CN101530998B - Multifunctional air duct detecting walking robot - Google Patents
Multifunctional air duct detecting walking robot Download PDFInfo
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- CN101530998B CN101530998B CN2008100658364A CN200810065836A CN101530998B CN 101530998 B CN101530998 B CN 101530998B CN 2008100658364 A CN2008100658364 A CN 2008100658364A CN 200810065836 A CN200810065836 A CN 200810065836A CN 101530998 B CN101530998 B CN 101530998B
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- air duct
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- 238000004659 sterilization and disinfection Methods 0.000 claims abstract description 22
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims description 22
- 238000000889 atomisation Methods 0.000 claims description 15
- 230000001105 regulatory effect Effects 0.000 claims description 10
- 239000000645 desinfectant Substances 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 4
- 239000012780 transparent material Substances 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 abstract description 3
- 230000000249 desinfective effect Effects 0.000 abstract 4
- 230000001174 ascending effect Effects 0.000 abstract 1
- 238000004140 cleaning Methods 0.000 description 13
- 238000001514 detection method Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 230000001954 sterilising effect Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 241000699666 Mus <mouse, genus> Species 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 208000035742 Air-borne transmission Diseases 0.000 description 1
- 241000700605 Viruses Species 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 230000005557 airborne transmission Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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- Apparatus For Disinfection Or Sterilisation (AREA)
- Electric Suction Cleaners (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
The invention provides a multifunctional air duct detecting walking robot, which comprises a case body, a tripod head type camera, a double-caterpillar track drive system, an ozone generator and an atomizer. The tripod head type camera is fixed above the case body and can be rotated by 360 degrees along the horizontal direction; the double-caterpillar track drive system is provided with a plurality of supports symmetrically arranged at the left side and the right side below the case body which is fixed on the supports; the ozone generator is positioned in the case body, and an ozone outlet is arranged on the surface of the case body; the atomizer is also positioned in the case body and connected with a disinfection solution container which is internally provided with an atomized disinfecting air hood with a small fan; and the atomized disinfecting air hood is connected with an atomized disinfecting air outlet arranged on the surface of the case body by a delivery hose of the atomized disinfecting air. The multifunctional air duct detecting walking robot has flexible operation and convenient use, can step over barriers and ascending slopes and has a plurality of functions such as ultraviolet disinfection, refreshing air and assisting obstacles removal.
Description
Technical field
The present invention relates to the environmental protection equipment field, relate in particular to a kind of multifunctional air duct detecting walking robot.
Background technology
Along with the development of urban construction, increasing modern architecture stands in great numbers in the city.And these buildings mostly adopt the design of central air-conditioning tube shaped, and these pipelines can accumulate many dusts, germ, virus, dirt mite and radiation in long-term the use, and these harmful substances have just been polluted air in the air-supply process.People very easily infect various diseases if in such indoor air environment, work life for a long time.Popular for the disease of avoiding multiple air-borne transmission, it is imperative that the air channel is regularly cleaned.
In the cleaning of air channel, use a kind of air duct detecting walking robot as auxiliary, can make visual detection directly perceived, and can realize omnidistance video recording cleaning forward and backward air channel through regular meeting.Existing in the market air duct detecting walking robot adopts the design of former and later two colour imagery shots, walks through wired remote control.Camera is a colour imagery shot before its robot, can in certain angle, adjust camera angle (for example 135 degree), can adjust the shooting focal length automatically; Back camera is colored minisize pick-up head, belongs to automatic focusing.Detection machine person walks speed is changeable to be two kinds of speeds of travel of height, uses at a high speed low speed use when detecting when retreating.Adopt the air duct detecting walking robot of design like this; Its function ratio is more single; Can only advance, retreat, pivot turn, and the camera action is single, can not operate flexibly well; Be difficult to adapt to complicated pipeline field conditions, can't cross the slope of big vertical barrier and climbing wide-angle.
Summary of the invention
The object of the present invention is to provide a kind of flexible operation, air duct detecting walking robot easy to use, and have the required multiple function of client.
