CN109591028A - A kind of anti-terrorism robot creeped for pipeline - Google Patents
A kind of anti-terrorism robot creeped for pipeline Download PDFInfo
- Publication number
- CN109591028A CN109591028A CN201811640524.1A CN201811640524A CN109591028A CN 109591028 A CN109591028 A CN 109591028A CN 201811640524 A CN201811640524 A CN 201811640524A CN 109591028 A CN109591028 A CN 109591028A
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- China
- Prior art keywords
- hydraulic cylinder
- groove
- gear
- plate
- fixedly mounted
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Links
- 230000004888 barrier function Effects 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 5
- 239000000443 aerosol Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
A kind of anti-terrorism robot creeped for pipeline, including box portion, cover board, running gear, attack part, it is characterised in that: the groove of the cover board is fixedly mounted on the connecting plate of the hydraulic cylinder inside the 4th groove；The fixed plate of running gear is fixedly mounted in third groove；The sliding block of attack part is slidably mounted in sliding rail, and third gear and the first rack gear are intermeshed；Weapon is driven to move up by the clip that third stepper motor drives the 5th gear to drive third hydraulic cylinder third hydraulic cylinder, then clip is driven to clamp weapon from the clip of third hydraulic cylinder to cooperate by the first steering engine, the 4th hydraulic cylinder, the first attachment base side steering engine, the 5th hydraulic cylinder and the 6th hydraulic cylinder, and it is launched by the first groove, the completion ammunition for keeping machine quiet is launched, it can give terrorist one strike being caught unprepared, improve success rate.
Description
Technical field
The present invention relates to specialized robot technical field, in particular to a kind of anti-terrorism robot creeped for pipeline.
Background technique
Terrorist would generally hide when fighting stubbornly with one's back to the wall to inside some discarded buildings or some buildings, anti-terrorism strike
When usually require strike personnel and break through to eliminate terrorist, being charged due to hardness can cause casualties, anxious
Need the robot that aerosol bomb and tear bombnoun can be thrown by pipeline.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of anti-terrorism robot creeped for pipeline, by running gear and
Drill bit can make machine to complete pipe walking and can pass through barrier, improve wheel efficiency；Pass through the more of attack part
A weapon places groove to store different weapons, to adapt to different scenes, drives the 5th gear by third stepper motor
Drive the clip of third hydraulic cylinder and then third hydraulic cylinder that weapon is driven to move up, then by the first steering engine, the 4th hydraulic
Cylinder, the first attachment base side steering engine, the 5th hydraulic cylinder and the 6th hydraulic cylinder drive clip by weapon from third liquid to cooperate
It clamps on the clip of cylinder pressure, and is launched by the first groove, launch the quiet completion ammunition of machine, it can be with
It gives terrorist one strike being caught unprepared, improves success rate.
Technical solution used in the present invention is: a kind of anti-terrorism robot creeped for pipeline, including box portion, lid
Plate, running gear, attack part, it is characterised in that: the groove of the cover board is fixedly mounted on hydraulic inside the 4th groove
On the connecting plate of cylinder；The fixed plate of running gear is fixedly mounted in third groove；The sliding block of attack part is slidably mounted on cunning
In rail, third gear and the first rack gear are intermeshed；
The cabinet, drill bit, the first groove, baffle, the second groove, third groove, the 4th groove, triangle groove, sliding rail,
One rack gear is equipped with triangle groove on cabinet, and sliding rail and the first rack gear are equipped with inside triangle groove；Side is equipped with the outside the enclosure
Three grooves and the first groove；Drill bit is fixedly mounted on the motor shaft of the motor of cabinet front end；Liquid is equipped with inside the second groove
Cylinder pressure, piston rod end are fixedly connected with baffle；It is equipped with the 4th groove behind cabinet, is equipped with inside the 4th groove hydraulic
The piston rod end of cylinder, hydraulic cylinder is equipped with connecting plate；
The running gear includes running gear support plate, barrier plate, crawler belt, the first stepper motor, first gear, the second tooth
Fixed plate is arranged below in walking partially supported plate, in each side setting for walking partially supported plate in wheel, fixed plate, shaft
There is a barrier plate；Shaft is rotatably installed in above running gear support plate in circular hole, and crawler belt is mounted in two shafts；First
