CN205219132U - Polypody flexible duct trash cleaning machine ware people - Google Patents
Polypody flexible duct trash cleaning machine ware people Download PDFInfo
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- CN205219132U CN205219132U CN201521063459.2U CN201521063459U CN205219132U CN 205219132 U CN205219132 U CN 205219132U CN 201521063459 U CN201521063459 U CN 201521063459U CN 205219132 U CN205219132 U CN 205219132U
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- chassis
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- polypody
- flexible duct
- wheel
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Abstract
The utility model discloses a polypody flexible duct trash cleaning machine ware people, rotate through modularization motor -driven wheel, the drive robot gos forward, modularization motor drive clearance part rotates, reach the mesh of clearance, it is great and when having exceeded the obstacle climbing ability of wheel when the barrier dimensionaal ratio, it can make the head end robot make progress or the downstream to draw high the mechanism, thereby cross the obstacle, obstacle climbing ability is showing and is improving, the connecting piece is together articulated between the continuous chassis, the robot can very nimble turning to, it improves to make its survival ability in the pipeline of structure complicacy show, the utility model discloses a modularization motor for it is more convenient that the motor is changed, and rotatory clearance part can be changed as required, and this makes it clear up barrier more thoroughly.
Description
[technical field]
The utility model belongs to robot field, is specifically related to a kind of polypody flexible duct cleaning robot.
[background technology]
In recent years, the development of computer technology has promoted the progress of Robotics, and the kind of robot constantly increases, and except being mainly used in robot that industry manufactures, have also appeared for military affairs detection, combats a natural disaster the obstacle crossing type robot of the aspects such as rescue.For machine man-based development, study a kind ofly adapt to complicated state in pipeline, research emphasis that smooth ride the robot that can clear up pipeline dirt have become scientific research personnel.According to the difference of motion mode, current pipe robot is divided into wheeled robot, caterpillar type robot and snake-shaped robot.
The development work of China to pipe robot is started late, reported pipe robot mostly is external import, but in recent years, the economy of pipe robot, technology and society meaning gradually be familiar with by more people, also there are some scientific research institutions and unit to develop, and achieve certain achievement in Mechanism Modeling, dynamic analysis and experimental prototype etc.Generally speaking, the technology of the pipe robot of China is not very ripe, also has very large development space.
[utility model content]
The purpose of this utility model is to overcome above-mentioned deficiency, provides a kind of polypody flexible duct cleaning robot, and structure is simple, easy to operate, has certain obstacle climbing ability.
In order to achieve the above object, a kind of polypody flexible duct cleaning robot, comprise some independently robots, adjacent robot is hinged by connector, head end robot comprises the first chassis, first chassis front end is provided with the rotation cleaning member of modularized motor driven rotary, chassis is provided with monitoring box; Second robot comprises the second chassis, the second chassis is provided be connected with box with monitoring draw high mechanism; Other robot comprises the 3rd chassis, and the both sides on the first chassis, the second chassis and all 3rd chassis are provided with the wheel driven by modularized motor.
Described wheel is the 8 font wheels with wheel rim lug boss and wheel rim inner fovea part.
The angle of described wheel rim lug boss is 120 °, and the angle of wheel rim inner fovea part is 60 °.
Described modularized motor comprises the housing with motor mounting plate, motor mounting plate is provided with code-disc mount pad, code-disc mount pad is provided with code-disc, motor is placed in housing, the output shaft of motor stretches out from code-disc center, motor mounting plate is provided with optoelectronic induction block, housing is provided with six cushion holes.
Described housing offers some louvres.
The described mechanism that draws high comprises the belt wheel driven by modularized motor, and band wheel drive flat rubber belting, one end of flat rubber belting is fixed on belt wheel, and the other end is fixed on monitoring box.
One end of described connector is fixed on a chassis by vertically shipping and reselling on another market, and the other end is hinged on level ships and resell on another market, and the level level be fixed on another chassis of shipping and reselling on another market is shipped and resell on another market in mounting disc.
Artificial three of described independently machine.
