CN111578038A - Shock-proof pipeline robot - Google Patents
Shock-proof pipeline robot Download PDFInfo
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- CN111578038A CN111578038A CN202010330195.1A CN202010330195A CN111578038A CN 111578038 A CN111578038 A CN 111578038A CN 202010330195 A CN202010330195 A CN 202010330195A CN 111578038 A CN111578038 A CN 111578038A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/005—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper
- F16F13/007—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper the damper being a fluid damper
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/022—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using dampers and springs in combination
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2222/00—Special physical effects, e.g. nature of damping effects
- F16F2222/04—Friction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2222/00—Special physical effects, e.g. nature of damping effects
- F16F2222/12—Fluid damping
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2230/00—Purpose; Design features
- F16F2230/0005—Attachment, e.g. to facilitate mounting onto confer adjustability
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2230/00—Purpose; Design features
- F16F2230/08—Sensor arrangement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2230/00—Purpose; Design features
- F16F2230/18—Control arrangements
- F16F2230/183—Control arrangements fluid actuated
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2238/00—Type of springs or dampers
- F16F2238/02—Springs
- F16F2238/026—Springs wound- or coil-like
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a shock-absorbing pipeline robot, which comprises a robot main body, at least two groups of walking support structures and a carrying platform, wherein the walking support structures are positioned outside the robot main body, the carrying platform is fixedly connected with the robot main body, each walking support structure comprises a support arm and an auxiliary support rod, one end of each support arm is hinged with one end of the robot main body, the other end of each support arm is provided with a walking wheel, one end of each auxiliary support rod is hinged with the other end of the robot main body, a shock-absorbing structure is arranged between the other end of each auxiliary support rod and the two ends of each support arm, a spring and a flowing energy dissipation structure are arranged on each shock-absorbing structure, the shock-absorbing structure can be matched with the walking wheels to cross an obstacle, meanwhile, the influence of the shock of the pipeline robot on the robot main body when the pipeline robot bypasses the obstacle is reduced, the damping effect is improved, and a good bearing platform is provided for the operation instrument carried on the robot main body.
Description
Technical Field
The invention relates to the technical field of pipeline robots, in particular to a shock-absorbing pipeline robot.
Background
The pipeline robot is a mechanical, electrical and instrument integrated system capable of automatically walking along the inside or outside of a tiny pipeline, carrying one or more sensors and operating machinery, and performing a series of pipeline operations under the remote control of workers or the automatic control of a computer, and is commonly used for the development of petroleum, chemical, natural gas and nuclear industries and pipeline maintenance.
Generally, the existing pipeline robot adopts the following structures that the bottom of a tracked vehicle adopts a track to drive the pipeline robot to walk in a pipeline; the supporting rod structure adopts a folding rod structure with wheels at the end part to support the pipeline robot in the middle of the pipeline and then realizes walking motion; the wheel type structure adopts the contact of the traditional wheels or the wheels with special structures with the inner wall surface of the pipeline, so that the pipeline robot runs in the pipeline.
The pipeline robot of wheeled walking structure is because white body structure restriction, when meetting the barrier, the walking wheel is walked from the top, can cause the vibrations of robot main part, if the spring of simple installation is moved away to avoid possible earthquakes, can the robot walk at the steady of pipeline inner wall, influences the robot operation.
Disclosure of Invention
The invention aims to provide a shock-absorbing pipeline robot in order to reduce the influence of obstacles on the inner wall of a pipeline on a robot body.
In order to achieve the purpose, the invention adopts the following technical scheme:
referring to fig. 1-2, a pipeline robot of moving away to avoid possible earthquakes, including the robot main part, be located the outside at least two sets of walking bearing structure and fixed connection in the platform of carrying of robot main part, set up fixed knot on the platform of carrying for the fixed thing of carrying, the thing of carrying can be for pipe wall calibrator, panoramic camera ware, pipeline cleaning instrument etc. realize the inside operation of pipeline, walking bearing structure is used for the walking of robot main part, inside driver, the controller that sets up drive, control robot walking of robot main part and the power that provides power for carrying of thing.
