CN109176460A - A kind of wisdom piping lane intelligent robot inspection total management system - Google Patents
A kind of wisdom piping lane intelligent robot inspection total management system Download PDFInfo
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- CN109176460A CN109176460A CN201811263760.6A CN201811263760A CN109176460A CN 109176460 A CN109176460 A CN 109176460A CN 201811263760 A CN201811263760 A CN 201811263760A CN 109176460 A CN109176460 A CN 109176460A
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- 238000007689 inspection Methods 0.000 title claims abstract description 21
- 239000000758 substrate Substances 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 210000000515 tooth Anatomy 0.000 claims description 13
- 241000883990 Flabellum Species 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 239000000543 intermediate Substances 0.000 description 66
- 238000010586 diagram Methods 0.000 description 27
- 238000007726 management method Methods 0.000 description 15
- 238000010276 construction Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000005276 aerator Methods 0.000 description 2
- 239000000567 combustion gas Substances 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241001075561 Fioria Species 0.000 description 1
- 241000221931 Hypomyces rosellus Species 0.000 description 1
- -1 Tail sheet Substances 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009440 infrastructure construction Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000009428 plumbing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
-
- 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of wisdom piping lane intelligent robot inspection total management system, including cylinder, idler wheel motor, idler wheel, track, check valve, blower, manipulator motor, substrate, top sheet, intermediate, tail sheet, intermediate curved bar, intermediate hinge bar, tail portion bar, end hinge bar, camera, bearing, banking pin, cylinder head is equipped with U-bracket, track is applied in U-bracket, idler wheel pin joint rolls in orbit on idler wheel motor shaft；Check valve and blower control the air inlet and exhaust of cylinder inner cavity in the air control pipe of cylinder, realize moving up and down for manipulator motor；Substrate is screwed on manipulator motor bottom end, top sheet pin joint is on manipulator motor shaft, successively hinge mounted, the convex block of substrate side, intermediate curved bar, tail portion bar, intermediate hinge bar, end hinge bar are hinged to link mechanism to top sheet, intermediate, the tail sheet of regular pentagon；When top sheet rotates, manipulator completion is collapsed into enclosure space and expansion movement.
Description
Technical field
The present invention relates to a kind of management systems, more particularly to a kind of wisdom piping lane intelligent robot inspection integrated management system
System.
Background technique
Pipe gallery refers to the comprehensive corridor of underground urban duct, builds a tunnel space in Urban Underground, by electric power, leads to
News, the various utilities pipelines such as combustion gas, heat supply, plumbing are integrated in one, and are equipped with special access hole, hoisting port, implement unified rule
It draws, Uniting, unified construction and management, is the important infrastructure for ensureing city operations.It overcomes and excavates ground repeatedly, street
The problem in the urban construction such as road cobweb formula overhead line, while pipeline safety level and ability of preventing and fighting natural adversities also obviously mention
It rises.
Perfect pipe gallery operation management system is established, is the important leverage for realizing the operation of piping lane safety and steady.Piping lane
During operation, on the one hand it is the quality problems of piping lane itself, cement Lang Bi is easy that, which mainly there are two aspects in the problem of being easy to appear,
Appearance settles or phenomena such as crack, and the deformation of Lang Bi influences whether the damage of internal rigid pipeline, and the crack on Lang Bi will lead to
Leakage phenomenon causes the corrosion of route in piping lane；On the other hand it is the leakage of the pipelines such as combustion gas in piping lane, heat supply, draining, can makes
At the damage for the other routes being placed in same piping lane.Therefore a kind of practical reliable wisdom piping lane intelligent robot is needed to patrol
Total management system is examined, the Lang Bi and internal pipeline to piping lane carry out real-time monitoring.
The patent No. 201810136227.7, a kind of city integrated piping lane robot are provided with track in piping lane, machine along
Track is mobile, and video camera and fire extinguisher are housed on machine, can be monitored in real time to the situation in piping lane, in discovery piping lane
Combustion fire point when carry out extinguishing action.In actual piping lane management process, the fire extinguishing structure only relied in piping lane robot is
It is far from being enough, it is important that after the accident, piping lane robot can Added Management personnel quickly solve site problems, because
This requires piping lane robot to have the grasping movement of manipulator class, remote tool can be passed to rapidly staff,
Or the harmful object in piping lane is quickly transported into piping lane.
