CN110486571A - A kind of pipe robot - Google Patents

Abstract

A pipeline robot relates to the field of robots. In order to solve the problem that the driving wheel fails or even gets stuck when the existing pipeline robot moves in the pipeline, the pipeline robot cannot move inside the pipeline and cannot be applied to pipelines with different diameters. The main body of the robot is cylindrical, one end of the main body of the robot is connected to the active unit, the other end of the main body of the robot is connected to one end of the driven end, and the other end of the driven end is connected to the base of the camera; the structure of the active unit is as follows, one end of the screw is threaded through The slider is fixedly connected to the No. 1 frame, and the slider is provided with n support arms along the outer surface of the circumference, where n is a positive integer, and each support arm is hinged to the support plate, and the side of the support plate is provided with a drive wheel assembly, the other end of the lead screw passes through the No. 2 frame and the axle sleeve in turn, and is fixedly connected with the adjustment handwheel, and a bearing is embedded between the axle sleeve and the No. 2 frame. The invention is applicable to the field of pipeline detection.

Description

a pipeline robot

technical field

The invention relates to the field of robots, in particular to a pipeline robot.

Background technique

Most of the currently developed pipeline robots use self-adaptive pre-tightening support mechanisms, which are mainly divided into active adjustment methods and passive adjustment methods.

The passive adjustment method usually adjusts the radial distance of the support wheel through the change of the spring with the pipe diameter. It has self-adaptive ability in a small pipe diameter change range, and its change range is small, and its preload changes with the spring size change. The force will also change.

The active adjustment method is usually adjusted by a mechanism such as a worm gear or a screw nut, and the drive wheel is stretched or retracted through the worm gear or screw nut. Compared with the passive adjustment method, its adjustment range is larger and it can adapt to larger adjustments. scope. However, because it adopts a set of adjustment methods to adjust all the driving wheels at the same time, if there are large defects in the pipeline or the cylindricity error is large, some driving wheels will fail, and in severe cases, the pipeline robot may be stuck.

To sum up, when the existing pipeline robot moves in the pipeline, the driving wheel may fail or even get stuck, which makes the pipeline robot unable to move inside the pipeline and cannot be applied to pipelines with different diameters.

Contents of the invention

The present invention aims to solve the problem that the driving wheel fails or even gets stuck when the existing pipeline robot moves in the pipeline, so that the pipeline robot cannot move inside the pipeline and cannot be applied to pipelines with different diameters. A pipeline robot.

A pipeline robot of the present invention comprises an active unit, a robot main body, a driven end and a camera;

The main body of the robot is cylindrical, one end of the main body of the robot is connected to the active unit, the other end of the main body of the robot is connected to one end of the driven end, and the other end of the driven end is connected to the base of the camera;

Further, the active unit includes the No. 1 frame, the support plate, the No. 2 frame, the adjustment hand wheel, the driving wheel assembly, the support arm, the lead screw, the slider, the bearing and the bushing;

One end of the lead screw passes through the slider and is fixedly connected to the No. 1 frame. The slider is provided with n support arms along the outer surface of the circumference, n is a positive integer, and each support arm is hinged to the support plate, and the support plate There is a driving wheel assembly on the side, and the other end of the lead screw passes through the No. 2 frame and the shaft sleeve in turn, and is fixedly connected with the adjustment handwheel, and a bearing is embedded between the shaft sleeve and the No. 2 frame;

Further, the drive wheel assembly includes a motor, a wheel, a transmission shaft and two gears, the output end of the motor passes through the support plate and is fixedly connected to a gear, one end of the transmission shaft passes through the support plate and is fixedly connected to the wheel, and the transmission shaft The other end of the gear is fixedly connected with the other gear, and the two gears are engaged and connected, and the motor and the wheel are arranged on the same side of the support plate;

Further, the No. 1 rack is fixedly connected to the lead screw through a keyway;

Further, said n≥3;

Further, the outer circular surface of the adjustment hand wheel is provided with anti-slip hand patterns;

Further, the slider is threadedly connected with the lead screw;

Furthermore, the adjustment handwheel and the shaft sleeve are connected with the inner ring of the bearing, which can only rotate but cannot move axially; Turn the adjustment handwheel, and the screw rod will move linearly along the axial direction, thereby driving the slider fixedly connected to the screw rod to move linearly.