Compared with prior art, the utility model is rotated by modularized motor wheels, band mobile robot advances, modularized motor drives cleaning member to rotate, reach the object of cleaning, when barrier size is larger and when having exceeded the obstacle climbing ability of wheel, drawing high mechanism can make head end robot move up or down, thus surmount obstacles, obstacle climbing ability significantly improves, between the chassis be connected, connector is hinged, robot can turn to very flexibly, it is significantly improved in baroque ducted survival ability, the utility model adopts modularized motor, motor is changed more convenient, rotate cleaning member can change as required, this makes its cleaning barrier more thorough, the robot architecture of this device has reconfigurability, can be as required, the joint number increasing chassis forms multi-functional and structure that is multitask, all load onto electric rotating machine on first segment chassis and final section chassis and rotate cleaning member, advance can be realized easily like this and fall back clean-up task.
Further, wheel of the present utility model is the 8 font wheels with wheel rim lug boss and wheel rim inner fovea part, and make robot when running into barrier, wheel is owing to there being concave inward structure, power can be borrowed in barrier and climb and clear the jumps, thus realize the function of obstacle detouring.
Further, modularized motor of the present utility model has installed the monitoring such as code-disc and optoelectronic induction block feedback device additional, and the rotating speed of monitoring that can be real-time and regulation and control motor, makes robot ambulation more steady.
[accompanying drawing explanation]
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of the utility model modularized motor;
Fig. 3 is the structural representation that the utility model draws high mechanism;
Fig. 4 is the structural representation of the utility model 8 font wheel.
[detailed description of the invention]
Below in conjunction with accompanying drawing, the utility model is described further.
See Fig. 1 to Fig. 4, the utility model comprises some independently robots, adjacent robot is hinged by connector 8, head end robot comprises the first chassis 13, first front end, chassis 13 is provided with the rotation cleaning member of modularized motor 3 driven rotary, chassis 13 is provided with monitoring box 14; Second robot comprise the second chassis 10, chassis 10, second is provided be connected with box 14 with monitoring draw high mechanism; Other robot comprises the 3rd chassis 5, the both sides on the first chassis 10, chassis 13, second and all 3rd chassis 5 are provided with the wheel 2 driven by modularized motor 3, one end of connector 84 is fixed on a chassis by vertically shipping and reselling on another market, the other end is hinged on level and ships and resell on another market on 1, and level 1 level be fixed on another chassis of shipping and reselling on another market is shipped and resell on another market in mounting disc 7.
Wheel 2 is for having 8 font wheels of wheel rim lug boss 22 and wheel rim inner fovea part 23, and the angle of wheel rim lug boss 22 is 120 °, and the angle of wheel rim inner fovea part 23 is 60 °.
Modularized motor 3 comprises the housing 20 with motor mounting plate 18, motor mounting plate 18 is provided with code-disc mount pad 12, code-disc mount pad 12 is provided with code-disc 16, motor 9 is placed in housing 20, the output shaft of motor 9 stretches out from code-disc 16 center, motor mounting plate 18 is provided with optoelectronic induction block 6, housing 20 is provided with six cushion holes 21, housing 20 offers some louvres.
Draw high mechanism and comprise the belt wheel 11 driven by modularized motor 3, belt wheel 11 drives flat rubber belting 17, and one end of flat rubber belting is fixed on belt wheel 11, and the other end is fixed on monitoring box 14.
Preferably, independently artificial three of machine.
Method of work of the present utility model, comprises the following steps:
Step one, by three independently robot sequentially pass through connector 8 and link together;
Step 2, links together the monitoring box drawing high mechanism and head end robot of the second robot;
Step 3, starts cleaning member and rotates, and control wheel 2 and rotate, all robots are advanced;
Step 4, when running into obstacle, controlling to draw high mechanism, head end robot being transported to up or down, thus surmounts obstacles.
In step 3, because wheel 2 is for having 8 font wheels of wheel rim lug boss 22 and wheel rim inner fovea part 23, the angle of wheel rim lug boss 22 is 120 °, the angle of wheel rim inner fovea part 23 is 60 °, the oblique wheel 2 of adjacent machines people is set to one group, all wheels are divided into two groups, two groups of wheel carrier phase shift 60 °.
Wheel 2 and the connected mode of robot body are connected by the output shaft of holding screw with modularized motor 3; Modularized motor 3 and each chassis are connected by screw; Monitoring box 14 is connected with the pillar of four on chassis by sunk screw; Rotate cleaning member 12 to be connected by the output shaft of holding screw with modularized motor 3.
Code-disc 16 is connected with code-disc mount pad 12 by screw, code-disc mount pad 12 is fixed on motor shaft by holding screw, optoelectronic induction block 6 is fixed by screws on shell, its input, exports cable process from hole, and each shell of motor is by draw-in groove and link together with screw.