A kind of robot arm therefore, it is necessary to design wisdom piping lane intelligent robot inspection total management system, in system
Divide and can be realized grasping movement, delivers maintenance tool, and manipulator can form closed carrying space, harmful object is quick
Transport piping lane.This runs stablizing for maintenance underground pipe gallery, promotes Municipal Infrastructure construction, ensures that city is empty
Between integratively coordinated growth and build good urban ecological environment and be of great significance.
Summary of the invention
Therefore, the present invention optimizes the structure and function of the robot in existing piping lane management system, to the ring in piping lane
While border is monitored, the manipulator of piping lane robot can delivery vehicle, and complete enclosure space can be formed, will managed
Piping lane is carried out without harmful objects such as fixed shape etc. in corridor.
The technical scheme adopted by the invention is that: a kind of wisdom piping lane intelligent robot inspection total management system, it is special
Sign is: including cylinder, idler wheel motor, idler wheel, track, check valve, blower, manipulator motor, substrate, top sheet, intermediate,
Tail sheet, intermediate curved bar, intermediate hinge bar, tail portion bar, end hinge bar, camera, bearing, banking pin.
The cylinder is the vertical cylindrical shell of center axis, and the top of the cylinder is equipped with the branch that cross section is U-shaped
Frame is equipped with bearing in the two sides wall of bracket；The casing of the idler wheel motor is screwed on the lateral surface of bracket side wall, institute
State inner ring of the motor shaft horizontal through the bearing on the two sides wall of bracket of idler wheel motor；The idler wheel pin joint is in idler wheel motor
Motor shaft on.
The track is strip, and both ends are equipped with vertical column top, track in piping lane and are applied in cylinder top
In the bracket in portion；In the top surface of the track, fluted, groove of the idler wheel in track is opened up along the length direction of track
Interior rolling.
On the external cylindrical surface of the cylinder, camera is housed；On the cylindrical surface of cylinder, the opposite end of camera is equipped with
The pneumatic tubes of central axis level, stoma tube inside are connected to the inner cavity of cylinder；In the pneumatic tubes of the cylinder, from inside to outside according to
It is secondary that check valve and blower are housed.
The unidirectional valve housing is cylindrical body, along the central axial direction of shell, is opened up there are two through-hole, through-hole
Internal aperture is greater than opening internal diameter；Piston and spring are respectively arranged in each through-hole of the shell, and in two through-holes
The arrangement position of piston and spring is opposite.
Further, the piston is cylindrical body, and the outer diameter of cylindrical body is less than aperture inside the through-hole of shell, is greater than through-hole
Internal diameter at both ends open.
Further, on the external cylindrical surface of the piston, along piston centre axis direction, it is surround piston centre axis,
Multiple vertical bars are uniformly provided with, the maximum outside diameter of piston is equal to the inside aperture of the through-hole of shell.
Further, on piston, the other end is against the end of larger aperture section inside through-hole for one end of the spring
On wall.
The intermediate structure of the blower is oblate hollow out frame, and the casing of the blower motor is screwed on hollow out frame,
The motor shaft of the blower motor is connected with flabellum on motor shaft horizontal through hollow out frame.
Further, the central axis of the building sky frame is horizontal, and blower motor is in the inside of building sky frame, and flabellum is in hollow out frame
Outside.
The casing bottom end of the manipulator motor is bolted with substrate, and the substrate is the flat cylinder of regular pentagon, the substrate
Central location offer bearing hole, bearing hole is provided with bearing, and five of the substrate are equipped with convex block on vertical side.
The motor shaft vertical of the manipulator motor is passed down through the bearing inner race on substrate, the top at the top of the top sheet
Portion's piece drives column and motor shaft pin joint.
The top of the manipulator motor is equipped with the vertical cylindrical push-and-pull column of central axis, the outside cylinder of the push-and-pull column
On face, multiple vertical vertical bars are uniformly provided with around central axis, the lower ending opening of the inner cavity of the cylinder offers multiple perpendicular
Straight vertical slot, the vertical bar slide up and down in vertical slot；The top of the push-and-pull column is equipped with the vertical oblate cylinder of central axis
Top plug, the top is filled in be slided up and down in the inner cavity of cylinder.
Further, the outer diameter of the top plug is equal to the internal diameter of the inner cavity of cylinder；The outer diameter of the top plug is greater than cylinder
The maximum diameter of hole of lower ending opening.
The top sheet, intermediate, tail sheet main body be the flat column of the identical regular pentagon of size, the top sheet
The top sheet that the center of top of main body is equipped with oblate cylindricality drives column, and the center of top of the main body of the intermediate is equipped with thin cylinder
The intermediate of shape drives column, and the center of top of the main body of the tail sheet is equipped with thin cylindrical tail sheet and drives column；The top
The bottom sideline of five sides of the portion's piece bottom sideline hinge mounted with a side of five intermediates respectively, every centre
Bottom sideline hinge mounted of the bottom sideline of the another side of piece with a side of tail sheet；The another side of tail sheet
The upper rake tooth for stretching out triangle.
