CN107859851A - A kind of intelligent robot being readily disassembled for wisdom piping lane inspection - Google Patents
A kind of intelligent robot being readily disassembled for wisdom piping lane inspection Download PDFInfo
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- CN107859851A CN107859851A CN201711314434.9A CN201711314434A CN107859851A CN 107859851 A CN107859851 A CN 107859851A CN 201711314434 A CN201711314434 A CN 201711314434A CN 107859851 A CN107859851 A CN 107859851A
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- support bar
- piping lane
- connecting rod
- motor
- gear
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- 238000007689 inspection Methods 0.000 title claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000000712 assembly Effects 0.000 claims abstract description 8
- 238000000429 assembly Methods 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000000567 combustion gas Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- 238000009428 plumbing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of intelligent robot being readily disassembled for wisdom piping lane inspection,Including body and video camera,Also include travel mechanism and testing agency,Travel mechanism includes the first drive component,Two moving assemblies,Two the 3rd connecting rods,Support frame,Two flutings,Second connecting rod and two the first limited blocks,Testing agency includes lifting assembly,5th connecting rod,First gear,Second gear,3rd motor,4th support bar,Ratch,6th connecting rod,Steering block,4th motor and the 3rd gear,This is used in the intelligent robot being readily disassembled of wisdom piping lane inspection,Robot inspection in piping lane along guide rail can be not only driven by travel mechanism,When robot breaks down,It is also convenient for robot removing maintenance,Improve the practicality of robot,The optional position that video camera is moved in piping lane is allow by testing agency,So as to accurately be shot to key position by video camera,Improve the effect of robot inspection.
Description
Technical field
The present invention relates to wisdom piping lane field, more particularly to a kind of intelligent machine being readily disassembled for wisdom piping lane inspection
Device people.
Background technology
Wisdom piping lane is exactly underground urban duct synthesis corridor, i.e., builds a tunnel space in Urban Underground, by electric power,
The various utilities pipelines such as communication, combustion gas, heat supply, plumbing are integrated in one, provided with special access hole, hoisting port and monitoring system
System, implement unified planning, Uniting, unified construction and management, be the important infrastructure and " life for ensureing city operations
Line ".
Wisdom piping lane crusing robot serves huge effect, general inspection machine in the regular maintenance of wisdom piping lane
People is lifted on the work shape guide rail at the top of piping lane by two movable pulleys, needs to remove maintenance when crusing robot breaks down
When, it is necessary to crusing robot, which is disassembled, can just remove, reduce the practicality of crusing robot, moreover, inspection
Robot is shot by video camera to piping lane inside, realizes the inspection to piping lane, but general crusing robot is taken the photograph
Camera moving range is limited, can not realize the accurate shooting to critical component in piping lane, so that people can not make correctly
Judge, reduce further the practicality of crusing robot.
The content of the invention
The technical problem to be solved in the present invention is：For overcome the deficiencies in the prior art, there is provided one kind is used for wisdom piping lane
The intelligent robot being readily disassembled of inspection.
The technical solution adopted for the present invention to solve the technical problems is：A kind of being readily disassembled for wisdom piping lane inspection
Intelligent robot, including body and video camera, in addition to travel mechanism and testing agency, the travel mechanism be arranged on body
Top, the testing agency is arranged on the lower section of body, and the video camera is arranged in testing agency；
The travel mechanism include the first drive component, two moving assemblies, two the 3rd connecting rods, support frame, two
Fluting, the second connecting rod and two the first limited blocks, support frame as described above are arranged on the top of body, and support frame as described above is shaped as
The U-shaped of opening upwards, first drive component are arranged on the lower end of support frame, first support component and the second connecting rod
Drive connection, one end of two the 3rd connecting rods are respectively hinged at the both ends of support frame, and two the first limited blocks are separately positioned on
On the other end of two the 3rd connecting rods, slot for two and be separately positioned on the both ends of the second connecting rod, two the first limited blocks point
It is not arranged in two flutings, two moving assemblies are separately positioned on the top of two the 3rd connecting rods；
The testing agency include lifting assembly, the 5th connecting rod, first gear, second gear, the 3rd motor, the 4th
Strut, ratch, the 6th connecting rod, steering block, the 4th motor and the 3rd gear, the first gear are set in the 5th connecting rod
Upper end, the steering block are set in the lower end of the 5th connecting rod, and the 4th support bar is horizontally set on the side of steering block, institute
State the 3rd motor and be arranged on the 4th support bar close to one end of steering block, the 3rd motor and second gear drive connection, institute
State second gear to engage with first gear, the 4th motor is arranged on the lower section of the 4th support bar, institute by the 6th connecting rod
State the 4th motor to be connected with the 3rd gear drive, the 3rd gear engages with ratch, and it is remote that the video camera is arranged on ratch
One end of steering block.
