CN114484143A - Pipeline robot walking and obstacle crossing auxiliary device and pipeline robot - Google Patents
Pipeline robot walking and obstacle crossing auxiliary device and pipeline robot Download PDFInfo
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- CN114484143A CN114484143A CN202210101235.4A CN202210101235A CN114484143A CN 114484143 A CN114484143 A CN 114484143A CN 202210101235 A CN202210101235 A CN 202210101235A CN 114484143 A CN114484143 A CN 114484143A
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- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 230000000694 effects Effects 0.000 claims abstract description 7
- 230000004888 barrier function Effects 0.000 claims description 15
- 125000006850 spacer group Chemical group 0.000 claims description 8
- 238000010030 laminating Methods 0.000 claims description 2
- 239000000853 adhesive Substances 0.000 abstract description 4
- 230000001070 adhesive effect Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
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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
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
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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
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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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Abstract
The invention discloses a pipeline robot walking and obstacle-crossing auxiliary device and a pipeline robot, wherein the pipeline robot walking and obstacle-crossing auxiliary device comprises: the mounting base is used for being connected with the pipeline robot body; the first elastic mechanism and the second elastic mechanism are arranged on the mounting base and can provide elastic force; the rotating wheel train mechanism is arranged between the first elastic mechanism and the second elastic mechanism and is attached to the inner wall of the pipeline, and the rotating wheel train mechanism can tightly push the inner wall of the pipeline under the action of elastic force. When the pipeline robot body passes through the obstacle highway section, the pipeline robot body is under the elastic force effect of first elastic mechanism and second elastic mechanism, the inner wall of the tight pipeline in pipeline robot auxiliary device's rotation train mechanism top, the adhesive force of pipeline robot body can be improved in the walking under this state, the pipeline robot has been avoided walking in the pipeline, the phenomenon of skidding that appears when crossing the obstacle, the walking ability of pipeline robot has been improved.
Description
Technical Field
The invention relates to the technical field of pipeline dredging robots, in particular to a pipeline robot walking and obstacle crossing auxiliary device and a pipeline robot.
Background
The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer.
In order to improve the walking of pipeline robot in the pipeline inside, cross the barrier ability, ensure that pipeline robot can be better work in the pipeline, the walking of pipeline robot is generally improved through the mode that changes pipeline robot's body structure at present, cross the barrier ability, wherein, the technical scheme who changes pipeline robot body structure mainly is through adopting the walking wheel, driving motor and telescopic bracket mutually support the mode come to improve pipeline robot's walking, cross the barrier ability, but the pipeline robot of this structure can't provide great traction force, the walking, the condition of the unstability of skidding can appear when crossing the barrier.
Therefore, how to avoid the slipping phenomenon when the pipeline robot travels and crosses the obstacle in the pipeline and effectively improve the traveling and obstacle crossing capability of the pipeline robot is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an auxiliary device for a pipeline robot to walk and cross an obstacle, which can avoid a slip phenomenon when the pipeline robot walks and crosses the obstacle in a pipeline, thereby effectively improving the walking and obstacle crossing capabilities of the pipeline robot.
Another object of the present invention is to provide a pipeline robot.
In order to achieve the purpose, the invention provides the following technical scheme:
a walking and obstacle-crossing auxiliary device for a pipeline robot comprises:
the mounting base is used for being connected with the pipeline robot body;
the first elastic mechanism and the second elastic mechanism are arranged on the mounting base and can provide elastic force;
set up in first elastic mechanism with between the second elastic mechanism and with the rotatory train mechanism of the inner wall laminating of pipeline, rotatory train mechanism can push up tightly under the elastic force effect the inner wall of pipeline.
Preferably, the mounting base includes a base plate connected to the pipe robot body, and a baffle plate provided on the base plate.
Preferably, a backing plate is further arranged between the bottom plate and the pipeline robot body.
Preferably, the first elastic mechanism and the second elastic mechanism both comprise springs, sleeves, connecting plates and lug plates, one ends of the springs are arranged in the spring sleeves, the other ends of the springs are connected with the connecting plates, and the lug plates are arranged on the connecting plates.
Preferably, the connecting plate comprises a connecting main plate, connecting side plates respectively arranged on two sides of the connecting main plate, and a supporting plate connected with the connecting main plate and the connecting side plates.
Preferably, the first elastic mechanism and the second elastic mechanism both further comprise a limiting support rod movably connected with the connecting side plate, and the connecting plate can move along the axis direction of the limiting support rod to limit the telescopic length of the spring.
Preferably, the gear train mechanism rotates including set up in first elastic mechanism with pivot, rotating turret and rotation wheel between the second elastic mechanism, the rotating turret set up in the pivot, rotate the wheel set up in on the rotating turret, the rotating turret with it can to rotate the wheel rotate under the rotation of pivot.
Preferably, the rotating frame comprises a rotating frame main body and arc-shaped bulges, the arc-shaped bulges are arranged on the rotating frame main body and used for installing the rotating wheels, the number of the arc-shaped bulges is at least two, and one of the arc-shaped bulges is arranged on each arc-shaped bulge and used for installing the rotating wheels.
