Intelligent variable-structure robot self-adaptive to underground pipe network environment

Abstract

The utility model discloses an intelligent variable-structure robot self-adaptive to an underground pipe network environment, which relates to the technical field of intelligent variable-structure robots and comprises a robot body, a driving shaft is arranged at the bottom of the robot body, first side gears are arranged on two sides of the driving shaft, a transmission shaft is arranged on one side of each first side gear, and a second side gear is arranged on the other side of each transmission shaft. A transmission shaft is arranged at the bottom of the stirring roller, transmission gears are arranged on the two sides of the transmission shaft, a second side edge gear is arranged on one side of the transmission shaft, and a double-layer belt wheel is arranged at the bottom of the second side edge gear. The stirring rollers at the bottom of the front end of the robot body synchronously rotate and are matched with the anti-skid protrusions on the surfaces of the stirring rollers to stir foreign matters or stones, so that the foreign matters or stones can be stirred to the two sides of the robot body, and stable movement of the robot body is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent variable configuration robot technical field, especially intelligent variable configuration robot of self -adaptation underground pipe network environment. BACKGROUND

[0002] Robot is a kind of intelligent machine that can semi-autonomous or fully autonomous work.Robot can execute tasks such as work or movement by programming and automatic control, the earliest robot in history is found in the wooden dummy robot that is created by craftsman according to the image of Liu Bian, which has the ability of sitting, standing, bowing and prostrating, robot has the basic characteristics of perception, decision-making and execution, can assist or replace human to complete dangerous, heavy and complex work, improve work efficiency and quality, serve human life, expand or extend the activity and ability range of human.

[0003] The existing intelligent variable configuration robot of self-adaptation underground pipe network environment has high requirements for underground, and some slightly larger sand or gravel or stone entering the lower part of the robot will affect the robot, causing the driving wheel to leave the ground, thereby losing power, which is not conducive to coping with different underground environments, and brings certain adverse effects to the use process of people, in order to solve the problems of the prior art, we propose an intelligent variable configuration robot of self-adaptation underground pipe network environment. CONTENT OF THE UTILITY MODEL

[0004] The main purpose of the utility model is to provide an intelligent variable configuration robot of self-adaptation underground pipe network environment, which can effectively solve the problems in the background art.

[0005] The utility model adopts the following technical scheme: an intelligent variable configuration robot of self-adaptation underground pipe network environment, comprising a robot body, a driving shaft is fixedly connected and arranged on the bottom lower surface of the robot body, a first side gear is fixedly connected and arranged on the both side surfaces of the driving shaft, a transmission shaft is fixedly connected and arranged on one side surface of the first side gear, a transmission gear is fixedly connected and arranged on the both side surfaces of the transmission shaft, a second side gear is fixedly connected and arranged on one side surface of the transmission shaft, the transmission gear is engaged with the first side gear and the second side gear, a double-belt pulley is fixedly installed and arranged on the bottom lower surface of the second side gear, and the number of double-belt pulleys is two.

[0006] Preferably, a belt is fixedly installed and arranged between the both side outer surfaces of the two double-belt pulleys, a pushing roller is fixedly installed and arranged on the outer side surface of the belt, the second side gear is connected with the pushing roller through the belt and the double-belt pulley, and an anti-skid protrusion is fixedly installed and arranged on the bottom lower surface of the pushing roller.

[0007] Preferably, the poking roller is arranged in an arc shape and equidistantly arranged on the bottom surface of the robot body, and the outer surfaces of two adjacent poking rollers are connected by the double-layer pulley and the belt.

[0008] Preferably, the bottom surface of the robot body is fixedly connected with the driving wheel, and the number of the driving wheels is four.

[0009] Preferably, the side surface of the robot body is fixedly connected with the infrared obstacle avoidance sensor, and the number of the infrared obstacle avoidance sensors is two.

[0010] Preferably, the side surface of the infrared obstacle avoidance sensor is fixedly connected with the lighting assembly, and the lighting assembly is connected with the robot body.

[0011] Beneficial effects

[0012] Compared with the prior art, the utility model has the beneficial effects that:

[0013] 1、The first side gear, the transmission gear, the second side gear, the double-layer pulley and the belt are arranged, the driving of the poking roller is realized, when the robot body encounters the stone or the foreign matter with a diameter greater than the height of the robot in the moving process, the synchronous rotation of the several poking rollers at the front end of the robot body is realized, the anti-skid convex is matched, the poking of the foreign matter or the stone is realized, the foreign matter or the stone can be poked to the two sides of the robot body, and the stable movement of the robot body is ensured.

[0014] 2、The anti-skid convex is arranged, the friction when the poking roller contacts the foreign matter is increased, the poking roller can better drive the foreign matter to move, the function of clearing the foreign matter is realized, and the stable movement of the robot body is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is the overall structure schematic view of the utility model, and the like.

[0016] Fig. 2 It is the driving shaft structure schematic view of the utility model.

[0017] Fig. 3 It is the poking roller structure schematic view of the utility model.