Preferably, in order to drive two movable pulleys, to two side to overturn, so as to facilitate the dismounting of robot, described first drives
Dynamic component includes two the 4th connecting rods, two the first movable blocks, two screw mandrels, the second motor and first support bar, and described the
Two motors are arranged on the top of first support bar, and second motor is connected with two screw mandrels, two the first movable blocks
The both ends of first support bar are respectively sleeved at, the upper end of two the first movable blocks is equipped with through hole, and two screw mandrels are each passed through two
Individual first movable block, two screw mandrels are threadedly coupled with two the first movable blocks respectively, and one end of two the 4th connecting rods is cut with scissors respectively
It is connected on two the first movable blocks, the other end of two the 4th connecting rods is hinged in the second connecting rod.
Preferably, in order to drive robot to be moved on guide rail, the moving assembly includes the first motor, the first connection
Bar and movable pulley, the head rod are vertically provided in the 3rd connecting rod, and first motor is arranged on head rod
Side of the upper end away from the second connecting rod, first motor and movable pulley are connected.
Preferably, in order to which actuated camera lifts, the lifting assembly includes cylinder, second support bar, the second movement
Block, expansion bracket, the 3rd movable block and the 3rd support bar, the second support bar are arranged on the lower section of body, and the cylinder is set
In the top of second support bar, second movable block is set in one end of second support bar, the cylinder and the second movable block
Drive connection, the upper end side of the expansion bracket are hinged on the other end of second support bar, and the upper end of the expansion bracket is another
Side is hinged on the second movable block, and the lower end side of the expansion bracket is hinged on one end of the 3rd support bar, the expansion bracket
Lower end opposite side is hinged on the 3rd movable block, and the 3rd movable block is set in the other end of the 3rd support bar, and the described 5th
Connecting rod is arranged on the lower section of the 3rd support bar.
Preferably, in order to drive two the first movable blocks to move in the opposite direction, the hand of spiral phase of two screw mandrels
Instead.
Preferably, in order to improve the driving force of the second motor, second motor is servomotor.
Preferably, in order to improve the driving force of cylinder, the cylinder is pressurized cylinder.
Preferably, in order to expand the coverage of video camera, the video camera is wide angle cameras.
Preferably, in order to be played a supporting role to ratch, so as to improve the stability of ratch, the 4th support bar
The one end of lower section away from steering block is provided with second limited block, and second limited block is provided with through hole, and the ratch passes through
Second limited block.
Preferably, in order to extend the usage time of robot, the material of the body is PVC plastic.
The invention has the advantages that this is used in the intelligent robot being readily disassembled of wisdom piping lane inspection, pass through shifting
Motivation structure can not only drive robot inspection in piping lane along guide rail, when robot breaks down, be also convenient for by
Maintenance is removed by robot, improves the practicality of robot, and compared with traditional travel mechanism, the mechanism can not only drive machine
People moves, moreover it is possible to is easy to the dismounting of robot, further increases the practicality of robot, moreover, passes through testing agency
The optional position for alloing video camera to be moved in piping lane, so as to accurately be shot to key position by video camera, improve
The effect of robot inspection, compared with traditional detection mechanism, the scope of mechanism detection is wider, further increases robot
Inspection effect.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the intelligent robot being readily disassembled for wisdom piping lane inspection of the present invention；
Fig. 2 is that the structure of the travel mechanism of the intelligent robot being readily disassembled for wisdom piping lane inspection of the present invention is shown
It is intended to；
Fig. 3 is that the structure of the lifting assembly of the intelligent robot being readily disassembled for wisdom piping lane inspection of the present invention is shown
It is intended to；
Fig. 4 is that the structure of the testing agency of the intelligent robot being readily disassembled for wisdom piping lane inspection of the present invention is shown
It is intended to；
In figure：1. body, 2. video cameras, 3. first motors, 4. head rods, 5. movable pulleys, 6. flutings, 7. first limits
Position block, 8. second connecting rods, 9. the 3rd connecting rods, 10. support frames, 11. the 4th connecting rods, 12. first movable blocks, 13. screw mandrels,
14. the second motor, 15. first support bars, 16. cylinders, 17. second support bars, 18. second movable blocks, 19. expansion brackets, 20.