Preferably, the two end parts of the rotating shaft are respectively provided with a first retaining ring and a second retaining ring, and a spacer bush is further arranged between the lug plate and the rotating frame.
A pipeline robot comprises a pipeline robot body and any one of the pipeline robot walking and obstacle crossing auxiliary devices.
According to the technical scheme, when the pipeline robot body passes through a good road section, the rotating wheel train mechanism of the auxiliary device for walking and obstacle crossing of the pipeline robot is attached to the inner wall of the pipeline, so that the pipeline robot body can smoothly pass through the good road section; when the pipeline robot body passes through the obstacle highway section, the pipeline robot body is under the elastic force effect of first elastic mechanism and second elastic mechanism, the walking of pipeline robot, cross the inner wall of the tight pipeline in rotation train mechanism top of obstacle auxiliary device, the adhesive force of pipeline robot body can effectively be improved in the walking under this state, thereby pipeline robot walking in the pipeline has been avoided, the phenomenon of skidding that appears when crossing the obstacle, and then the walking of pipeline robot has been improved, cross the obstacle ability.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings required to be used in the embodiments or the prior art descriptions are briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic perspective view of a main view of a walking and obstacle crossing assisting device of a pipeline robot according to an embodiment of the present invention;
fig. 2 is a schematic side-view perspective structure view of a walking and obstacle crossing assisting device of a pipeline robot according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of a first elastic mechanism according to an embodiment of the disclosure;
fig. 4 is a schematic perspective view of a second elastic mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic front view of a rotational wheel train mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the overall structure of the pipeline robot disclosed in the embodiment of the present invention;
FIG. 7 is a schematic diagram of a fitting structure of a pipeline robot and a pipeline according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a pipe robot pipe passing socket step disclosed in the embodiment of the present invention.
Wherein, each part name is as follows:
100 is a pipeline robot body, 200 is a mounting base, 201 is a bottom plate, 202 is a baffle, 300 is a first elastic mechanism, 301 is a first spring, 302 is a first sleeve, 303 is a first connecting plate, 3031 is a first connecting main plate, 3032 is a first connecting side plate, 3033 is a second connecting side plate, 3034 is a first supporting plate, 3035 is a second supporting plate, 304 is a first ear plate, 305 is a first limit supporting rod, 306 is a second limit supporting rod, 400 is a second elastic mechanism, 401 is a second spring, 402 is a second sleeve, 403 is a second connecting plate, 4031 is a second connecting main plate, 2 is a third connecting side plate, 4033 is a fourth connecting side plate, 4034 is a third supporting plate, 4035 is a fourth supporting plate, 404 is a second ear plate, 405 is a third limit supporting rod, 406 is a fourth limit supporting rod, 500 is a rotation, 501 is a rotation shaft, 502 is a first rotation frame, 503 is a second rotation frame 403403, reference numeral 504 denotes a first rotating wheel, 505 denotes a second rotating wheel, 506 denotes a first retainer ring, 507 denotes a second retainer ring, 508 denotes a first spacer, 509 denotes a second spacer, and 600 denotes a pipe.
Detailed Description
In view of this, the core of the present invention is to provide an auxiliary device for a pipeline robot to walk and cross an obstacle, which can avoid a slip phenomenon when the pipeline robot walks and crosses the obstacle in a pipeline, thereby effectively improving the walking ability of the pipeline robot.
The invention also provides a pipeline robot.
In order to make the technical field of the invention better understand, the invention is further described in detail with reference to the accompanying drawings and the detailed description, and please refer to fig. 1 to 8.
Referring to fig. 1 to 2, the walking and obstacle crossing assisting device for a pipeline robot according to an embodiment of the present invention includes a mounting base 200 for connecting to a pipeline robot body 100; a first elastic mechanism 300 and a second elastic mechanism 400 disposed on the mounting base 200, wherein the first elastic mechanism 300 and the second elastic mechanism 400 are capable of providing an elastic force; and a rotating wheel train mechanism 500 disposed between the first elastic mechanism 300 and the second elastic mechanism 400 and attached to the inner wall of the pipeline 600, wherein the rotating wheel train mechanism 500 can tightly push against the inner wall of the pipeline 600 under the effect of the elastic force.
When the pipeline robot body 100 passes through a good road section, the rotating wheel train mechanism 500 of the pipeline robot walking and obstacle crossing auxiliary device is attached to the inner wall of the pipeline 600, so that the pipeline robot body 100 can pass through the good road section smoothly; when pipeline robot body 100 passes through the obstacle highway section, pipeline robot body 100 is under the elastic force effect of first elastic mechanism 300 and second elastic mechanism 400, pipeline robot walking, cross the inner wall of the tight pipeline 600 in the rotatory train mechanism 500 top of obstacle auxiliary device, the adhesive force of pipeline robot body 100 can effectively be improved in walking under this state, thereby pipeline robot has been avoided walking in the pipeline, the phenomenon of skidding that appears when crossing the obstacle, and then the walking of pipeline robot has been improved, cross the obstacle ability.