Further, referring to fig. 3, the walking support structure includes a support arm and an auxiliary support rod, one end of the support arm is hinged to one end of the robot main body, a walking wheel is arranged at the other end of the support arm, one end of the auxiliary support rod is hinged to the other end of the robot main body, a shock absorbing structure is arranged between the other end of the auxiliary support rod and the two ends of the support arm, the auxiliary support rod is an electric telescopic rod and can support the support arm, so that the walking wheel presses against the inner wall of the pipeline to walk or stop; meanwhile, the auxiliary supporting rod can adjust the unfolding angle of the supporting arm through stretching, so that the pipeline robot can be suitable for pipelines with different inner diameters.
Further, refer to fig. 4, shock absorber structure includes shock absorber cylinder, outer spring, mount pad, outer spring housing is in shock absorber cylinder's outside, outer spring and shock absorber cylinder's axial both ends all set up the mount pad, and the mount pad fixed connection auxiliary strut of shock absorber structure one end, the mount pad articulated support arm's of the shock absorber structure other end outer wall, when this pipeline robot's walking wheel needs cross-domain barrier, shock absorber structure accessible shrink helps walking wheel cross-domain barrier.
Further, refer to fig. 5, shock-absorbing cylinder includes the cylinder body, honeycomb duct, connecting rod, movable block, fluid is filled with to the inside of cylinder body and honeycomb duct, the movable block be located the inside of cylinder body and with the inside seal sliding connection of cylinder body, the movable block divide into epicoele and cavity of resorption with the inner chamber of cylinder body, the honeycomb duct is located the outside and the intercommunication epicoele and the cavity of resorption of cylinder body, the connecting rod runs through the cylinder body and is used for connecting movable block and mount pad, contracts on the outer spring, the movable block toward removing, and fluid in the cavity of resorption gets into the epicoele, through the flow of fluid, changes the energy of vibrations into the kinetic energy of fluid, reduces the influence of vibrations to pipeline robot.
Preferably, the cylinder body is provided with at least one inner spring, the inner spring is positioned between the movable block and the upper inner wall or the lower inner wall of the cylinder body, and the inner spring can be used for buffering and assisting in damping.
For further energy consumption, referring to fig. 5 and 6, an annular groove is formed between the upper end and the lower end of the movable block, a ring body is arranged outside the annular groove, a contact soft body is arranged outside the ring body and can be made of hard plastic bristles, one end of the contact soft body is fixedly connected with the annular side wall of the ring body, the other end of the contact soft body is in contact with the inner wall of the cylinder body, when the movable block moves in the cylinder body, the contact soft body can generate friction with the inner wall of the cylinder body, and vibration energy is changed into energy for overcoming the friction force of the contact soft body, so that further energy consumption is realized.
In order to further consume energy, another scheme can be adopted, referring to fig. 7 and 8, an annular groove is formed between the upper end and the lower end of the movable block, the interior of the annular groove is provided with at least one movable plate, one side of the movable plate close to the cylinder body wall is provided with a contact soft body which can be hard plastic bristles, grooves are arranged on two sides of the inner ring of the annular groove, an air cylinder is embedded in each groove, a movable plate is fixedly connected with the working end of each air cylinder, a controller for shock absorption is further arranged in the robot main body, the controller for shock absorption can be a single chip microcomputer, the flow sensor is arranged on the flow guide pipe, the signal output end of the flow sensor is connected with the signal input end of the controller for shock absorption, the signal output end of the controller for shock absorption is connected with the input end of the air cylinder, and the flow sensor is used for controlling the air cylinder to be opened and closed.