Further, the side of two hinge mounteds of the intermediate is non-conterminous；The hinged end side surface of the tail sheet
It is non-conterminous with rake tooth end side surface.
Further, the pentagon bottom surface of the main body of the tail sheet and rake tooth angle in obtuse angle, shrinks in manipulator
When at complete closure body, the flat column of complete regular pentagon of five rake tooths composition, and it is parallel with top sheet.
The both ends of the intermediate curved bar are straight, bent intermediate, and middle position is hinged on intermediate driving top end, hinged side
Formula is that intermediate curved bar can drive column rotation around intermediate；The intermediate hinge bar in each hinged one of the both ends of the intermediate curved bar,
Angle of its articulated manner between intermediate hinge bar and intermediate is adjustable；One end of the tail portion bar is hinged on tail sheet driving
Top end, articulated manner are that tail portion bar can drive column rotation around tail sheet, and the other end of the tail portion bar is hinged with end
Portion's hinge bar, angle of the articulated manner between end hinge bar and tail sheet is adjustable.
The end hinge bar has two pieces, and another one end is hinged on the convex block of substrate, and articulated manner is end
Angle between hinge bar and top sheet is adjustable；The other end of two pieces end hinge bar respectively with two pieces among hinge bar outer end
Hingedly, articulated manner is that end hinge bar can be rotated around the outer end of intermediate hinge bar.
Further, the intermediate curved bar, intermediate hinge bar, tail portion bar, end hinge bar top and bottom be parallel
Plane, and thickness is identical；During the motion, the top surface of the two is parallel always for intermediate hinge bar and end hinge bar.
Further, it packs up in manipulator in opening process, the lateral surface that the intermediate curved bar is parallel to intermediate turns
It is dynamic；The tail portion bar is parallel to the lateral surface rotation of tail sheet.
The principle of the present invention are as follows: the idler wheel motor, blower motor, manipulator motor are positive and negative rotation stepper motor, and
And motor casing is equipped with wireless signal receiver, operator controls three motors with using wireless remote control device.The rolling
The rolling that turbin generator is used to drive idler wheel in orbit, pumping and inflation movement of the blower motor for cylinder inner cavity, with
Realize moving up and down for manipulator motor；The gathering and exhibition of manipulator are realized in the rotation of the manipulator motor control top sheet
It opens.
Push-and-pull column at the top of the manipulator motor is provided with battery, is idler wheel motor, blower motor, manipulator motor
Electric energy is provided, along the profile of track, multiple wireless aerators is housed on piping lane wall, provide electric energy at any time for battery.
When needing to be unfolded manipulator, manipulator motor drives top sheet, is directed toward rotation, machine backwards to the inner end of intermediate curved bar
The expansion of tool hand；When needing to collapse manipulator, manipulator motor drives top sheet, and rotation is directed toward in the inner end of curved bar towards the middle,
Manipulator collapses.
A kind of wisdom piping lane intelligent robot inspection total management system of the present invention has the advantages that
(1) while making an inspection tour piping lane inner case, manipulator energy ancillary staff realizes the processing of emergency；
(2) manipulator uses multiple regular pentagon pieces and link mechanism, so that manipulator is capable of forming enclosure space, realizes without solid
Determine the transport of shaped objects；
(3) blower and air cylinder structure are utilized, realizes moving up and down for manipulator.
So this wisdom piping lane intelligent robot inspection total management system, is monitored to the environment in piping lane
While, the manipulator of piping lane robot can delivery vehicle, and complete enclosure space can be formed, the nothing in piping lane is solid
Harmful objects such as setting shape etc. are carried out piping lane, and stablizing for maintenance underground pipe gallery is runed, and promote Municipal basis
Facilities Construction ensures that city space integratively coordinated growth and the good urban ecological environment of construction are of great significance.
Other features and advantages of the present invention will illustrate in the following description, or pass through the implementation present invention
Solution.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is whole assembling schematic diagram.
Fig. 2 is the assembling structure schematic diagram of cylinder head.
Fig. 3 is the assembling structure schematic diagram of cylinder bottom.
Fig. 4 is the assembling schematic diagram of the bracket of idler wheel and cylinder head.
Fig. 5 is the structural schematic diagram of the bracket of cylinder head.