Therefore, the present invention provides a kind of multifunctional air duct detecting walking robot, comprises casing, tripod head type camera, two caterpillar drive system, ozone generator, atomizer; Said tripod head type camera is fixed in the casing top, and its horizontal direction rotating range is 360 °; Said pair of caterpillar drive system has support, the left and right sides that is distributed in said casing below of support symmetry, and casing is fixed on this support; Said ozone generator is positioned at casing, and tank surface is located in its ozone outlet; Said atomizer also is positioned at casing, and atomizer connects disinfectant container, and this disinfectant container connects inner atomization disinfection gas hood with small fan, and this atomization disinfection gas hood is connected at the atomization disinfection gas outlet of tank surface through atomization disinfection gas delivery hose.
Wherein, Also have the mechanism of removing obstacles, this mechanism that removes obstacles comprises, fixing mechanism's holder on the base plate of casing; On this mechanism's holder motor is installed; This motor slows down through planetary reduction box and one-level parallel-axes gears, is positioned at the rotating shaft of the hairbrush in casing the place ahead again through crank and rocker mechanism connection one, and this rotating shaft terminal is articulated on the rotating shaft gripper shoe of casing both sides.
Wherein, the monosymmetric of said support is equipped with a driving wheel, a plurality of guide wheel, a front jocket wheel and a regulating wheel through rotating shaft respectively, and the both sides of support respectively have a crawler belt to be sheathed on each wheel; Driving wheel is fixed in back-end support top; Each free motor of the driving wheel of both sides drives, and a plurality of guide wheels are arranged in a linear in the bottom of support with a determining deviation, carries support and advises positive crawler belt; Front jocket wheel is fixed in the support upper front end, and regulating wheel is fixed in support top and oppresses crawler belt and makes its tensioning.
Wherein, The monosymmetric of said support is equipped with a driving wheel, a plurality of guide wheel, a front jocket wheel and a regulating wheel through rotating shaft respectively; The both sides of support respectively have a crawler belt to be sheathed on each wheel, and driving wheel is fixed in back-end support top, and the driving wheel of both sides provides power to drive by same motor; A plurality of guide wheels are arranged in a linear in the bottom of support with a determining deviation; Carry support and advise positive crawler belt, front jocket wheel is fixed in the support upper front end, and regulating wheel is fixed in support top and oppresses crawler belt and makes its tensioning.
Wherein, said guide wheel has five, and wherein four guide wheels are arranged in a linear in the bottom of support with a determining deviation, and a guide wheel is fixed in support top.
Wherein, said tank surface also has and somely is fixed in the uviol lamp on the casing through the ultraviolet lamp socket, is fixed with the uviol lamp inverter in the casing.
Wherein, said uviol lamp is two, is distributed in casing upper surface both sides.
Wherein, said tripod head type camera is driven by two ultrasonic motors, and its pitch orientation rotating range is 90 °.
Wherein, the case lid of said disinfectant container is a transparent material.
Wherein, the backboard of said casing is fixed with 16 core aviation socket and video-frequency connectors.
Multifunctional air duct detecting walking robot provided by the present invention, flexible operation, easy to use, but across obstacle and upward slope have disinfection by ultraviolet light, spraying gas fresh air, ozone sterilization and auxiliary multiple function such as remove obstacles.
Description of drawings
Below in conjunction with accompanying drawing, describe in detail through specific embodiments of the invention, will make technical scheme of the present invention and other beneficial effects obvious.
In the accompanying drawing,
Fig. 1 is the general assembly sketch map of multifunctional air duct detecting walking robot one preferred embodiment of the present invention;
Fig. 2 is the uviol lamp and the body structure sketch map of multifunctional air duct detecting walking robot one preferred embodiment of the present invention;
Fig. 3 is the tripod head type camera of multifunctional air duct detecting walking robot one preferred embodiment of the present invention and the sketch map of crawler belt;
Fig. 4 is the ozone generator of multifunctional air duct detecting walking robot one preferred embodiment of the present invention and the sketch map of atomizer;
Fig. 5 is the sketch map of the mechanism that removes obstacles of multifunctional air duct detecting walking robot one preferred embodiment of the present invention.
