling force effect of steel wire rope 5273, throw
Material support 523 is that rotary shaft rotates counterclockwise with first rotating shaft 522, the first compression spring 528 and the quilt of the second compression spring 529
Under highly compressed state；Power electric is driven by past movement outsides of the mobile motor seat 527a on motorized rails 527b again
The outside movement of machine 5279, driving gear 5278 and driven gear 5277 are in released state, in the first compression spring 528 and the
Under the compression reaction power effect of two compression springs 529, it is rapidly that rotary shaft is done clockwise with first rotating shaft 522 to feed intake support 523
Rotate, so as to drive the scraper bowl 526 that feeds intake to dish out laterally, reached the effect to feed intake；Finally when chemical cleaning method drug powder or
After person's particle is launched, under the effect of the extension recovery power of the first compression spring 528 and the second compression spring 529, feed intake support
523 are rotated counterclockwise with first rotating shaft 522 for rotary shaft, realize the function of withdrawing the scraper bowl 526 that feeds intake；Charging device 5 can
Automatic charge and the function of feeding intake are realized, and whole intelligence degree is high, charging is simple and quick, and rate of feeding is fast, distance is remote.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed
Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (4)
- A kind of 1. large area sewage purification environmental protection humanoid robot, it is characterised in that：Including land walking device, water surface walking dress Put, lowering or hoisting gear, delta parallel institutions and charging device；Described water surface running gear quantity is two, and water surface running gear It is located at the left and right sides of land walking device respectively, water surface running gear is connected with land walking device, and lowering or hoisting gear is located at Directly over land walking device, and lowering or hoisting gear lower end is connected with land walking device upper end, and delta parallel institutions are positioned at liter Between falling unit and charging device, and delta parallel institutions lower end is connected with lowering or hoisting gear, delta parallel institutions upper end with Charging device is connected；Wherein：Described land walking device includes chassis, motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drives The quantity of dynamic motor, tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；Described chassis is rectangular Structure, the chassis left and right sides offer U-type groove respectively, and chassis rear and front end offers mounting groove respectively, and motor is solid respectively It is scheduled in the mounting groove of chassis front and rear sides, and motor uses Biaxial synchronous output motor, drive shaft one end and driving electricity Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel It is fixed, traveling crawler both ends are evenly arranged with semicircle anti-skidding on the outside of traveling crawler rotating around being enclosed on walking belt wheel Bar；Described water surface running gear includes walking plate, walking hinge, angle adjusting mechanism, walking rotating disk, walking expansion link, solid Fixed rack, jet cylinder, appendix and pulsometer；Described walking plate is in bar shaped platy structure, and walking plate medial extremity passes through walking Hinge is connected with the U-type groove madial wall on chassis, and angle adjusting mechanism quantity is two, and horizontal stroke of the angle adjusting mechanism along walking plate Respectively symmetrically arranged to central axis, angle adjusting mechanism lower end is mutually fixed with walking plate, and walking rotating disk is on the outside of walking plate Wall center position, walking expansion link one end are 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 fix bar, and fixed support front end is provided with Ω Type frame, and Ω type frame is linearly equally spaced along fix bar, jet cylinder is arranged in support bracket fastened Ω type frame, before jet cylinder To hold and offer puff prot for cone-shaped structure, jet tube rear end, appendix one end is connected through walking expansion link with jet cylinder, The appendix other end is connected with pulsometer, and pulsometer is fixed on the center position of chassis upper surface；Described delta parallel institutions include fixed platform, moving platform, motor cabinet, parallel-connected induction motorses, first rotating shaft, first connecting rod, turn Dynamic pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described fixed platform and moving platform structure in rounded shape, Moving platform is located at directly over fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet is using the center of circle of fixed platform in The heart is fixed on fixed platform upper surface in positive triangle shape, and rotating basis is in positive triangle shape cloth centered on the center of circle of moving platform Put on moving platform lower surface, and motor cabinet installation site and rotating basis installation site correspond respectively, parallel-connected induction motorses lead to Cross motor cabinet and installation is fixed, and parallel-connected induction motorses use adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motorses Main shaft is connected, and the first rotating shaft other end is connected with first connecting rod upper end, between first connecting rod lower end and second connecting rod upper end It is attached using rotational pin, second connecting rod lower end is connected with second rotating shaft one end, and the second rotating shaft other end is arranged on rotation On pedestal, rotating basis lower end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform upper surface, rotating basis upper end The double end sleeve being engaged with the second rotating shaft is provided with, first connecting rod middle inside and second connecting rod middle inside are respectively set There are the first mounting seat and the second mounting seat, limit spring is between the first mounting seat and the second mounting seat, and in limit spring End is connected with the first mounting seat, 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 Central axis of the structure along the pedestal that feeds intake respectively symmetrically arranges that material storage tube is positioned at the pedestal upper end center opening position that feeds intake；Described throwing Material mechanism includes feed intake ear mount, first rotating shaft, the support that feeds intake, the second rotating shaft, shovel material support, the scraper bowl that feeds intake, actuating unit, first Compression spring and the second compression spring；The described pedestal lower end that feeds intake is connected by first rotating shaft with the ear mount that feeds intake, and feed intake branch Frame upper end is connected by the second rotating shaft with shovel material support one end, and the support that feeds intake is in ladder-shaper structure is climbed, between being waited on the inside of the support that feeds intake Away from cross bar is provided with, shovel material support uses the rectangular box structure of hydraulic telescopic type, and it is another that the scraper bowl that feeds intake is fixed on shovel material support End, and the cross section transverse for the scraper bowl that feeds intake is in sector structure, actuating unit is below the support that feeds intake, and the first compression spring is positioned at throwing Expect between pedestal and the support that feeds intake, and the first compression spring upper end is provided with the first rotary column, the first rotary column is hinged on the support that feeds intake Cross bar on, the first compression spring lower end is provided with the first connecting seat, and the first connecting seat, which is fixed on, to feed intake on pedestal upper surface, Two compression press springs are located on the inside of 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 the cross bar for feeding intake support, the second compression spring lower end is provided with the second connecting seat, and the second connecting seat is fixed on the pedestal that feeds intake On upper surface.