Fig. 6 is the mounted inside structural schematic diagram that cylinder is splitted vertically along central axis.
Fig. 7 is the structural schematic diagram of the push-and-pull column of manipulator motor.
Fig. 8 is the structural schematic diagram of blower.
Fig. 9 is the structural schematic diagram at the side visual angle of blower.
Figure 10 is the external structure schematic diagram of check valve.
Figure 11 is the mounted inside structural schematic diagram that check valve is splitted along central axis.
Figure 12 is the top assembling structure schematic diagram of manipulator fully closed condition.
Figure 13 is the bottom assembling structure schematic diagram of manipulator fully closed condition.
Figure 14 is the assembling structure schematic diagram of half open configuration of manipulator.
Figure 15 is the assembling structure schematic diagram of the complete open configuration of manipulator.
Figure 16 is the assembling structure schematic diagram of the complete open configuration of 1/5th structures of manipulator.
Figure 17 is the assembling structure schematic diagram of 1/5th structures, half open configuration of manipulator.
Figure 18 is the assembling structure schematic diagram of the safe closed state of 1/5th structures of manipulator.
Figure 19 is the assembling structure schematic diagram at the side visual angle of the safe closed state of 1/5th structures of manipulator.
Figure 20 is the structural schematic diagram of substrate.
Figure 21 is the structural schematic diagram of top sheet.
Figure 22 is the dismantling schematic diagram of intermediate and banking pin.
Figure 23 is the dismantling schematic diagram of tail sheet and banking pin.
Figure 24 is the structural schematic diagram of intermediate curved bar.
Figure 25 is the structural schematic diagram of intermediate hinge bar.
Figure 26 is the structural schematic diagram of tail portion bar.
Figure 27 is the structural schematic diagram of end hinge bar.Figure 28 is the control circuit schematic illustration of stepper motor.
Figure label: 1- cylinder, the inner cavity 101-, 102- bracket, 103- pneumatic tubes, 2- idler wheel motor, 3- idler wheel, 4- rail
Road, 401- column, 5- check valve, 501- shell, 502- piston, 503- spring, 6- blower, 601- hollow out frame, 602- blower electricity
Machine, 603- flabellum, 7- manipulator motor, 701- push-and-pull column, 702- vertical bar, 703- push up plug, 8- substrate, 801- bearing hole, 802-
Convex block, 9- top sheet, 901- top sheet driving column, 10- intermediate, 1001- intermediate drive column, 11- tail sheet, 1101- tail
Portion's piece drives column, 1102- rake tooth, the centre 12- curved bar, the centre 13- hinge bar, the tail portion 14- bar, the end 15- hinge bar, 16-
Camera, 17- bearing, 18- banking pin.
Specific embodiment
Below with reference to drawings and examples to a kind of wisdom piping lane intelligent robot inspection total management system of the present invention
It is described in further detail.
A kind of wisdom piping lane intelligent robot inspection total management system, it is characterised in that: including cylinder 1, idler wheel motor
2, idler wheel 3, track 4, check valve 5, blower 6, manipulator motor 7, substrate 8, top sheet 9, intermediate 10, tail sheet 11, centre
Curved bar 12, intermediate hinge bar 13, tail portion bar 14, end hinge bar 15, camera 16, bearing 17, banking pin 18.
As shown in Fig. 4, Fig. 5, Fig. 6, the cylinder 1 is the vertical cylindrical shell of center axis, the top of the cylinder 1
It is the bracket 102 of U-shaped equipped with cross section, bearing 17 is housed in the two sides wall of bracket 102；The casing spiral shell of the idler wheel motor 2
It connects on the lateral surface of 102 side wall of bracket, the two sides wall of the motor shaft of the idler wheel motor 2 horizontal through bracket 102
On bearing 17 inner ring；3 pin joint of idler wheel is on the motor shaft of idler wheel motor 2.
As shown in Figure 1, Figure 2, Figure 4 shows, the track 4 is strip, and both ends are equipped with vertical column 401 in piping lane
Top, the track 4 are applied in the bracket 102 at 1 top of cylinder；In the top surface of the track 4, along the length direction of track 4
Open up fluted, the idler wheel 3 rolls in the groove of track 4.
As shown in Fig. 2, Fig. 4, Fig. 6, on the external cylindrical surface of the cylinder 1, camera 16 is housed；On the cylindrical surface of cylinder 1
On, the opposite end of camera 16, the pneumatic tubes 103 equipped with central axis level, the inner cavity 101 of stoma tube 103 inside and cylinder 1
Connection；In the pneumatic tubes 103 of the cylinder 1, it is sequentially arranged with check valve 5 and blower 6 from inside to outside.