Stepper motor side is fixedly mounted on running gear support plate in the following, its motor shaft is fixedly connected with first gear, second gear
It is fixedly mounted on above shaft, second gear and first gear are intermeshed；
The attack part backplane, second stepper motor, third gear, sliding block, backing plate, the second rack gear, the first sliding panel,
Four gears, round plank, weapon place groove, first hydraulic cylinder, extension sleeve, telescopic rod, second hydraulic cylinder, the second sliding
Plate, third stepper motor, the 5th gear, third hydraulic cylinder, third sliding panel, the first steering engine fixed plate, the first steering engine, the 4th liquid
It is cylinder pressure fixed plate, the 4th hydraulic cylinder, the first attachment base, the first attachment base connecting shaft, the 5th hydraulic cylinder fixing seat, the 5th hydraulic
Cylinder, the 5th hydraulic cylinder top plate, the 6th hydraulic cylinder, clip are respectively provided with a sliding block attacking at left and right sides of part backplane, and second
Stepper motor bottom surface is fixedly mounted on the inside of attack part backplane, and motor shaft is fixedly connected with third gear；In attack part
Substrate is equipped with backing plate, and dovetail groove and the second rack gear are equipped on backing plate；Sliding block below first sliding panel is slidably installed
In dovetail groove above backing plate, the motor shaft of the stepper motor above the first sliding panel is fixedly connected with the 4th gear, the 4th tooth
Wheel is intermeshed with the second rack gear；Round plank is fixedly mounted on above the first sliding panel, and weapon is equipped on round plank
Place groove, first hydraulic cylinder cylinder base be fixedly mounted on weapon place groove lateral branch fagging on, piston rod end with
Pushing plate is fixedly connected；It is fixedly mounted below extension sleeve above round plank, is equipped with groove, telescopic rod sliding peace above
In the groove below extension sleeve；Second hydraulic cylinder cylinder base is fixedly mounted on extension sleeve lateral bolster fagging,
Piston rod end is fixedly connected with telescopic rod lateral bolster fagging；The first steering engine fixed plate is equipped on telescopic rod, in the first rudder
The second sliding panel is arranged below in machine fixed plate, and dovetail groove and rack gear are equipped on the outside of the second sliding panel；Below third sliding panel
Sliding block is slidably mounted in the dovetail groove of the second sliding panel, and third stepping motor side face is fixedly mounted on above third sliding panel,
Its motor shaft is fixedly connected with the 5th gear；The intermeshing of the rack gear of 5th gear and the second sliding panel；Third hydraulic cylinder body
Bottom is fixedly mounted on the outside of third sliding panel, and piston rod end is fixedly connected with clip；First steering engine bottom surface is fixedly mounted
On the first steering engine fixed plate, motor shaft is fixedly connected with the 4th hydraulic cylinder fixed plate；4th hydraulic cylinder body bottom is solid
It is mounted on the 4th hydraulic cylinder fixed plate side, piston rod end is fixedly connected with the first attachment base；First attachment base connecting shaft
It is rotatably installed in the circular hole in the circular hole above the first attachment base, below the 5th hydraulic cylinder fixing seat and is fixedly mounted on the first connection
In seat connecting shaft, the motor shaft of the steering engine of the first attachment base side is fixedly connected with the first attachment base connecting shaft；5th hydraulic cylinder
Cylinder base is fixedly mounted on above the 5th hydraulic cylinder fixing seat, and piston rod end is fixedly connected with the 5th hydraulic cylinder top plate,
6th hydraulic cylinder body bottom is fixedly mounted on above the 5th hydraulic cylinder top plate in support plate, and piston rod end is fixed with clip
Connection.
Beneficial effects of the present invention: machine can be made by running gear and drill bit to complete pipe walking and can pass through
Barrier improves wheel efficiency；Multiple weapons by attacking part place groove to store different weapons, and Lai Shiying is not
Same scene is used force by the clip band that third stepper motor drives the 5th gear to drive third hydraulic cylinder third hydraulic cylinder
Device moves up, and then passes through the first steering engine, the 4th hydraulic cylinder, the first attachment base side steering engine, the 5th hydraulic cylinder and the 6th liquid
Cylinder pressure drives clip to clamp weapon from the clip of third hydraulic cylinder to cooperate, and is launched by the first groove,
The completion ammunition for keeping machine quiet is launched, and can be given terrorist one strike being caught unprepared, be improved success
Rate.
Detailed description of the invention
Fig. 1, Fig. 2 are overall structure diagram of the invention.
Fig. 3, Fig. 4 are the structural schematic diagram of box portion of the invention.