The specific embodiment
Referring to Fig. 1 to Fig. 5, it has shown multifunctional air duct detecting walking robot one preferred embodiment of the present invention.In this preferred embodiment; This robot is provided with mechanisms such as tripod head type camera 2, ultraviolet lamp socket and fluorescent tube 31, atomizer 44, the mechanism that removes obstacles of having hairbrush 91, ozone generator 62; Drive through two caterpillar drive system, thereby can satisfy the user the desired comprehensive detection of air duct detecting walking robot and video recording, across obstacle and upward slope, disinfection by ultraviolet light, spraying gas fresh air, ozone sterilization and auxiliary multiple function such as remove obstacles.
Referring to Fig. 1, it is for the general assembly sketch map of multifunctional air duct detecting walking robot one preferred embodiment of the present invention.This preferred embodiment appearance and size is: 280mm * 200mm * 165mm; At least the rectangular duct that can be used for 180 * 250mm; It is installed with tripod head type camera 2 above casing 1; Limit, the left and right sides respectively is installed with a ultraviolet lamp socket and fluorescent tube 31 above the casing 1, the part of exposing above the casing 1 also comprise the disinfectant container of atomizer case lid 41, be positioned at the atomization disinfection gas hood 42 of case lid 41 tops; Divide according to this robot direct of travel; Casing 1 the place ahead has the mechanism of removing obstacles 5; Casing 1 front apron has atomization disinfection gas outlet 43 and ozone outlet 61, and casing 1 backboard has one 16 core aviation sockets 7, can supply power and line traffic control is arranged through 7 pairs of these robots of this aviation socket.
Referring to Fig. 2, it is for the uviol lamp and the body structure sketch map of multifunctional air duct detecting walking robot one preferred embodiment of the present invention.Casing 1 comprises baffle plate and the extension around it; Limit, the left and right sides respectively is installed with a ultraviolet lamp socket and fluorescent tube 31 above the casing 1; Casing 1 inside has a 80W (input DC12V; Output AC220V) uviol lamp inverter 32 is used for uviol lamp is supplied power.The present invention, can open uviol lamp and carry out sterilizing after the air channel cleaning finishes through increasing uviol lamp.
Referring to Fig. 3, it is for the tripod head type camera of multifunctional air duct detecting walking robot one preferred embodiment of the present invention and the sketch map of crawler belt.Tripod head type camera 2 is fixed in casing 1 top, but horizontal direction is rotated 360 °, the pitch orientation half-twist; Drive by 2 ultrasonic motors respectively; Be the colour shooting, resolution ratio is 480 lines, can adjust the shooting focal length automatically; Utilize it can carry out comprehensive detection and video recording, flexible and convenient operation to cleaning forward and backward pipeline.The drive system of this robot is two caterpillar drive system, and an identical caterpillar drive system is each side arranged.With a side wherein is example, passes through that rotating shaft is equipped with a driving wheel 82, five guide wheels 83, a front jocket wheel 84 and 85, one crawler belts 86 of a regulating wheel are sheathed on each wheel on the support 81; Driving wheel 82 is fixed in support 81 upper rear end, and driving wheel 82 is a synchronizing wheel, in this preferred embodiment, about two driving wheels, 82 each free motor drive, can realize actions such as advancing, retreat, turn left and turn right; Because in this preferred embodiment; Adopt two motors to drive the crawler belt of the left and right sides respectively; Two motors can be controlled its rotating speed respectively, so the turning mode has three kinds: 1. the both sides crawler belt is advanced with friction speed, and robot will slowly turn to that slow side; 2. a side crawler belt is moving, and a side is motionless, and robot will be a round dot with that motionless side crawler belt so, in pivot turn; 3. utilize two motors, make a side crawler belt change the opposite side crawler belt forward and turn round, robot will be with this as the center of circle so, the original place 360o curve; Four guide wheels 83 are arranged in a linear in the bottom of support 81 with a determining deviation; Carry support 81 and advise positive crawler belt 86; Front jocket wheel 84 is fixed in support 81 upper front end, and a guide wheel 83 is fixed in support top, and regulating wheel 85 is fixed in support top and oppresses crawler belt and makes its tensioning.In this preferred embodiment, through adopting this pair caterpillar drive system, but the forward-reverse of detection machine people maneuverability with about turn: folk prescription is not less than 20 meters to travel distance; Fastrunning is walked speed and is not less than 10 meters/minute; And adjustable-speed, but car body original place 360o curve, but and across obstacle and upward slope; Can cross over the barrier of high 40mm, and can be not less than on 40 ° of slopes in the gradient and walk.