Further, the outer end opening of the pneumatic tubes 103 is in communication with the outside；Inner end is connected to the inner cavity 101 of cylinder 1.
As shown in Fig. 6, Figure 10, Figure 11, the shell 501 of the check valve 5 is cylindrical body, along the central axis of shell 501
Line direction is opened up there are two through-hole, and the inside aperture of through-hole is greater than opening internal diameter；In each through-hole of the shell 501
Equipped with piston 502 and spring 503, and the piston 502 in two through-holes is opposite with the arrangement position of spring 503.
Further, the piston 502 is cylindrical body, and the outer diameter of cylindrical body is less than aperture inside the through-hole of shell 501, greatly
The internal diameter at through-hole both ends open.
Further, on the external cylindrical surface of the piston 502, along piston centre axis direction, around piston middle spindle
Line, is uniformly provided with multiple vertical bars, and 502 maximum outside diameters of piston are equal to the inside aperture of the through-hole of shell 501.
Further, on piston 502, the other end is against larger aperture section inside through-hole for one end of the spring 503
End wall on.
Further, the spring 503 is in compressive state always.
As shown in Fig. 6, Fig. 8, Fig. 9, the intermediate structure of the blower 6 is oblate hollow out frame 601, the blower motor
602 casing is screwed on hollow out frame 601, and the motor shaft of the blower motor 602 is horizontal through hollow out frame 601, on motor shaft
It is connected with flabellum 603.
Further, the central axis of the building sky frame 601 is horizontal, and blower motor 601 is in the inside of building sky frame 601, fan
Leaf 603 is in the outside of hollow out frame 601.
As shown in Fig. 1, Fig. 3, Figure 12, Figure 16, Figure 20, the casing bottom end of the manipulator motor 7 is bolted with substrate 8, institute
Stating substrate 8 is the flat cylinder of regular pentagon, and the central location of the substrate 8 offers bearing hole 801, and bearing hole 801 is provided with axis
17 are held, five of the substrate 8 are equipped with convex block 802 on vertical side.
The motor shaft vertical of the manipulator motor 7 is passed down through the bearing inner race on substrate 8,9 top of top sheet
Top sheet driving column 901 and motor shaft pin joint.
As shown in Figure 1, Figure 6, Figure 7, the top of the manipulator motor 7 is equipped with the vertical cylindrical push-and-pull column of central axis
701, on the external cylindrical surface of the push-and-pull column 701, multiple vertical vertical bars 702, the cylinder 1 are uniformly provided with around central axis
The lower ending opening of inner cavity 101 offer multiple vertical vertical slots, the vertical bar 702 slides up and down in vertical slot；The push-and-pull
The top of column 701 is equipped with the top plug 703 of the vertical oblate cylinder of central axis, and the top plug 703 is in the inner cavity of cylinder 1 101
It slides up and down.
Further, the outer diameter of the top plug 703 is equal to the internal diameter of the inner cavity 101 of cylinder 1；The outer diameter of the top plug 703
Greater than the maximum diameter of hole of the lower ending opening of cylinder 1.
As shown in Figure 12, Figure 13, Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, Figure 21, Figure 22, Figure 23, the top
Piece 9, intermediate 10, tail sheet 11 main body be the flat column of the identical regular pentagon of size, the top of the main body of the top sheet 9
The central top sheet for being equipped with oblate cylindricality drives column 901, and the center of top of the main body of the intermediate 10 is equipped with thin cylinder
Intermediate drives column 1001, and the center of top of the main body of the tail sheet 11 is equipped with thin cylindrical tail sheet and drives column 1101；
Bottom sideline of the bottom sideline of five sides of the top sheet 9 respectively with a side of five intermediates 10 hingedly fills
Match, bottom sideline hinge mounted of the bottom sideline of the another side of every intermediate 10 with a side of tail sheet 11；
The rake tooth 1102 of triangle is stretched out on the another side of tail sheet 11.
Further, the side of two hinge mounteds of the intermediate 10 is non-conterminous；The hinged end of the tail sheet 11
Side and rake tooth end side surface are non-conterminous.
Further, the pentagon bottom surface of the main body of the tail sheet 11 and rake tooth 1102 angle in obtuse angle, in machinery
When hand is shrunk to complete closure body, the flat column of complete regular pentagon of five rake tooths 1102 composition, and it is flat with top sheet 9
Row.