The active unit has three drive wheel components. When the slider moves linearly, it drives the support arm to move, so that the support plate rotates to realize the contraction and expansion of the drive wheel component of the robot; the angle is adjusted by adjusting the hand wheel to adapt to pipes of different diameters.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention overcomes the shortcomings of the prior art. The active unit has three drive wheel assemblies. When the slider moves linearly, it drives the support arm to move, so that the support plate rotates to realize the contraction and expansion of the robot drive wheel assembly; by adjusting The hand wheel 1-4 adjusts the angle to realize the adaptation to pipes of different diameters.

2. The present invention overcomes the disadvantages of the prior art. The driving wheel assembly can be used to shrink or expand, and can prevent the failure or even jamming of the driving wheel of the pipeline robot in the pipeline.

Three, the present invention is simple to operate, easy to use.

Description of drawings

Fig. 1 is a three-dimensional perspective view of the overall structure of the present invention;

Fig. 2 is a three-dimensional stereoscopic view of the drive assembly in the active unit of the present invention in an unfolded state;

Fig. 3 is a cross-sectional view of the drive assembly in the active unit of the present invention in an unfolded state;

Fig. 4 is a three-dimensional perspective view of the drive assembly in the active unit of the present invention in a retracted state.

Detailed ways

Specific Embodiment 1: This embodiment is described with reference to FIGS. 1 to 4 . A pipeline robot described in this embodiment includes an active unit 1 , a robot body 2 , a driven end 3 and a camera 4 ;

The robot main body 2 is cylindrical, and one end of the robot main body 2 is connected with the active unit 1, the other end of the robot main body 2 is connected with one end of the driven end 3, and the other end of the driven end 3 is connected with the base of the camera 4;

In this specific embodiment, when in use, the adjustment handwheel 1-4, the axle sleeve 1-10 are connected to the inner ring of the bearing 1-9, and can only rotate but cannot move axially; The No. 1 frame 1-1 is connected and can only move axially but cannot rotate; therefore, turning and adjusting the handwheel 1-4, the screw rod 1-7 will move linearly along the axial direction, thereby driving the screw rod 1-7 to solidify. Linked slide blocks 1-8 carry out linear motion.

The active unit 1 has three drive wheel assemblies 1-5. When the slider 1-8 moves linearly, it drives the support arm 1-6 to move, so that the support plate 1-2 rotates to realize the contraction and expansion of the robot drive wheel assembly 1-5. ; Adjust the angle by adjusting the handwheel 1-4 to adapt to pipes of different diameters.

Specific Embodiment 2: This embodiment is described in conjunction with Fig. 2 to Fig. 4. This embodiment is a further limitation of the robot described in Specific Embodiment 1. A pipeline robot described in this embodiment, the active unit 1 includes No. 1 frame 1-1, support plate 1-2, No. 2 frame 1-3, adjustment hand wheel 1-4, drive wheel assembly 1-5, support arm 1-6, lead screw 1-7, Slide block 1-8, bearing 1-9 and axle sleeve 1-10;

One end of the lead screw 1-7 passes through the slider 1-8 and is fixedly connected to the No. 1 frame 1-1, and the slider 1-8 is provided with n support arms 1-6 along the outer surface of the circumference, where n is positive Integer, each support arm 1-6 is hinged with the support plate 1-2, and the side of the support plate 1-2 is provided with a drive wheel assembly 1-5, and the other end of the lead screw 1-7 passes through the second frame 1 in turn -3 and axle sleeve 1-10 are fixedly connected with adjustment handwheel 1-4, and bearing 1-9 is embedded between axle sleeve 1-10 and No. 2 frame 1-3;

In this specific embodiment, the active unit has three drive wheel assemblies. When the slider moves linearly, it drives the support arm to move, so that the support plate rotates to realize the contraction and expansion of the robot drive wheel assembly; adjust the angle by adjusting the handwheel 1-4 , to adapt to pipes with different pipe diameters, the use of the driving wheel assembly can shrink or expand, which can prevent the pipe robot from failing or even jamming the driving wheel in the pipe.

Specific embodiment 3: This embodiment is described in conjunction with FIG. 2. This embodiment is a further limitation of the robot described in Specific Embodiment 2. In the pipeline robot described in this embodiment, the drive wheel assembly 1- 5 includes a motor 5, a wheel, a transmission shaft 7 and two gears 6, the output end of the motor 5 passes through the support plate 1-2 and is fixedly connected with a gear 6, and one end of the transmission shaft 7 passes through the support plate 1-2 and is fixed to the wheel Connected, the other end of transmission shaft 7 is fixedly connected with another gear 6, and two gears 6 are engaged and connected, and motor 5 and wheels are arranged on the same side of support plate 1-2.