Belt wheel 11 is tightened together by the output shaft of holding screw with modularized motor 3; Flat rubber belting 17 one end is fixed by screws on belt wheel 11, and the other end is fixed on a face of monitoring box 14.
Claims (8)
1. a polypody flexible duct cleaning robot, it is characterized in that, comprise some independently robots, adjacent robot is hinged by connector (8), head end robot comprises the first chassis (13), first chassis (13) front end is provided with the rotation cleaning member of modularized motor (3) driven rotary, chassis (13) is provided with monitoring box (14); Second robot comprises the second chassis (10), the second chassis (10) are provided be connected with box (14) with monitoring draw high mechanism; Other robot includes the 3rd chassis (5), and the both sides on the first chassis (13), the second chassis (10) and all 3rd chassis (5) are provided with the wheel (2) driven by modularized motor (3).
2. a kind of polypody flexible duct cleaning robot according to claim 1, is characterized in that, described wheel (2) is for having 8 font wheels of wheel rim lug boss (22) and wheel rim inner fovea part (23).
3. a kind of polypody flexible duct cleaning robot according to claim 2, is characterized in that, the angle of described wheel rim lug boss (22) is 120 °, and the angle of wheel rim inner fovea part (23) is 60 °.
4. a kind of polypody flexible duct cleaning robot according to claim 1, it is characterized in that, described modularized motor (3) comprises the housing (20) with motor mounting plate (18), motor mounting plate (18) is provided with code-disc mount pad (12), code-disc mount pad (12) is provided with code-disc (16), motor (9) is placed in housing (20), the output shaft of motor (9) stretches out from code-disc (16) center, motor mounting plate (18) is provided with optoelectronic induction block (6), housing (20) is provided with six cushion holes (21).
5. a kind of polypody flexible duct cleaning robot according to claim 4, it is characterized in that, (20) offer some louvres to described housing.
6. a kind of polypody flexible duct cleaning robot according to claim 1, it is characterized in that, the described mechanism that draws high comprises the belt wheel (11) driven by modularized motor (3), belt wheel (11) drives flat rubber belting (17), one end of flat rubber belting is fixed on belt wheel (11), and the other end is fixed on monitoring box (14).
7. a kind of polypody flexible duct cleaning robot according to claim 1, it is characterized in that, one end of described connector (8) is fixed on a chassis by vertically ship and resell on another market (4), the other end is hinged on level and ships and resell on another market on (1), and level is shipped and resell on another market (1), and the level be fixed on another chassis is shipped and resell on another market in mounting disc (7).
8. a kind of polypody flexible duct cleaning robot according to claim 1, is characterized in that, artificial three of described independently machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521063459.2U CN205219132U (en) | 2015-12-17 | 2015-12-17 | Polypody flexible duct trash cleaning machine ware people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521063459.2U CN205219132U (en) | 2015-12-17 | 2015-12-17 | Polypody flexible duct trash cleaning machine ware people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205219132U true CN205219132U (en) | 2016-05-11 |
Family
ID=55894224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521063459.2U Expired - Fee Related CN205219132U (en) | 2015-12-17 | 2015-12-17 | Polypody flexible duct trash cleaning machine ware people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205219132U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437243A (en) * | 2015-12-17 | 2016-03-30 | 长安大学 | Multi-foot robot for removing trash in pipeline and working method |
| CN109733500A (en) * | 2019-01-28 | 2019-05-10 | 南昌大学 | A kind of restructural hexapod robot device |
| CN110179408A (en) * | 2019-06-21 | 2019-08-30 | 烟台大学 | A kind of chain type bench group stair cleaning machine |
-
2015
- 2015-12-17 CN CN201521063459.2U patent/CN205219132U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437243A (en) * | 2015-12-17 | 2016-03-30 | 长安大学 | Multi-foot robot for removing trash in pipeline and working method |
| CN109733500A (en) * | 2019-01-28 | 2019-05-10 | 南昌大学 | A kind of restructural hexapod robot device |
| CN109733500B (en) * | 2019-01-28 | 2024-04-05 | 南昌大学 | Reconfigurable hexapod robot device |
| CN110179408A (en) * | 2019-06-21 | 2019-08-30 | 烟台大学 | A kind of chain type bench group stair cleaning machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160511 Termination date: 20161217 |