As shown in Figure 12, Figure 13, Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, Figure 24, Figure 25, Figure 26, Figure 27, institute
The both ends for stating intermediate curved bar 12 are straight, bent intermediate, and middle position is hinged on intermediate driving 1001 top of column, and articulated manner is
Intermediate curved bar 12 can be rotated around intermediate driving column 1001；Each hinged centre in the both ends of the intermediate curved bar 12 is hinged
Bar 13, angle of the articulated manner between intermediate hinge bar 13 and intermediate 10 is adjustable；One end of the tail portion bar 14 is hinged
1101 top of column is driven in tail sheet, articulated manner is that tail portion bar 14 can drive column 1101 to rotate around tail sheet, described
The other end of tail portion bar 14 is hinged with end hinge bar 15, folder of the articulated manner between end hinge bar 15 and tail sheet 11
Angle is adjustable.
The end hinge bar 15 has two pieces, and another one end is hinged on the convex block 802 of substrate 8, articulated manner
Angle between end hinge bar 15 and top sheet 9 is adjustable；The other end of two pieces end hinge bar 15 is respectively and among two pieces
The outer end of hinge bar 13 is hinged, and articulated manner is that end hinge bar 15 can be rotated around the outer end of intermediate hinge bar 13.
Further, the top surface and bottom of the intermediate curved bar 12, intermediate hinge bar 13, tail portion bar 14, end hinge bar 15
Face is parallel plane, and thickness is identical；Intermediate hinge bar 13 and end hinge bar 15 during the motion, the top surface of the two
Always parallel.
Further, it packs up in manipulator in opening process, the intermediate curved bar 12 is parallel to the outside of intermediate 10
Face rotation；The tail portion bar 14 is parallel to the lateral surface rotation of tail sheet 11.
Further, the top of the intermediate driving column 1001 and tail sheet driving column 1101 offers threaded hole, institute
It states banking pin 18 to be screwed in threaded hole, intermediate curved bar 12 and tail portion bar 14 is each defined in intermediate driving column 1001 and tail
Portion's piece drives on column 1101, prevents intermediate curved bar 12 and tail portion bar 14 from slipping.
The idler wheel motor 2, blower motor 6, manipulator motor 7 are positive and negative rotation stepper motor, and motor casing is equipped with
Wireless signal receiver, operator control three motors with using wireless remote control device.The idler wheel motor 2 is used for band
Dynamic rolling of the idler wheel 3 on track 4, pumping and inflation movement of the blower motor 6 for cylinder inner cavity 101, to realize machine
Tool flashlight machine 7 moves up and down；The manipulator motor 7 controls the rotation of top sheet 9, realizes the gathering and expansion of manipulator.
The push-and-pull column 701 at 7 top of manipulator motor is provided with battery, is idler wheel motor 2, blower motor 6, machinery
Flashlight machine 7 provides electric energy, along the profile of track 4, multiple wireless aerators is housed on piping lane wall, are mentioned at any time for battery
For electric energy.
Substrate 8 is mounted in 7 bottom of manipulator motor, fixed；When needing to be unfolded manipulator, manipulator motor 7 is driven
Top sheet 9 is directed toward rotation, manipulator expansion backwards to the inner end of intermediate curved bar 12；As shown in Figure 12, Figure 13, Figure 14, Figure 15, from
Depression angle sees that top sheet 9 rotates clockwise, and intermediate driving column 1001 is pulled by intermediate curved bar 12, and intermediate 10 is outward
It stirs, meanwhile, while intermediate curved bar 12 rotates, tail sheet is pulled to drive column 1101, tail sheet 11 is stirred outward.
When needing to collapse manipulator, manipulator motor 7 drives top sheet 9, and the inner end of curved bar 12, which is directed toward, towards the middle turns
Dynamic, manipulator collapses；As shown in Figure 16, Figure 17, Figure 18, Figure 19, in terms of depression angle, top sheet 9 is rotated counterclockwise, intermediate
Driving column 1001 is pushed by intermediate curved bar 12, and intermediate 10 stirs inwardly, meanwhile, while intermediate curved bar 12 rotates, push
Tail sheet drives column 1101, and tail sheet 11 is inwardly stirred.