When the supporting arm is subjected to larger vibration and the flow passing through the flow guide pipe is larger, the flow sensor senses large flow, the controller controls the air cylinder to work, the working end of the air cylinder extends, the contact soft body is in contact with the inner wall of the cylinder body, the contact soft body can generate friction with the inner wall of the cylinder body, and the vibration energy is changed into energy for overcoming the friction force of the contact soft body and further consumes energy. The length-adjustable air cylinder in the prior art can be selected as the air cylinder, so that the controller can adjust the length of the working end of the air cylinder according to the flow, adjust the contact pressure of the contact soft body and adjust the friction force.
The invention has the beneficial effects that: the support arm of the shock-absorbing pipeline robot is provided with the shock-absorbing structure, the shock-absorbing structure is provided with the spring and the flowing energy dissipation structure, the spring and the flowing energy dissipation structure can be matched with the walking wheel to cross over an obstacle, meanwhile, the influence of the shock of the pipeline robot on the robot main body when the pipeline robot bypasses the obstacle is reduced, meanwhile, the contact software is arranged in the cylinder body of the shock-absorbing structure, the friction force between the cylinder body and the shock-absorbing structure can be adjusted according to the shock, the shock-absorbing effect is improved, and a good bearing platform is provided for operation.
Drawings
FIG. 1 is a schematic view of the overall structure of the shock absorbing pipeline robot;
FIG. 2 is a top view of the shock absorbing pipeline robot;
FIG. 3 is a schematic structural view of a walking support structure part of the shock-absorbing pipeline robot;
FIG. 4 is a schematic view of the external structure of the shock absorbing pipeline robot;
FIG. 5 is a schematic structural view of a shock-absorbing cylinder of the shock-absorbing pipeline robot in embodiment 1;
FIG. 6 is a top view of the shock-absorbing cylinder of the shock-absorbing pipeline robot in embodiment 1;
FIG. 7 is a schematic structural view of a shock-absorbing cylinder of the shock-absorbing pipeline robot in embodiment 2;
FIG. 8 is a top view of the shock cylinder of the shock pipe robot in accordance with embodiment 2.
In the figure: 1. a robot main body; 2. a support arm; 3. a traveling wheel; 4. a mounting platform; 5. an auxiliary strut; 6. a shock absorbing structure; 61. a damping oil cylinder; 62. an outer spring; 63. a mounting seat; 611. a flow guide pipe; 612. a connecting rod; 613. a movable block; 614. an inner spring; 615. an annular groove; 616. a ring body; 617. contacting the soft body; 618. a cylinder body; 619. a flow sensor; 620. a movable plate; 621. a cylinder; 6131. an upper chamber; 6132. the lower cavity.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1
Referring to fig. 1-2, a pipeline robot of moving away to avoid possible earthquakes, including robot main part 1, be located the outside six groups of walking bearing structure of robot main part 1 main part and fixed connection in the carrying platform 4 of robot main part 1, set up fixed knot on the carrying platform 4 for fixed carrying thing, carrying thing can be for pipe wall calibrator, panoramic camera, clearance instrument etc. realize the inside operation of pipeline, walking bearing structure is used for robot main part 1's walking, six groups of walking bearing structure's the crisscross setting of direction interval in this embodiment, robot main part 1 is inside to set up driver, the controller of drive and control robot walking and provides the power of power for carrying thing.
Further, refer to fig. 3, the walking bearing structure includes support arm 2 and auxiliary strut 5, the one end of support arm 2 is articulated with the one end of robot main part 1, and the other end of support arm 2 sets up walking wheel 3, the one end of auxiliary strut 5 is articulated with the other end of robot main part 1, the other end of auxiliary strut 5 with set up shock absorber structure 6 between the both ends of support arm 2, auxiliary strut 5 is electric telescopic handle, can support arm 2, and auxiliary strut 5 is through flexible simultaneously, the angle that 2 expandes of adjustable support arm makes this pipeline robot can be applicable to the pipeline of different internal diameters.