Embodiment 4: This embodiment is described in conjunction with FIG. 3 . This embodiment is a further limitation of the robot described in Embodiment 2. A pipe robot described in this embodiment, the No. 1 rack 1 -1 is fixedly connected with the lead screw 1-7 through the keyway.

Embodiment 5: This embodiment is described in conjunction with FIG. 2 . This embodiment is a further limitation on the robot described in Embodiment 2. In this embodiment, a pipeline robot, n≥3;

In this specific embodiment, three drive wheel assemblies 1-5 are used to operate in the pipeline, which is relatively stable and also plays a certain supporting role for the pipeline robot.

Embodiment 6: This embodiment is described in conjunction with FIG. 2. This embodiment is a further limitation of the robot described in Embodiment 2. A pipe robot described in this embodiment, the adjustment handwheel 1- The outer surface of 4 is provided with anti-slip fingerprints;

In this specific embodiment, the outer circular surface of the adjustment handwheel 1-4 is provided with anti-skid hand lines to prevent the operator from slipping when rotating the adjustment handwheel 1-4.

Specific Embodiment 7 This embodiment is described in conjunction with FIG. 2. This embodiment is a further limitation of the robot described in Embodiment 2. A pipeline robot described in this embodiment, the slider 1 described above -8 is threadedly connected with leading screw 1-7.

working principle

When in use, the adjustment hand wheel 1-4, the shaft sleeve 1-10 are connected with the inner ring of the bearing 1-9, and can only rotate but cannot move axially; the screw rod 1-7 is connected to the No. -1 connected, can only move in the axial direction but not rotate; so turn the adjustment handwheel 1-4, the screw rod 1-7 will move linearly in the axial direction, thus driving the slider 1 fixedly connected to the screw rod 1-7 -8 for linear motion.

The active unit 1 has three drive wheel assemblies 1-5. When the slider 1-8 moves linearly, it drives the support arm 1-6 to move, so that the support plate 1-2 rotates to realize the contraction and expansion of the robot drive wheel assembly 1-5. ; Adjust the angle by adjusting the handwheel 1-4 to adapt to pipes of different diameters.

Claims (6)

1. a kind of pipe robot, it is characterised in that: the robot include active cell (1), robot body (2), from Moved end (3) and camera (4)；

Robot body (2) is cylindrical shape, and one end of robot body (2) is connect with active cell (1), robot body (2) the other end is connect with the one end of driven end (3), and the other end of driven end (3) is connect with the pedestal of camera (4)；

The active cell (1) includes No.1 rack (1-1), support plate (1-2), No. two racks (1-3), adjustment handwheel (1- 4), drive wheel assemblies (1-5), support arm (1-6), lead screw (1-7), sliding block (1-8), bearing (1-9) and axle sleeve (1-10)；

One end of lead screw (1-7) passes through sliding block (1-8) and is fixedly connected with No.1 rack (1-1), sliding block (1-8) circumferentially outer surface And be equipped with n support arm (1-6), n is positive integer, each support arm (1-6) and support plate (1-2) hingedly, and support plate The side of (1-2) is equipped with drive wheel assemblies (1-5), and the other end of lead screw (1-7) sequentially passes through No. two racks (1-3) and axle sleeve (1-10) is fixedly connected with adjustment handwheel (1-4), and is embedded with bearing (1-9) between axle sleeve (1-10) and No. two racks (1-3).

2. a kind of pipe robot according to claim 1, it is characterised in that: the drive wheel assemblies (1-5) include The output end of motor (5), wheel, transmission shaft (7) and two gears (6), motor (5) passes through support plate (1-2) and a gear (6) be fixedly connected, one end of transmission shaft (7) passes through support plate (1-2) and is fixedly connected with wheel, the other end of transmission shaft (7) and Another gear (6) is fixedly connected, and two gear (6) engagement connections, and motor (5) and wheel are arranged in support plate (1-2) It is ipsilateral.

3. a kind of pipe robot according to claim 1, it is characterised in that: the No.1 rack (1-1) passes through key Slot is fixedly connected with lead screw (1-7).

4. a kind of pipe robot according to claim 1, it is characterised in that: n >=3.

5. a kind of pipe robot according to claim 2, it is characterised in that: the outer circle of the adjustment handwheel (1-4) Surface is equipped with the anti-skidding lines of the hand.

6. a kind of pipe robot according to claim 2, it is characterised in that: the sliding block (1-8) and silk Thick stick (1-7) is threadedly coupled.