As shown in figure 28, the idler wheel motor 2, blower motor 6, manipulator motor 7 are positive and negative rotation stepper motor, control
Equipment issues pulse signal to stepper motor driver, determines that stepper motor rotates angle；Control equipment issues direction signal and arrives
Stepper motor driver determines the direction of rotation of stepper motor；It controls equipment and issues off line signal to stepper motor driver, step
Into motor, there is no torque outputs.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of wisdom piping lane intelligent robot inspection total management system, it is characterised in that: including cylinder (1), idler wheel motor
(2), idler wheel (3), track (4), check valve (5), blower (6), manipulator motor (7), substrate (8), top sheet (9), intermediate
(10), tail sheet (11), intermediate curved bar (12), intermediate hinge bar (13), tail portion bar (14), end hinge bar (15), camera
(16), bearing (17), banking pin (18)；
The cylinder (1) is the vertical cylindrical shell of center axis, and it is U-shaped that the top of the cylinder (1), which is equipped with cross section,
Bracket (102) is equipped with bearing (17) in the two sides wall of bracket (102)；The casing of the idler wheel motor (2) is screwed onto bracket
(102) on the lateral surface of side wall, the motor shaft of the idler wheel motor (2) is horizontal through on the two sides wall of bracket (102)
Bearing (17) inner ring；Idler wheel (3) pin joint is on the motor shaft of idler wheel motor (2)；
The track (4) is strip, and both ends are equipped with vertical column (401) top, track (4) in piping lane and are applied in
In bracket (102) at the top of cylinder (1)；In the top surface of the track (4), opened up along the length direction of track (4) it is fluted,
The idler wheel (3) rolls in the groove of track (4)；
On the external cylindrical surface of the cylinder (1), it is equipped with camera (16)；On the cylindrical surface of cylinder (1), pair of camera (16)
Xiang Duan, the pneumatic tubes (103) equipped with central axis level, stoma tube (103) is internal to be connected to the inner cavity (101) of cylinder (1)；Institute
In the pneumatic tubes (103) for stating cylinder (1), it is sequentially arranged with check valve (5) and blower (6) from inside to outside；
The shell (501) of the check valve (5) is cylindrical body, along the central axial direction of shell (501), opens up that there are two logical
The inside aperture in hole, through-hole is greater than opening internal diameter；Piston (502) and bullet are respectively arranged in each through-hole of the shell (501)
Spring (503), and the arrangement position of the piston (502) and spring (503) in two through-holes is opposite；
The intermediate structure of the blower (6) is oblate hollow out frame (601), and the casing of the blower motor (602) is screwed onto
On hollow out frame (601), the motor shaft of the blower motor (602) is connected with flabellum on motor shaft horizontal through hollow out frame (601)
(603)；
The casing bottom end of the manipulator motor (7) is bolted with substrate (8), and the substrate (8) is the flat cylinder of regular pentagon, described
The central location of substrate (8) offers bearing hole (801), and bearing hole (801) is provided with bearing (17), and the five of the substrate (8)
Convex block (802) are equipped on a vertical side；
The motor shaft vertical of the manipulator motor (7) is passed down through the bearing inner race on substrate (8), top sheet (9) top
Top sheet driving column (901) in portion and motor shaft pin joint；
The top of the manipulator motor (7) is equipped with vertical cylindrical push-and-pull column (701) of central axis, the push-and-pull column
(701) on external cylindrical surface, multiple vertical vertical bars (702), the inner cavity of the cylinder (1) are uniformly provided with around central axis
(101) lower ending opening offers multiple vertical vertical slots, and the vertical bar (702) slides up and down in vertical slot；The push-and-pull column
(701) (703) are filled on the top that top is equipped with the vertical oblate cylinder of central axis, inner cavity of the top plug (703) in cylinder (1)
(101) it is slided up and down in；
The top sheet (9), intermediate (10), tail sheet (11) main body be the flat column of the identical regular pentagon of size, it is described
The top sheet that the center of top of the main body of top sheet (9) is equipped with oblate cylindricality drives column (901), the main body of the intermediate (10)
Center of top be equipped with thin cylindrical intermediate and drive column (1001), the center of top of the main body of the tail sheet (11) is equipped with
Thin cylindrical tail sheet drives column (1101)；The bottom sideline of five sides of the top sheet (9) respectively with five centres
The bottom sideline hinge mounted of one side of piece (10), the bottom sideline of the another side of every intermediate (10) is and tail portion
The bottom sideline hinge mounted of one side of piece (11)；The rake tooth of triangle is stretched out on the another side of tail sheet (11)
(1102)；
The both ends of the intermediate curved bar (12) are straight, bent intermediate, and middle position is hinged on intermediate driving column (1001) top,
Articulated manner is that intermediate curved bar (12) can drive column (1001) rotation around intermediate；The both ends of the intermediate curved bar (12) are each
Hinged one intermediate hinge bar (13), angle of the articulated manner between intermediate hinge bar (13) and intermediate (10) is adjustable；
One end of the tail portion bar (14) is hinged on tail sheet driving column (1101) top, and articulated manner is that tail portion bar (14) can be with ring
It is rotated around tail sheet driving column (1101), the other end of the tail portion bar (14) is hinged with end hinge bar (15), hinged side
Angle of the formula between end hinge bar (15) and tail sheet (11) is adjustable；
The end hinge bar (15) has two pieces, and another one end is hinged on the convex block (802) of substrate (8), hinged side
Angle of the formula between end hinge bar (15) and top sheet (9) is adjustable；The other end of two pieces end hinge bar (15) respectively with
The outer end of hinge bar (13) is hinged among two pieces, and articulated manner is that end hinge bar (15) can surround intermediate hinge bar (13)
Outer end rotation.