Referring to Fig. 4, it is for the ozone generator of multifunctional air duct detecting walking robot one preferred embodiment of the present invention and the sketch map of atomizer.Have ozone generator 62 in the casing 1, casing front apron 11 has ozone outlet 61.Also has atomizer 44 in the casing 1; Atomizer 44 connects disinfectant container 45; Disinfectant container 45 connects inner atomization disinfection gas hood 42 with small fan, and atomization disinfection gas hood 42 is through the outlet of the atomization disinfection gas on the atomization disinfection gas delivery hose 46 connect box front aprons 11 43.In addition, leave the fixedly opening of aviation socket and video-frequency connector on the casing backboard 12.The present invention has set up ozone generator, after the cleaning of air channel, can open ozone generator and carry out sterilizing; Also set up atomizer, after the cleaning of air channel, can open atomizer with the air in the pure and fresh air channel.
Referring to Fig. 5, it is the sketch map of the mechanism that removes obstacles of multifunctional air duct detecting walking robot one preferred embodiment of the present invention.This mechanism that removes obstacles is fixed on the base plate 13 of casing through mechanism's holder 51; On this mechanism's holder 51 motor 52 is installed; Motor 52 slows down through planetary reduction box and one-level parallel-axes gears 53; Be positioned at the rotating shaft 92 of the hairbrush 91 in casing the place ahead again through crank and rocker mechanism 54 connections one, these rotating shaft 92 two ends are articulated on the rotating shaft gripper shoe 14 of casing both sides.Motor 52 provides power, slows down through planetary reduction box and one-level parallel-axes gears 53, and then is passed to hairbrush 91 through crank and rocker mechanism 54, makes hairbrush 91 back and forth to rotate around rotating shaft 92, realizes the cleaning action of hairbrush 91.Through the increase mechanism that removes obstacles, when there is movably block rubbish (like dead mouse) front, can in time remove, in the accommodation space in block refuse collection to the casing, with the cleaning of convenient back.
According to this preferred embodiment with multifunctional air duct detecting walking robot assembled of the present invention after, can be through the 16 core aviation sockets on the casing backboard 12 and the interface of video-frequency connector, Access Control cable and video transmission line cable have line traffic control to robot.The forward and backward of cleaning carried out in the air channel, controlling this robot and in the air channel, advance or retreat, carrying out visual detection, and can omnidistance record a video through situation in 2 pairs of air channels of tripod head type camera.Through two caterpillar drive system of this robot, can overcome various complex road conditions in the air channel, through controlling the rotating speed and the direction of rotation of two motors of two caterpillar drive system respectively, can realize controlling the action that robot turns.When utilizing robot to detect the air channel, run into when having movably block rubbish (like dead mouse) in the air channel, the hairbrush of the mechanism that removes obstacles capable of using sweeps the accommodation space in the casing with rubbish, the cleaning of convenient back.After the work of accomplishing the cleaning air channel; When utilizing multifunctional air duct detecting walking robot of the present invention to detect in the air channel cleaning situation once more; Also can further utilize subsidiary ultraviolet lamp socket of this robot and fluorescent tube 31, atomizer 44, ozone generator 62 etc. to carrying out further disinfection in the air channel, to strengthen the cleaning effect in air channel.This invention and present any on the market a detection machine physiognomy be than having flexible operation, advantage easy to use, and remedied the deficiency on the existing product function.
The above; For the person of ordinary skill of the art; Can make other various corresponding changes and distortion according to technical scheme of the present invention and technical conceive, and all these changes and distortion all should belong to the protection domain of accompanying Claim of the present invention.