Fig. 5 is the structural schematic diagram of cover board of the invention.
Fig. 6, Fig. 7, Fig. 8 are the structural schematic diagram of running gear of the invention.
Fig. 9, Figure 10, Figure 11 are the structural schematic diagram of attack part of the invention.
Drawing reference numeral: 1- box portion, 2- cover board, 3- running gear, 4- attack part, 101- cabinet, 102- drill bit,
The first groove of 103-, 104- baffle, the second groove of 105-, 106- third groove, the 4th groove of 107-, 108- triangle groove,
109- sliding rail, the first rack gear of 110-, 301- running gear support plate, 302- barrier plate, 303- crawler belt, 304- the first stepping electricity
Machine, 305- first gear, 306- second gear, 307- fixed plate, 308- shaft, 401- attack part backplane, 402- second step
Into motor, 403- third gear, 404- sliding block, 405- backing plate, the second rack gear of 406-, the first sliding panel of 407-, the 4th tooth of 408-
Wheel, 409- circle plank, 410- weapon place groove, 411- first hydraulic cylinder, 412- extension sleeve, 413- telescopic rod, 414-
Second hydraulic cylinder, the second sliding panel of 415-, 416- third stepper motor, the 5th gear of 417-, 418- third hydraulic cylinder, 419-
Three sliding panels, the first steering engine of 420- fixed plate, the first steering engine of 421-, the 4th hydraulic cylinder fixed plate of 422-, the 4th hydraulic cylinder of 423-,
The first attachment base of 424-, the first attachment base of 425- connecting shaft, the 5th hydraulic cylinder fixing seat of 426-, the 5th hydraulic cylinder of 427-, 428-
5th hydraulic cylinder top plate, the 6th hydraulic cylinder of 429-, 430- clip.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, one kind is for managing
The anti-terrorism robot that road is creeped, including box portion 1, cover board 2, running gear 3, attack part 4, it is characterised in that: described
The groove of cover board 2 is fixedly mounted on the connecting plate of the hydraulic cylinder of 107 the inside of the 4th groove；The fixed plate 307 of running gear 3 is solid
Dingan County is mounted in third groove 106；The sliding block 404 of attack part 4 is slidably mounted in sliding rail 109, third gear 403 and first
Rack gear 110 is intermeshed；
The cabinet 101, drill bit 102, the first groove 103, baffle 104, the second groove 105, third groove the 106, the 4th are recessed
Slot 107, triangle groove 108, sliding rail 109, the first rack gear 110 are equipped with triangle groove 108, in triangle groove on cabinet 101
108 the insides are equipped with sliding rail 109 and the first rack gear 110；Third groove 106 and the first groove 103 are equipped on the outside of cabinet 101；It bores
First 102 are fixedly mounted on the motor shaft of the motor of 101 front end of cabinet；Hydraulic cylinder, piston are equipped with inside the second groove 105
Boom end is fixedly connected with baffle 104；It is equipped with the 4th groove 107 behind cabinet 101, liquid is equipped with inside the 4th groove 107
The piston rod end of cylinder pressure, hydraulic cylinder is equipped with connecting plate；
The running gear 3 includes running gear support plate 301, barrier plate 302, crawler belt 303, the first stepper motor 304, the
Fixed plate 307 is arranged below in walking partially supported plate 301 in one gear 305, second gear 306, fixed plate 307, shaft 308,
A barrier plate 302 is respectively provided in the left and right sides of walking partially supported plate 301；Shaft 308 is rotatably installed in running part branch
Above in circular hole, crawler belt 303 is mounted in two shafts 308 fagging 301；First stepper motor, 304 side, which is fixedly mounted, is expert at
Partially supported plate 301 is walked in the following, its motor shaft is fixedly connected with first gear 305, second gear 306 is fixedly mounted on shaft
Above 308, second gear 306 and first gear 305 are intermeshed；
The attack part backplane 401, second stepper motor 402, third gear 403, sliding block 404, backing plate 405, the second tooth
Article the 406, first sliding panel 407, the 4th gear 408, round plank 409, weapon are placed groove 410, first hydraulic cylinder 411, are stretched
Contracting sleeve 412, telescopic rod 413, second hydraulic cylinder 414, the second sliding panel 415, third stepper motor 416, the 5th gear 417,
Third hydraulic cylinder 418, third sliding panel 419, the first steering engine fixed plate 420, the first steering engine 421, the 4th hydraulic cylinder fixed plate
422, the 4th hydraulic cylinder 423, the first attachment base 424, the first attachment base connecting shaft 425, the 5th hydraulic cylinder fixing seat the 426, the 5th
Hydraulic cylinder 427, the 5th hydraulic cylinder top plate 428, the 6th hydraulic cylinder 429, clip 430, in the left and right sides of attack part backplane 401
Be respectively provided with a sliding block 404,402 bottom surface of second stepper motor is fixedly mounted on 401 inside of attack part backplane, motor shaft with