Three movable blocks, 21. the 3rd support bars, 22. the 5th connecting rods, 23. first gears, 24. second gears, 25. the 3rd motors, 26.
4th support bar, 27. ratch, 28. the 6th connecting rods, 29. second limited blocks, 30. steering blocks, 31. the 4th motors, 32. the 3rd
Gear.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
As shown in figure 1, a kind of intelligent robot being readily disassembled for wisdom piping lane inspection, including body 1 and shooting
Machine 2, in addition to travel mechanism and testing agency, the travel mechanism are arranged on the top of body 1, and the testing agency is arranged on
The lower section of body 1, the video camera 2 are arranged in testing agency；
As shown in Fig. 2 the travel mechanism include the first drive component, two moving assemblies, two the 3rd connecting rods 9,
10, two the 6, second connecting rods 8 of fluting of support frame and two the first limited blocks 7, support frame as described above 10 are arranged on the upper of body 1
Side, the U-shaped for being shaped as opening upwards of support frame as described above 10, first drive component are arranged on the lower end of support frame 10, institute
State the first support component to be connected with the second connecting rod 8, one end of two the 3rd connecting rods 9 is respectively hinged at support frame 10
Both ends, two the first limited blocks 7 are separately positioned on the other end of two the 3rd connecting rods 9, and two flutings 6 are separately positioned on the
The both ends of two connecting rods 8, two the first limited blocks 7 are separately positioned in two flutings 6, and two moving assemblies are separately positioned on two
The top of individual 3rd connecting rod 9；
Wherein, the second connecting rod 8 is driven to lift by the first drive component, in the phase interaction of the limited block 7 of fluting 6 and first
Under, two the 3rd connecting rods 9 of driving rotate around with the pin joint of support frame 10, when two the 3rd connecting rods 9 are rotated up
When, drive two movable pulleys 5 to flip to the outside by two head rods 4, so as to conveniently by robot from guide rail
Remove, when two the 3rd connecting rods 9 rotate down, two movable pulleys 5 are driven to inner side by two head rods 4
Rotate, so that robot is fixed on guide rail, robot is driven along being arranged at the top of piping lane by the moving assemblies of two
Guide rail moved in piping lane, realize the inspection function to piping lane；
As shown in figure 4, the testing agency includes lifting assembly, the 5th connecting rod 22, first gear 23, second gear
24th, the 3rd motor 25, the 4th support bar 26, ratch 27, the 6th connecting rod 28, steering block 30, the 4th motor 31 and the 3rd gear
32, the first gear 23 is set in the upper end of the 5th connecting rod 22, and the steering block 30 is set under the 5th connecting rod 22
End, the 4th support bar 26 are horizontally set on the side of steering block 30, and the 3rd motor 25 is arranged on the 4th support bar 26
Close to one end of steering block 30, the 3rd motor 25 is connected with second gear 24, the tooth of second gear 24 and first
The engagement of wheel 23, the 4th motor 31 are arranged on the lower section of the 4th support bar 26, the 4th motor by the 6th connecting rod 28
31 are connected with the 3rd gear 32, and the 3rd gear 32 engages with ratch 27, and it is remote that the video camera 2 is arranged on ratch 27
One end of steering block 30；
Wherein, the 5th connecting rod 22 is driven to lift by lifting assembly, it is achieved thereby that the lifting of video camera 2, by the
Three motors 25 driving second gear 24 rotates, because first gear 23 is fixed in the 5th connecting rod 22, in second gear 24
Under effect, the 4th support bar 26 of driving is rotated centered on the 5th connecting rod 22, it is achieved thereby that video camera 2 horizontally rotates,
The 3rd gear 32 is driven to rotate by the 4th motor 31, so as to drive ratch 27 along the 4th drive link 26 by the 3rd gear 32
It is mobile, so as to change the slewing area of video camera 2, by the lifting and rotation of video camera 2, so that video camera 2 can be right
Privileged site carries out feature shooting in piping lane, improves the practicality of robot.