2. wisdom piping lane intelligent robot inspection total management system according to claim 1, it is characterised in that: the work
Filling in (502) is cylindrical body, and the outer diameter of cylindrical body is less than aperture inside the through-hole of shell (501), at through-hole both ends open
Diameter.
3. wisdom piping lane intelligent robot inspection total management system according to claim 1, it is characterised in that: the work
On the external cylindrical surface for filling in (502), multiple vertical bars are uniformly provided with around piston centre axis along piston centre axis direction, it is living
(502) maximum outside diameter of plug is equal to the inside aperture of the through-hole of shell (501).
4. wisdom piping lane intelligent robot inspection total management system according to claim 1, it is characterised in that: the bullet
On piston (502), the other end is against inside through-hole on the end wall of larger aperture section for one end of spring (503).
5. wisdom piping lane intelligent robot inspection total management system according to claim 1, it is characterised in that: the top
The outer diameter of plug (703) is equal to the internal diameter of the inner cavity (101) of cylinder (1)；The outer diameter of the top plug (703) is greater than under cylinder (1)
The maximum diameter of hole of end opening.
6. wisdom piping lane intelligent robot inspection total management system according to claim 1, it is characterised in that: in described
Between piece (10) two hinge mounteds side it is non-conterminous；The hinged end side surface and rake tooth end side surface of the tail sheet (11) are not
It is adjacent.
7. wisdom piping lane intelligent robot inspection total management system according to claim 1, it is characterised in that: the tail
The pentagon bottom surface of the main body of portion's piece (11) and rake tooth (1102) angle in obtuse angle, are shrunk to complete closure body in manipulator
When, the flat column of complete regular pentagon of five rake tooths (1102) composition, and it is parallel with top sheet (9).
8. wisdom piping lane intelligent robot inspection total management system according to claim 1, it is characterised in that: in described
Between curved bar (12), intermediate hinge bar (13), tail portion bar (14), end hinge bar (15) top and bottom be parallel plane,
And thickness is identical；During the motion, the top surface of the two is parallel always for intermediate hinge bar (13) and end hinge bar (15).
9. wisdom piping lane intelligent robot inspection total management system according to claim 1, it is characterised in that: in machinery
Hand is packed up in opening process, and the intermediate curved bar (12) is parallel to the lateral surface rotation of intermediate (10)；The tail portion bar
(14) it is parallel to the lateral surface rotation of tail sheet (11).
10. wisdom piping lane intelligent robot inspection total management system according to claim 1, it is characterised in that: described
Threaded hole is offered at the top of intermediate driving column (1001) and tail sheet driving column (1101), the banking pin (18) is screwed on
In threaded hole, intermediate curved bar (12) and tail portion bar (14) are each defined in intermediate driving column (1001) and tail sheet drives column
(1101) on, prevent intermediate curved bar (12) and tail portion bar (14) from slipping.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811263760.6A CN109176460B (en) | 2018-10-28 | 2018-10-28 | Intelligent comprehensive management system for intelligent inspection of intelligent pipe gallery robot |
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| CN201811263760.6A CN109176460B (en) | 2018-10-28 | 2018-10-28 | Intelligent comprehensive management system for intelligent inspection of intelligent pipe gallery robot |
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| CN109176460B CN109176460B (en) | 2024-03-26 |
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| CN111006094A (en) * | 2019-11-02 | 2020-04-14 | 厦门精图信息技术有限公司 | Professional pipeline leakage diagnosis system and method based on Beidou positioning technology |
| CN113478510A (en) * | 2021-06-30 | 2021-10-08 | 江西机电职业技术学院 | Mechanical gripper |
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| Publication number | Publication date |
|---|---|
| CN109176460B (en) | 2024-03-26 |
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