[0018] In the drawing: 1, robot body;2, driving shaft;3, driving wheel;4, first side gear;5, transmission gear;6, transmission shaft;7, second side gear;8, double-layer pulley;9, belt;10, poking roller;11, anti-skid convex;12, infrared obstacle avoidance sensor;13, lighting assembly. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] like Figs. 1-3 As shown, an intelligent variable structure robot that can adapt to the underground pipe network environment includes a robot body 1, a driving shaft 2 is fixedly connected to the bottom lower surface of the robot body 1, a first side gear 4 is fixedly connected to the two side surfaces of the driving shaft 2, a transmission shaft 6 is fixedly connected to one side surface of the first side gear 4, a transmission gear 5 is fixedly connected to the two side surfaces of the transmission shaft 6, a second side gear 7 is fixedly connected to one side surface of the transmission shaft 6, and the transmission gear 5 is meshed with the first side gear 4 and the second side gear 7, and a double-layer pulley 8 is fixedly installed on the bottom lower surface of the second side gear 7. There are two double-layer pulleys 8, and a driving wheel 3 is fixedly connected to the bottom lower surface of the robot body 1, and there are four driving wheels 3. The driving shaft 2 is driven by the internal driving device to drive the driving wheel 3 to rotate, thereby realizing the movement of the robot body 1. While the robot body 1 moves, the first side gear 4 is used to drive the transmission gear 5 to rotate, and then the transmission gear 5 at the other end of the transmission shaft 6 rotates synchronously, so that the second side gear 7 can be driven to rotate, and then cooperate with the double-layer pulley 8 and the belt 9 to realize the drive of the most side driving roller 10.

[0021] Preferably, a belt 9 is fixedly installed between the outer surfaces of both sides of the two double-layer pulleys 8, and a toggle roller 10 is fixedly installed on the outer surface of the belt 9. The second side gear 7 is connected to the toggle roller 10 through the provided belt 9 and the double-layer pulley 8. The bottom lower surface of the toggle roller 10 is fixedly installed with an anti-slip protrusion 11. The toggle rollers 10 are arranged in an arc shape and equidistantly on the bottom lower surface of the robot body 1, and the outer surfaces of the two adjacent toggle rollers 10 are connected by the provided double-layer pulley 8 and belt 9. One side surface of the robot body 1 is fixedly installed with There are two infrared obstacle avoidance sensors 12, which drive several moving rollers 10 to rotate synchronously. When the robot body 1 encounters stones or foreign objects with a diameter greater than the height of the robot during movement, the several moving rollers 10 at the bottom of the front end of the robot body 1 can be rotated synchronously with the anti-slip protrusions 11 on its surface to move the foreign objects or stones to both sides of the robot body 1, thereby ensuring the stable movement of the robot body 1 and preventing foreign objects from entering the bottom of the robot body 1 and affecting its movement.

[0022] The lighting assembly 13 is fixedly arranged on the surface of one end of the infrared obstacle avoidance sensor 12 and is connected with the robot body 1.

[0023] The working principle and process of the utility model are as follows:

[0024] In the process of moving of the robot body 1, the driving shaft 2 is driven by the internal driving device to drive the driving wheel 3 to rotate, so that the movement of the robot body 1 is realized; the first side gear 4 is utilized to drive the transmission gear 5 to rotate, so that the transmission gear 5 at the other end of the transmission shaft 6 is synchronously rotated, so that the second side gear 7 is driven to rotate, and the double-layered belt pulley 8 and the belt 9 are matched to drive the most side of the pushing roller 10, so that the pushing roller 10 is synchronously rotated, so that when the robot body 1 encounters a stone or foreign matter with a diameter greater than the height of the robot in the process of moving, the pushing roller 10 at the front end of the robot body 1 is synchronously rotated, and the anti-skid convex 11 on the surface is matched to realize the pushing of the foreign matter or stone, so that the foreign matter or stone can be pushed to the two sides of the robot body 1, so that the stable movement of the robot body 1 is ensured, and the foreign matter is prevented from entering the bottom of the robot body 1 to affect the movement.

[0025] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0026] Although the embodiments of the utility model have been shown and described, it should be understood by those of ordinary skill in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. An intelligent modifiable robot capable of adapting to an underground pipe network environment, comprising a robot body (1), characterized in that: The bottom lower surface of the robot body (1) is fixedly connected with a driving shaft (2), the two side surfaces of the driving shaft (2) are fixedly connected with a first side gear (4), one side surface of the first side gear (4) is fixedly connected with a transmission shaft (6), the two side surfaces of the transmission shaft (6) are fixedly connected with a transmission gear (5), one side surface of the transmission shaft (6) is fixedly connected with a second side gear (7), and the transmission gear (5) is meshed with the first side gear (4) and the second side gear (7), and the bottom lower surface of the second side gear (7) is fixedly installed with a double-layer pulley (8), and the number of the double-layer pulleys (8) is set to two.

2. The intelligent, adaptable robot for underground pipe network environments according to claim 1, characterized in that: A belt (9) is fixedly installed between the outer surfaces of both sides of the two double-layer pulleys (8), and a toggle roller (10) is fixedly installed on the outer surface of the belt (9). The second side gear (7) is connected to the toggle roller (10) through the belt (9) and the double-layer pulley (8), and an anti-slip protrusion (11) is fixedly installed on the lower surface of the bottom of the toggle roller (10).

3. The intelligent, adaptable robot for underground pipe network environments according to claim 2, characterized in that: The stirring rollers (10) are arranged in an arc shape and equidistantly on the bottom surface of the robot body (1), and the outer surfaces of two adjacent stirring rollers (10) are connected by a double-layer pulley (8) and a belt (9).

4. The intelligent modifiable robot capable of adapting to underground pipe network environments according to claim 1, characterized in that: A driving wheel (3) is fixedly connected to the lower surface of the bottom of the robot body (1), and the number of the driving wheels (3) is four.

5. The intelligent modifiable robot capable of adapting to underground pipe network environments according to claim 1, characterized in that: An infrared obstacle avoidance sensor (12) is fixedly mounted on one side surface of the robot body (1), and there are two infrared obstacle avoidance sensors (12).

6. The intelligent modifiable robot capable of adapting to underground pipe network environments according to claim 5, characterized in that: Lighting components (13) are fixedly mounted on both side surfaces of one end of the infrared obstacle avoidance sensor (12), and the lighting components (13) are connected to the robot body (1).

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