As shown in Fig. 2 first drive component includes two the 4th connecting rods, 11, two the first movable blocks 12, two
Screw mandrel 13, the second motor 14 and first support bar 15, second motor 14 are arranged on the top of first support bar 15, and described
Two motors 14 are connected with two screw mandrels 13, and two the first movable blocks 12 are respectively sleeved at the both ends of first support bar 15,
The upper end of two the first movable blocks 12 is equipped with through hole, and two screw mandrels 13 are each passed through two the first movable blocks 12, two screw mandrels
13 are threadedly coupled with two the first movable blocks 12 respectively, and one end of two the 4th connecting rods 11 is respectively hinged at two first movements
On block 12, the other end of two the 4th connecting rods 11 is hinged in the second connecting rod 8；
The moving assembly includes the first motor 3, head rod 4 and movable pulley 5, and the head rod 4 is vertically set
To put in the 3rd connecting rod 9, first motor 3 is arranged on side of the upper end of head rod 4 away from the second connecting rod 8,
First motor 3 is connected with movable pulley 5；
Wherein, two screw mandrels 13 are driven to rotate by the second motor 14, in the presence of two screw mandrels 13, driving two the
One movable block 12 moves left and right along first support bar 15, so as to drive 8 liters of the second connecting rod by two the 4th connecting rods 11
Drop, so that two movable pulleys 5 can flip to the outside, the convenience of robot dismounting is improved, improves the reality of robot
The property used.
As shown in figure 3, the lifting assembly include cylinder 16, second support bar 17, the second movable block 18, expansion bracket 19,
3rd movable block 20 and the 3rd support bar 21, the second support bar 17 are arranged on the lower section of body 1, and the cylinder 16 is arranged on
The top of second support bar 17, second movable block 18 are set in one end of second support bar 17, the cylinder 16 and second
Movable block 18 is connected, and the upper end side of the expansion bracket 19 is hinged on the other end of second support bar 17, described flexible
The upper end opposite side of frame 19 is hinged on the second movable block 18, and the lower end side of the expansion bracket 19 is hinged on the 3rd support bar 21
One end, the lower end opposite side of the expansion bracket 19 is hinged on the 3rd movable block 20, and the 3rd movable block 20 is set in
The other end of three support bars 21, the 5th connecting rod 22 are arranged on the lower section of the 3rd support bar 21；
Wherein, the second movable block 18 is driven to move left and right by cylinder 16, when the second movable block 18 moves right,
Expansion bracket 19 shortens, so that the 3rd support bar 21 rises, when the second movable block 18 is moved to the left, expansion bracket 19 is stretched
It is long, it is achieved thereby that the decline of the 3rd support bar 21, the lifting of video camera 2 is realized by the lifting of the 3rd support bar 21.
Preferably, in order to drive two the first movable blocks 12 to move in the opposite direction, the screw thread side of two screw mandrels 13
To on the contrary, when the hand of spiral of two screw mandrels 13 is opposite, to the in opposite direction of the power of two the first movable blocks 12, so as to
Two the first movable blocks 12 are driven to be moved to different directions, it is achieved thereby that the lifting of the second connecting rod 8, it is achieved thereby that moving
The upset of driving wheel 5.
Preferably, in order to improve the driving force of the second motor 14, second motor 14 is servomotor.
Preferably, in order to improve the driving force of cylinder 16, the cylinder 16 is pressurized cylinder.
Preferably, in order to expand the coverage of video camera 2, the video camera 2 is wide angle cameras.
Preferably, in order to be played a supporting role to ratch 27, so as to improve the stability of ratch 27, the 4th support
The one end of the lower section of bar 26 away from steering block 30 is provided with second limited block 29, and second limited block 29 is provided with through hole,
The ratch 27 passes through the second limited block 29, and when ratch 27 passes through the second limited block 29, the second limited block 29 can be right
Ratch 27 is played a supporting role, and because the 3rd gear 32 also has supporting role to ratch 27, adds the strong point of ratch 27, from
And improve the stability of ratch 27.
Preferably, in order to extend the usage time of robot, the material of the body 1 is PVC plastic, due to PVC plastic
Material is compared and metal, and corrosion resistance is stronger, and when being worked in piping lane of the robot in humidity, PVC plastic can reduce body 1
The speed being corroded, so as to extend the usage time of robot.