Further, refer to fig. 4, shock absorber structure 6 includes shock absorber cylinder 61, outer spring 62, mount pad 63, outer spring 62 covers in shock absorber cylinder 61's outside, the axial both ends of outer spring 62 and shock absorber cylinder 61 all set up mount pad 63, and mount pad 63 fixed connection auxiliary strut 5 of 6 one end of shock absorber structure, the outer wall of the articulated support arm 2 of mount pad 63 of the 6 other end of shock absorber structure, when the walking wheel of this pipeline robot needs to stride the territory barrier, 6 accessible contractions of shock absorber structure, help walking wheel stride the territory barrier.
Further, referring to fig. 5, the shock absorption cylinder 61 includes a cylinder 618, a flow guide tube 611, a connecting rod 612, and a movable block 613, the cylinder 618 and the flow guide tube 611 are filled with oil, the movable block 613 is located inside the cylinder 618 and is in sliding connection with the inside of the cylinder 618 in a sealed manner, the movable block 613 divides an inner cavity of the cylinder 618 into an upper cavity 6131 and a lower cavity 6132, the flow guide tube 611 is located outside the cylinder 618 and is communicated with the upper cavity 6131 and the lower cavity 6132, the connecting rod 612 penetrates through the cylinder 618 to connect the movable block 613 and the mounting seat 63, when the outer spring 62 contracts, the movable block 613 moves, the oil in the lower cavity 6132 enters the upper cavity 6131, and through the flow of the oil, the energy of vibration is converted into the kinetic energy of the oil, so as to reduce the influence of the.
Preferably, the cylinder 618 is provided with an inner spring 614, the inner spring 614 is located between the movable block 613 and the lower inner wall of the cylinder 618, and the inner spring 614 can be used for buffering and assisting in damping.
For further energy consumption, referring to fig. 5 and 6, an annular groove 615 is formed between the upper end and the lower end of the movable block 613, a ring body 616 is arranged outside the annular groove 615, a contact soft body 617 is arranged outside the ring body 616, the contact soft body 617 can be hard plastic bristles, one end of the contact soft body 617 is fixedly connected with the annular side wall of the ring body 616, the other end of the contact soft body 617 is in contact with the inner wall of the cylinder 618, when the movable block 613 moves in the cylinder 618, the contact soft body 617 can generate friction with the inner wall of the cylinder 618, and the vibration energy is changed into energy for overcoming the friction force of the contact soft body 617, so that further energy consumption is realized.
Example 2
Different from the embodiment 1, in order to further consume energy, another scheme is adopted, referring to fig. 7 and 8, an annular groove 615 is formed between the upper end and the lower end of a movable block 613 in the embodiment, a movable plate 620 is arranged inside the annular groove 615, the number of the movable plates 620 is two, the two movable plates 620 are symmetrically arranged, one side, close to the wall of a cylinder body 618, of each movable plate 620 is provided with a contact soft body 617, the contact soft bodies 617 can be made of hard plastic bristles, grooves are formed in two sides of the inner ring of the annular groove 615, a cylinder 621 is embedded inside the grooves, the working end of the cylinder 621 is fixedly connected with the movable plates 620, a controller for damping is further arranged inside the robot main body 1, a 52-chip microcomputer can be used as the controller for damping, a flow sensor 619 is arranged on a flow guide pipe 611, and the signal output end of the flow sensor, the signal output terminal of the damper controller is connected to the input terminal of the air cylinder 621, and the flow sensor 619 is used to control the opening and closing of the air cylinder 621.