- A kind of 2. large area sewage purification environmental protection humanoid robot according to claim 1, 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 justified positioned at lifting Below platform, and lift push rod upper end and be connected with lifting round platform lower surface, electric turntable is fixed on lifting round platform upper surface center Opening position.
- A kind of 3. large area sewage purification environmental protection humanoid robot according to claim 1, it is characterised in that：Described angle Governor motion includes regulation ear mount, the first adjustment axis, adjusting yoke, the second adjustment axis and adjusting bracket；Described regulation ear mount U-shaped structure, regulation ear mount are fixed on walking plate, and adjusting yoke lower end is connected by the first adjustment axis with regulation ear mount, It is connected between adjusting yoke upper end and adjusting bracket by the second adjustment axis, adjusting yoke is electric telescopic formula structure, is adjusted Support is saved in the y-type structure to stand upside down, adjusting bracket lower end is fixed on chassis.
- A kind of 4. large area sewage purification environmental protection humanoid robot according to claim 1, it is characterised in that：Described power Mechanism include power shaft, follow-up pulley, steel wire rope, driving pulley, transition axis, rolling bearing units, driven gear, driving gear, Power motor, mobile motor seat and motorized rails, and follow-up pulley, steel wire rope, driving pulley, the number of transition axis and rolling bearing units Measure as two；Described power shaft is respectively symmetrically fixed on power shaft both ends, steel wire through the pedestal upper end that feeds intake, follow-up pulley Rope one end is fixed on follow-up pulley, and the steel wire rope other end is wrapped on driving pulley, between transition axis one end and driving pulley It is connected using key, the transition axis other end is provided with driving gear, and transition axis middle part is fixed on the pedestal that feeds intake by rolling bearing units 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 by mobile motor seat on motorized rails, and the cross section transverse of motorized rails is in I-shaped structure, motorized rails are fixed Feeding intake on pedestal upper surface.
Priority Applications (2)
| 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 |
| CN201810036992.1A CN108161948B (en) | 2016-06-23 | 2016-06-23 | 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 |
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| Publication Number | Publication Date |
|---|---|
| CN106003082A CN106003082A (en) | 2016-10-12 |
| CN106003082B true CN106003082B (en) | 2017-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810036992.1A Expired - Fee Related CN108161948B (en) | 2016-06-23 | 2016-06-23 | Robot |
| CN201610471767.1A Active CN106003082B (en) | 2016-06-23 | 2016-06-23 | A kind of large area sewage purification environmental protection humanoid robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201810036992.1A Expired - Fee Related CN108161948B (en) | 2016-06-23 | 2016-06-23 | Robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109110111B (en) * | 2018-09-07 | 2020-07-24 | 温州明览科技有限公司 | Amphibious unmanned aerial vehicle structure |
| 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 |
| CN109828568B (en) * | 2019-02-15 | 2022-04-15 | 武汉理工大学 | NAO robot ball-searching gait optimization method for RoboCup game |
| 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 |
Family Cites Families (12)
| 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 |
| CN1406780A (en) * | 2001-08-24 | 2003-04-02 | 任治国 | Amphibious robot with capability of climbing on board from aside |
| EP2576400A1 (en) * | 2010-05-24 | 2013-04-10 | F.B. Technologies Pty Ltd | 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 |
| 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 |
| EP2934934B1 (en) * | 2012-12-22 | 2018-05-02 | Maytronics Ltd. | Autonomous pool cleaning robot |
| 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 |
| 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 |
| CN105150787B (en) * | 2015-10-24 | 2017-11-07 | 冯亿坤 | Amphibious multi-environment Work robot |
-
2016
- 2016-06-23 CN CN201810036992.1A patent/CN108161948B/en not_active Expired - Fee Related
- 2016-06-23 CN CN201610471767.1A patent/CN106003082B/en active Active
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| CN106003082A (en) | 2016-10-12 |
| CN108161948B (en) | 2021-09-21 |
| CN108161948A (en) | 2018-06-15 |
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