Third gear 403 is fixedly connected；It is equipped with backing plate 405 on attack part backplane 401, dovetail groove is equipped on backing plate 405
With the second rack gear 406；Sliding block below first sliding panel 407 is slidably mounted on above backing plate 405 in dovetail groove, the first sliding panel
The motor shaft of stepper motor above 407 is fixedly connected with the 4th gear 408, and the 4th gear 408 is mutually nibbled with the second rack gear 406
It closes；Round plank 409 is fixedly mounted on above the first sliding panel 407, and weapon is equipped on round plank 409 and places groove
410,411 cylinder base of first hydraulic cylinder be fixedly mounted on weapon place 410 lateral branch fagging of groove on, piston rod end with
Pushing plate is fixedly connected；Extension sleeve 412 is fixedly mounted on above round plank 409 below, is equipped with groove, telescopic rod above
413 are slidably mounted in the groove below extension sleeve 412；414 cylinder base of second hydraulic cylinder is fixedly mounted on extension sleeve
On 412 lateral bolster faggings, piston rod end is fixedly connected with 413 lateral bolster fagging of telescopic rod；It is equipped on telescopic rod 413
The second sliding panel 415 is arranged below in the first steering engine fixed plate 420, outside the second sliding panel 415 in first steering engine fixed plate 420
Side is equipped with dovetail groove and rack gear；Sliding block below third sliding panel 419 is slidably mounted in the dovetail groove of the second sliding panel 415,
416 side of third stepper motor is fixedly mounted on above third sliding panel 419, and motor shaft is fixedly connected with the 5th gear 417；
The intermeshing of the rack gear of 5th gear 417 and the second sliding panel 415；418 cylinder base of third hydraulic cylinder is fixedly mounted on third
419 outside of sliding panel, piston rod end is fixedly connected with clip；It is solid that first steering engine, 421 bottom surface is fixedly mounted on the first steering engine
Above fixed board 420, motor shaft is fixedly connected with the 4th hydraulic cylinder fixed plate 422；4th hydraulic cylinder, 423 cylinder base Guan County dress
In 422 side of the 4th hydraulic cylinder fixed plate, piston rod end is fixedly connected with the first attachment base 424；The connection of first attachment base
Axis 425 is rotatably installed in the fixed peace of the circular hole in the circular hole above the first attachment base 424, below the 5th hydraulic cylinder fixing seat 426
In the first attachment base connecting shaft 425, the motor shaft of the steering engine of 424 side of the first attachment base and the first attachment base connecting shaft
425 are fixedly connected；5th hydraulic cylinder, 427 cylinder base is fixedly mounted on above the 5th hydraulic cylinder fixing seat 426, tailpiece of the piston rod
Portion is fixedly connected with the 5th hydraulic cylinder top plate 428, and 429 cylinder base of the 6th hydraulic cylinder is fixedly mounted on the 5th hydraulic cylinder top plate
Above 428 in support plate, piston rod end is fixedly connected with clip 430.
Working principle of the present invention: the weapons such as aerosol bomb and tear bombnoun are put into device and placed in groove 410 by user of service, then
Machine is put into pipeline, machine drives first gear 305 to drive the second tooth by the first stepper motor 304 of running gear 3
Wheel 306 drives shaft 308 that crawler belt 303 is driven to walk in turn, when there is obstacle in front, passes through 101 front of cabinet
Stepper motor drive the rotation of drill bit 102 to come across barrier, when reaching suitable position, pass through the one of 105 the inside of the second groove
A contraction drives baffle 104 to move backward to open the first groove 103, passes through the second stepper motor of attack part 4 in next step
402 drive third gears 403 and then drive attack part backplane 401 and are moved to the first groove 103 in the following, passing through second hydraulic cylinder
414 adjust the height of the first steering engine fixed plate 420, drive the 5th gear 417 drive the by third stepper motor 416
Three sliding panels 419 drive third hydraulic cylinder 418 and the clip of the front of third hydraulic cylinder 418 to place weapon in groove 410
The weapon in face is clamped, and drives the 5th gear 417 to drive 418 third of third hydraulic cylinder hydraulic by third stepper motor 416
The clip of cylinder 418 drives weapon to move up, and then passes through the first steering engine 421, the 4th hydraulic cylinder 423,424 side of the first attachment base
Face steering engine, the 5th hydraulic cylinder 427 and the 6th hydraulic cylinder 429 drive clip 430 by weapon from third hydraulic cylinder 418 to cooperate
Clip on clamp, and launched by the first groove 103.