Claims (7)
1. a multifunctional air duct detecting walking robot is characterized in that, comprises casing, tripod head type camera, two caterpillar drive system, ozone generator, atomizer; Said tripod head type camera is fixed in the casing top, and its horizontal direction rotating range is 360 °; Said pair of caterpillar drive system has support, the left and right sides that is distributed in said casing below of support symmetry, and casing is fixed on this support; Said ozone generator is positioned at casing, and tank surface is located in its ozone outlet; Said atomizer also is positioned at casing, and atomizer connects disinfectant container, and this disinfectant container connects inner atomization disinfection gas hood with small fan, and this atomization disinfection gas hood is connected at the atomization disinfection gas outlet of tank surface through atomization disinfection gas delivery hose;
It also has the mechanism of removing obstacles; This mechanism that removes obstacles comprises; Fixing mechanism's holder is equipped with motor on this mechanism's holder on the base plate of casing, and this motor slows down through planetary reduction box and one-level parallel-axes gears; Be positioned at the rotating shaft of the hairbrush in casing the place ahead again through crank and rocker mechanism connection one, this rotating shaft terminal is articulated on the rotating shaft gripper shoe of casing both sides;
Said tank surface also has and somely is fixed in the uviol lamp on the casing through the ultraviolet lamp socket, is fixed with the uviol lamp inverter in the casing;
Said tripod head type camera is driven by two ultrasonic motors, and its pitch orientation rotating range is 90 °;
The backboard of said casing is fixed with 16 core aviation socket and video-frequency connectors.
2. multifunctional air duct detecting walking robot as claimed in claim 1; It is characterized in that the monosymmetric of said support is equipped with a driving wheel, a plurality of guide wheel, a front jocket wheel and a regulating wheel through rotating shaft respectively, the both sides of support respectively have a crawler belt to be sheathed on each wheel; Driving wheel is fixed in back-end support top; Each free motor of the driving wheel of both sides drives, and a plurality of guide wheels are arranged in a linear in the bottom of support with a determining deviation, carries support and advises positive crawler belt; Front jocket wheel is fixed in the support upper front end, and regulating wheel is fixed in support top and oppresses crawler belt and makes its tensioning.
3. multifunctional air duct detecting walking robot as claimed in claim 1; It is characterized in that the monosymmetric of said support is equipped with a driving wheel, a plurality of guide wheel, a front jocket wheel and a regulating wheel through rotating shaft respectively, the both sides of support respectively have a crawler belt to be sheathed on each wheel; Driving wheel is fixed in back-end support top; The driving wheel of both sides provides power to drive by same motor, and a plurality of guide wheels are arranged in a linear in the bottom of support with a determining deviation, carries support and advises positive crawler belt; Front jocket wheel is fixed in the support upper front end, and regulating wheel is fixed in support top and oppresses crawler belt and makes its tensioning.
4. multifunctional air duct detecting walking robot as claimed in claim 3 is characterized in that, said guide wheel has five, and wherein four guide wheels are arranged in a linear in the bottom of support with a determining deviation, also has a guide wheel to be fixed in support top.
5. multifunctional air duct detecting walking robot as claimed in claim 1 is characterized in that said uviol lamp is two, is distributed in casing upper surface both sides.
6. multifunctional air duct detecting walking robot as claimed in claim 1 is characterized in that, the case lid of said disinfectant container is a transparent material.
7. like each described multifunctional air duct detecting walking robot of claim 1 to 6, it is characterized in that the front surface of casing is located in said ozone outlet and the outlet of atomization disinfection gas.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100658364A CN101530998B (en) | 2008-03-14 | 2008-03-14 | Multifunctional air duct detecting walking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100658364A CN101530998B (en) | 2008-03-14 | 2008-03-14 | Multifunctional air duct detecting walking robot |
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| CN101530998A CN101530998A (en) | 2009-09-16 |
| CN101530998B true CN101530998B (en) | 2012-01-18 |
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| CN2008100658364A Expired - Fee Related CN101530998B (en) | 2008-03-14 | 2008-03-14 | Multifunctional air duct detecting walking robot |
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Cited By (1)
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| CN102661740A (en) * | 2012-05-29 | 2012-09-12 | 李坚 | Intelligent measurement robot |
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