When running into failure when robot works in piping lane and needing repairing, pass through the first drive component driving second
Connecting rod 8 lifts, so as to drive two movable pulleys 5 to flip to the outside, so as to which convenient remove robot from guide rail is tieed up
Repair, drive robot to be moved along guide rail in piping lane by the moving assemblies of two, realize the inspection function to piping lane,
During robot inspection, the 5th connecting rod 22 is driven to lift by lifting assembly, consequently facilitating the movement of video camera 2, makes
Video camera 2 can accurately be shot to privileged site in piping lane, improve the practicality of robot.
Compared with prior art, this is used in the intelligent robot being readily disassembled of wisdom piping lane inspection, passes through moving machine
Structure can not only drive robot inspection in piping lane along guide rail, when robot breaks down, be also convenient for machine
People removes maintenance, improves the practicality of robot, and compared with traditional travel mechanism, the mechanism can not only drive robot to move
It is dynamic, moreover it is possible to be easy to the dismounting of robot, further increase the practicality of robot, moreover, make to take the photograph by testing agency
Camera 2 can be moved to the optional position in piping lane, so as to accurately be shot to key position by video camera 2, improve
The effect of robot inspection, compared with traditional detection mechanism, the scope of mechanism detection is wider, further increases robot
Inspection effect.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (10)
1. a kind of intelligent robot being readily disassembled for wisdom piping lane inspection, including body (1) and video camera (2), it is special
Sign is, in addition to travel mechanism and testing agency, and the travel mechanism is arranged on the top of body (1), the testing agency
The lower section of body (1) is arranged on, the video camera (2) is arranged in testing agency；
The travel mechanism includes the first drive component, two moving assemblies, two the 3rd connecting rods (9), support frame (10), two
Individual fluting (6), the second connecting rod (8) and two the first limited blocks (7), support frame as described above (10) are arranged on the top of body (1),
The U-shaped for being shaped as opening upwards of support frame as described above (10), first drive component are arranged on the lower end of support frame (10), institute
State the first support component to be connected with the second connecting rod (8), one end of two the 3rd connecting rods (9) is respectively hinged at support frame
(10) both ends, two the first limited blocks (7) are separately positioned on the other end of two the 3rd connecting rods (9), two flutings (6)
The both ends of the second connecting rod (8) are separately positioned on, two the first limited blocks (7) are separately positioned in two flutings (6), two shiftings
Dynamic component is separately positioned on the top of two the 3rd connecting rods (9)；
The testing agency includes lifting assembly, the 5th connecting rod (22), first gear (23), second gear (24), the 3rd electricity
Machine (25), the 4th support bar (26), ratch (27), the 6th connecting rod (28), steering block (30), the 4th motor (31) and the 3rd tooth
Take turns (32), the first gear (23) is set in the upper end of the 5th connecting rod (22), and the steering block (30) is set in the 5th company
The lower end of extension bar (22), the 4th support bar (26) are horizontally set on the side of steering block (30), the 3rd motor (25)
The 4th support bar (26) is arranged on close to one end of steering block (30), the 3rd motor (25) with second gear (24) transmission to connect
Connect, the second gear (24) is engaged with first gear (23), and the 4th motor (31) is set by the 6th connecting rod (28)
In the lower section of the 4th support bar (26), the 4th motor (31) is connected with the 3rd gear (32), the 3rd gear
(32) engaged with ratch (27), the video camera (2) is arranged on the one end of ratch (27) away from steering block (30).
2. it is used for the intelligent robot being readily disassembled of wisdom piping lane inspection as claimed in claim 1, it is characterised in that described
First drive component includes two the 4th connecting rods (11), two the first movable blocks (12), two screw mandrels (13), the second motors
(14) and first support bar (15), second motor (14) are arranged on the top of first support bar (15), second motor
(14) it is connected with two screw mandrels (13), two the first movable blocks (12) are respectively sleeved at the two of first support bar (15)
End, the upper end of two the first movable blocks (12) are equipped with through hole, and two screw mandrels (13) are each passed through two the first movable blocks (12),
Two screw mandrels (13) are threadedly coupled with two the first movable blocks (12) respectively, and one end of two the 4th connecting rods (11) is respectively articulated with
On two the first movable blocks (12), the other end of two the 4th connecting rods (11) is hinged in the second connecting rod (8).