When the vibration of the supporting arm is large, the flow rate passing through the flow guide pipe 611 is large, and the flow sensor 619 senses the large flow rate, the controller controls the air cylinder 621 to work, the working end of the air cylinder 621 extends, the contact soft body 617 is in contact with the inner wall of the cylinder body 618, the contact soft body 617 can generate friction with the inner wall of the cylinder body 618, and the vibration energy is changed into energy for overcoming the friction force of the contact soft body 617, so that further energy consumption is realized. The air cylinder 621 can also be an air cylinder with adjustable length in the prior art, so that the controller can adjust the length of the working end of the air cylinder 621 according to the flow, adjust the contact pressure between the contact soft bodies 617 and adjust the friction force.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The utility model provides a pipeline robot of moving away to avoid possible earthquakes, a serial communication port, including robot main part (1), be located robot main part (1) main part outside at least two sets of walking bearing structure and fixed connection in carrying on platform (4) of robot main part (1), the walking bearing structure includes support arm (2) and auxiliary strut (5), the one end of support arm (2) is articulated with the one end of robot main part (1), and the other end of support arm (2) sets up walking wheel (3), the one end of auxiliary strut (5) is articulated with the other end of robot main part (1), the other end of auxiliary strut (5) with set up shock absorber structure (6) between the both ends with support arm (2).
2. The shock-absorbing pipeline robot according to claim 1, wherein the shock-absorbing structure (6) comprises a shock-absorbing cylinder (61), an outer spring (62) and a mounting seat (63), the outer spring (62) is sleeved outside the shock-absorbing cylinder (61), and the mounting seats (63) are arranged at two axial ends of the outer spring (62) and the shock-absorbing cylinder (61).
3. The shock-absorbing pipeline robot according to claim 2, wherein the shock-absorbing oil cylinder (61) comprises a cylinder body (618), a flow guide pipe (611), a connecting rod (612) and a movable block (613), the movable block (613) is located inside the cylinder body (618) and is in sealed sliding connection with the inside of the cylinder body (618), the inner cavity of the cylinder body (618) is divided into an upper cavity (6131) and a lower cavity (6132) by the movable block (613), the flow guide pipe (611) is located outside the cylinder body (618) and is communicated with the upper cavity (6131) and the lower cavity (6132), and the connecting rod (612) penetrates through the cylinder body (618) and is used for connecting the movable block (613) and the mounting seat (63).
4. A shock absorbing pipeline robot according to claim 3, characterized in that said cylinder (618) is provided with at least one inner spring (614), said inner spring (614) being located between the movable block (613) and the upper or lower inner wall of the cylinder (618).
5. The shock-absorbing pipeline robot according to claim 3, wherein an annular groove (615) is formed between the upper end and the lower end of the movable block (613), a ring body (616) is arranged outside the annular groove (615), a contact soft body (617) is arranged outside the ring body (616), one end of the contact soft body (617) is fixedly connected with the annular side wall of the ring body (616), and the other end of the contact soft body (617) is in contact with the inner wall of the cylinder body (618).
6. The shock-absorbing pipeline robot as claimed in claim 1, wherein an annular groove (615) is formed between the upper end and the lower end of the movable block (613), a movable plate (620) is arranged inside the annular groove (615), a contact software (617) is arranged on one side of the movable plate (620) close to the wall of the cylinder body (618), grooves are formed in two sides of the inner ring of the annular groove (615), a cylinder (621) is embedded in each groove, and the movable plate (620) is fixedly connected to the working end of the cylinder (621).
7. The shock absorbing pipeline robot as set forth in claim 6, wherein the number of said movable plates (620) is at least one.
8. The shock absorbing pipeline robot as claimed in claim 7, wherein a flow sensor (619) is disposed on the flow guiding pipe (611), and the flow sensor (619) is used for controlling the opening and closing of the air cylinder (621).
9. The shock absorbing pipeline robot according to claim 6, wherein a fixing structure for fixing the mounting object is provided on the mounting platform (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010330195.1A CN111578038A (en) | 2020-04-24 | 2020-04-24 | Shock-proof pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010330195.1A CN111578038A (en) | 2020-04-24 | 2020-04-24 | Shock-proof pipeline robot |
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| CN111578038A true CN111578038A (en) | 2020-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010330195.1A Pending CN111578038A (en) | 2020-04-24 | 2020-04-24 | Shock-proof pipeline robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112253888A (en) * | 2020-09-26 | 2021-01-22 | 科顺生态建设(宁波)有限公司 | Integral drainage pipe ultraviolet light repair equipment |
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Application publication date: 20200825 |