In the description of the present invention, it should be noted that term " on ", "lower", "front", "rear", "left", "right" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings or when invention product use usually puts
The orientation or positional relationship put, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively heavy
The property wanted.
Claims (4)
1. a kind of anti-terrorism robot creeped for pipeline, including box portion (1), cover board (2), running gear (3), attack portion
Divide (4), it is characterised in that: the groove of the cover board (2) is fixedly mounted on the connection of the hydraulic cylinder inside the 4th groove (107)
On plate；It is inner that the fixed plate (307) of running gear (3) is fixedly mounted on third groove (106)；The sliding block (404) of attack part (4)
It is inner to be slidably mounted on sliding rail (109), third gear (403) and the first rack gear (110) are intermeshed.
2. a kind of anti-terrorism robot creeped for pipeline according to claim 1, it is characterised in that: cabinet
(101), drill bit (102), the first groove (103), baffle (104), the second groove (105), third groove (106), the 4th groove
(107), triangle groove (108), sliding rail (109), the first rack gear (110) are equipped with triangle groove (108) on cabinet (101),
Sliding rail (109) and the first rack gear (110) are equipped with inside triangle groove (108)；Third groove is equipped on the outside of cabinet (101)
(106) and the first groove (103)；Drill bit (102) is fixedly mounted on the motor shaft of the motor of cabinet (101) front end；Second
Hydraulic cylinder is equipped with inside groove (105), piston rod end is fixedly connected with baffle (104)；It is equipped with the below in cabinet (101)
Four grooves (107), are equipped with hydraulic cylinder inside the 4th groove (107), and the piston rod end of hydraulic cylinder is equipped with connecting plate.
3. a kind of anti-terrorism robot creeped for pipeline according to claim 1, it is characterised in that: described
Running gear (3) includes running gear support plate (301), barrier plate (302), crawler belt (303), the first stepper motor (304),
One gear (305), second gear (306), fixed plate (307), shaft (308) are arranged below in walking partially supported plate (301)
Fixed plate (307) is respectively provided with a barrier plate (302) at left and right sides of walking partially supported plate (301)；Shaft (308) turns
Dynamic to be mounted on running gear support plate (301) above in circular hole, crawler belt (303) is mounted on two shafts (308)；First stepping
Motor (304) side is fixedly mounted on running gear support plate (301) in the following, its motor shaft and first gear (305) fixed company
It connects, second gear (306) is fixedly mounted on shaft (308) above, and second gear (306) and first gear (305) are intermeshed.