3. it is used for the intelligent robot being readily disassembled of wisdom piping lane inspection as claimed in claim 1, it is characterised in that described
Moving assembly includes the first motor (3), head rod (4) and movable pulley (5), and the head rod (4) is vertically provided at
In 3rd connecting rod (9), first motor (3) is arranged on one of the upper end of head rod (4) away from the second connecting rod (8)
Side, first motor (3) are connected with movable pulley (5).
4. it is used for the intelligent robot being readily disassembled of wisdom piping lane inspection as claimed in claim 1, it is characterised in that described
Lifting assembly includes cylinder (16), second support bar (17), the second movable block (18), expansion bracket (19), the 3rd movable block (20)
With the 3rd support bar (21), the second support bar (17) is arranged on the lower section of body (1), and the cylinder (16) is arranged on second
The top of support bar (17), second movable block (18) are set in one end of second support bar (17), the cylinder (16) with
Second movable block (18) is connected, and the upper end side of the expansion bracket (19) is hinged on the other end of second support bar (17)
On, the upper end opposite side of the expansion bracket (19) is hinged on the second movable block (18), the lower end side of the expansion bracket (19)
One end of the 3rd support bar (21) is hinged on, the lower end opposite side of the expansion bracket (19) is hinged on the 3rd movable block (20),
3rd movable block (20) is set in the other end of the 3rd support bar (21), and the 5th connecting rod (22) is arranged on the 3rd
The lower section of strut (21).
5. it is used for the intelligent robot being readily disassembled of wisdom piping lane inspection as claimed in claim 2, it is characterised in that two
The hand of spiral of screw mandrel (13) is opposite.
6. it is used for the intelligent robot being readily disassembled of wisdom piping lane inspection as claimed in claim 2, it is characterised in that described
Second motor (14) is servomotor.
7. it is used for the intelligent robot being readily disassembled of wisdom piping lane inspection as claimed in claim 4, it is characterised in that described
Cylinder (16) is pressurized cylinder.
8. it is used for the intelligent robot being readily disassembled of wisdom piping lane inspection as claimed in claim 1, it is characterised in that described
Video camera (2) is wide angle cameras.
9. it is used for the intelligent robot being readily disassembled of wisdom piping lane inspection as claimed in claim 1, it is characterised in that described
The one end of lower section away from steering block (30) of 4th support bar (26) is provided with second limited block (29), second limited block
(29) through hole is provided with, the ratch (27) passes through the second limited block (29).
10. it is used for the intelligent robot being readily disassembled of wisdom piping lane inspection as claimed in claim 1, it is characterised in that institute
The material for stating body (1) is PVC plastic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711314434.9A CN107859851A (en) | 2017-12-12 | 2017-12-12 | A kind of intelligent robot being readily disassembled for wisdom piping lane inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711314434.9A CN107859851A (en) | 2017-12-12 | 2017-12-12 | A kind of intelligent robot being readily disassembled for wisdom piping lane inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107859851A true CN107859851A (en) | 2018-03-30 |
Family
ID=61705858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711314434.9A Withdrawn CN107859851A (en) | 2017-12-12 | 2017-12-12 | A kind of intelligent robot being readily disassembled for wisdom piping lane inspection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107859851A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748262A (en) * | 2018-05-28 | 2018-11-06 | 安徽沃屹智能装备有限公司 | A kind of mechanical arm safety device |
| CN112077823A (en) * | 2020-08-05 | 2020-12-15 | 嘉兴学院 | Mobile platform of pipe gallery inspection robot |
| CN113124268A (en) * | 2021-03-24 | 2021-07-16 | 深圳市同富信息技术有限公司 | Robot applied to auxiliary safety production |
-
2017
- 2017-12-12 CN CN201711314434.9A patent/CN107859851A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748262A (en) * | 2018-05-28 | 2018-11-06 | 安徽沃屹智能装备有限公司 | A kind of mechanical arm safety device |
| CN112077823A (en) * | 2020-08-05 | 2020-12-15 | 嘉兴学院 | Mobile platform of pipe gallery inspection robot |
| CN113124268A (en) * | 2021-03-24 | 2021-07-16 | 深圳市同富信息技术有限公司 | Robot applied to auxiliary safety production |
| CN113124268B (en) * | 2021-03-24 | 2022-07-26 | 深圳市同富信息技术有限公司 | Robot applied to auxiliary safety production |
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Application publication date: 20180330 |
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