4. a kind of anti-terrorism robot creeped for pipeline according to claim 1, it is characterised in that: described
Attack part backplane (401), second stepper motor (402), third gear (403), sliding block (404), backing plate (405), the second tooth
Article (406), the first sliding panel (407), the 4th gear (408), round plank (409), weapon place groove (410), the first liquid
Cylinder pressure (411), extension sleeve (412), telescopic rod (413), second hydraulic cylinder (414), the second sliding panel (415), third stepping
Motor (416), the 5th gear (417), third hydraulic cylinder (418), third sliding panel (419), the first steering engine fixed plate (420),
First steering engine (421), the 4th hydraulic cylinder fixed plate (422), the 4th hydraulic cylinder (423), the first attachment base (424), the first connection
Seat connecting shaft (425), the 5th hydraulic cylinder fixing seat (426), the 5th hydraulic cylinder (427), the 5th hydraulic cylinder top plate (428), the 6th
Hydraulic cylinder (429), clip (430) are respectively provided with a sliding block (404), second step at left and right sides of attack part backplane (401)
It is fixedly mounted on the inside of attack part backplane (401) into motor (402) bottom surface, motor shaft and third gear (403) fixed company
It connects；Backing plate (405) are equipped with above in attack part backplane (401), are equipped with dovetail groove and the second rack gear above in backing plate (405)
(406)；The sliding block of first sliding panel (407) below is slidably mounted on backing plate (405) above in dovetail groove, the first sliding panel
(407) motor shaft of stepper motor above is fixedly connected with the 4th gear (408), the 4th gear (408) and the second rack gear
(406) it is intermeshed；Round plank (409) is fixedly mounted on the first sliding panel (407) above, round plank (409) above
Groove (410) are placed equipped with weapon, first hydraulic cylinder (411) cylinder base is fixedly mounted on weapon and places on the outside of groove (410)
In support plate, piston rod end is fixedly connected with pushing plate；Extension sleeve (412) is fixedly mounted on round plank below
(409) above, it is equipped with groove above, telescopic rod (413) is slidably mounted in the groove of extension sleeve (412) below；Second
Hydraulic cylinder (414) cylinder base is fixedly mounted on extension sleeve (412) lateral bolster fagging, piston rod end and telescopic rod
(413) lateral bolster fagging is fixedly connected；It is equipped with the first steering engine fixed plate (420) above in telescopic rod (413), it is solid in the first steering engine
The second sliding panel (415) are arranged below in fixed board (420), and dovetail groove and rack gear are equipped on the outside of the second sliding panel (415)；Third is sliding
The sliding block of movable plate (419) below is slidably mounted in the dovetail groove of the second sliding panel (415), third stepper motor (416) side
It is fixedly mounted on third sliding panel (419) above, motor shaft is fixedly connected with the 5th gear (417)；5th gear (417) with
The rack gear of second sliding panel (415) is intermeshed；Third hydraulic cylinder (418) cylinder base is fixedly mounted on third sliding panel
(419) outside, piston rod end is fixedly connected with clip；First steering engine (421) bottom surface is fixedly mounted on the first steering engine and fixes
Above, motor shaft is fixedly connected plate (420) with the 4th hydraulic cylinder fixed plate (422)；4th hydraulic cylinder (423) cylinder base is solid
It is mounted on the 4th hydraulic cylinder fixed plate (422) side, piston rod end is fixedly connected with the first attachment base (424)；First connects
Joint chair connecting shaft (425) is rotatably installed in the circular hole of the first attachment base (424) above, under the 5th hydraulic cylinder fixing seat (426)
The circular hole in face is fixedly mounted in the first attachment base connecting shaft (425), the motor shaft of the steering engine of the first attachment base (424) side with
First attachment base connecting shaft (425) is fixedly connected；5th hydraulic cylinder (427) cylinder base is fixedly mounted on the 5th hydraulic cylinder and fixes
Above, piston rod end is fixedly connected seat (426) with the 5th hydraulic cylinder top plate (428), the 6th hydraulic cylinder (429) cylinder base
The 5th hydraulic cylinder top plate (428) is fixedly mounted on above in support plate, piston rod end is fixedly connected with clip (430).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811640524.1A CN109591028B (en) | 2018-12-29 | 2018-12-29 | Anti-terrorist robot for pipeline crawling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811640524.1A CN109591028B (en) | 2018-12-29 | 2018-12-29 | Anti-terrorist robot for pipeline crawling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109591028A true CN109591028A (en) | 2019-04-09 |
| CN109591028B CN109591028B (en) | 2021-12-14 |
Family
ID=65965546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811640524.1A Active CN109591028B (en) | 2018-12-29 | 2018-12-29 | Anti-terrorist robot for pipeline crawling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109591028B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112518707A (en) * | 2020-11-30 | 2021-03-19 | 国网重庆市电力公司电力科学研究院 | Overturn-preventing inspection robot |
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| CN207094066U (en) * | 2017-08-29 | 2018-03-13 | 三峡大学 | Pipe robot |
| CN107398895A (en) * | 2017-09-20 | 2017-11-28 | 柳州欧卡机器人有限公司 | A kind of rotatable industrial robot of both arms |
| CN109029125A (en) * | 2018-09-03 | 2018-12-18 | 冯小宇 | A kind of fight against terrorism and violence robot |
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| CN112518707A (en) * | 2020-11-30 | 2021-03-19 | 国网重庆市电力公司电力科学研究院 | Overturn-preventing inspection robot |
| CN112518707B (en) * | 2020-11-30 | 2022-03-08 | 国网重庆市电力公司电力科学研究院 | Overturn-preventing inspection robot |
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