In the walking and obstacle-crossing assistance device for a pipeline robot according to the embodiment of the present invention, the mounting base 200 includes a bottom plate 201 connected to the pipeline robot body 100, and a baffle 202 disposed on the bottom plate 201.
The specific structure of the mounting base 200 in the embodiment of the present invention is not limited, and may be a bolt connection, a welding connection, or other connection structures, and the structure that meets the use requirements of the present invention is within the protection scope of the present invention.
For the convenience of installation and disassembly, the installation base 200 and the pipeline robot body 100 disclosed in the embodiment of the present invention are preferably connected by bolts.
Because the inner diameters of the pipelines are different, in order to enable the pipeline robot to adapt to the pipelines with different inner diameters, in the walking and obstacle-crossing auxiliary device of the pipeline robot disclosed by the embodiment of the invention, the base plate is preferably arranged between the bottom plate 201 and the pipeline robot body 100, the base plate is set to be different in thickness according to different pipe diameters, and the arrangement can further improve the adaptability of the pipeline robot to the pipelines with different inner diameters.
The first elastic mechanism 300 and the second elastic mechanism 400 disclosed in the embodiment of the present invention each include a spring, a sleeve, a connecting plate, and an ear plate, wherein one end of the spring is disposed in the spring sleeve, the other end of the spring is connected to the connecting plate, the ear plate is disposed on the connecting plate, when the pipeline robot passes through a good road section, the rotating wheel train mechanism 500 is attached to the inner wall of the pipeline 600, and the first elastic mechanism 300 and the second elastic mechanism 400 do not substantially provide an elastic force; when the pipeline robot crosses the barrier, the barrier can be with pipeline robot jack-up, set up the pipeline robot walking on pipeline robot body 100 this moment, cross the inner wall that the barrier auxiliary device can push up tight pipeline 600 under the effect of first elastic mechanism 300 and second elastic mechanism 400, improve pipeline robot body 100's adhesive force, thereby make pipeline robot be difficult for skidding when crossing the barrier, effectively promoted pipeline robot walking, stability when crossing the barrier.
Referring to fig. 3, as a specific embodiment, a first elastic mechanism 300 disclosed in the embodiment of the present invention includes a first spring 301, a first sleeve 302, a first connecting plate 303, and a first ear plate 304, wherein one end of the first spring 301 is disposed in the first sleeve 302, the other end of the first spring 301 is connected to the first connecting plate 303, and the first ear plate 304 is disposed on the first connecting plate 303;
referring to fig. 4, the second elastic mechanism 400 disclosed in the embodiment of the present invention includes a second spring 401, a second sleeve 402, a second connecting plate 403, and a second ear plate 404, wherein one end of the second spring 401 is disposed in the second sleeve 402, the other end of the second spring 401 abuts against the second connecting plate 403, and the second ear plate 404 is disposed on the second connecting plate 403.
The embodiment of the present invention does not limit the specific structure of the connecting plate, wherein the connecting plate may be a rectangular flat plate, a zigzag connecting plate, or a connecting plate with other shapes, and the structure meeting the use requirement of the present invention is within the protection scope of the present invention.
In order to optimize the above embodiments, the connection plate disclosed in the embodiments of the present invention preferably adopts a connection plate with a zigzag structure, and specifically includes a connection main plate, connection side plates respectively disposed at both sides of the connection main plate, and a support plate connecting the connection main plate and the connection side plates.
Specifically, the first connection plate 303 includes a first connection main plate 3031, a first connection side plate 3032 and a second connection side plate 3033 respectively disposed at two sides of the first connection main plate 3031, a first support plate 3034 connecting the first connection main plate 3031 and the first connection side plate 3032, and a second support plate 3035 connecting the first connection main plate 3031 and the second connection side plate 3033;
the second connecting plate 403 includes a second connecting main plate 4031, a third connecting side plate 4032 and a fourth connecting side plate 4033 respectively disposed on both sides of the second connecting main plate 4031, a third support plate 4034 connected to the second connecting main plate 4031 and the third connecting side plate 4032, and a fourth support plate 4035 connected to the second connecting main plate 4031 and the fourth connecting side plate 4033.
In order to further optimize the above embodiments, the first elastic mechanism 300 and the second elastic mechanism 400 disclosed in the embodiments of the present invention further respectively include a limit support rod movably connected to the connecting side plate, wherein the connecting plate can move along an axial direction of the limit support rod to limit a telescopic length of the spring.
Specifically, the first elastic mechanism 300 further includes a first limit support rod 305 movably connected to the first connection side plate 3032, and a second limit support rod 306 movably connected to the second connection side plate 3033, and the first connection plate 303 can move along the axial direction of the first limit support rod 305 and the second limit support rod 306;
the second elastic mechanism 400 further includes a third limit support bar 405 movably connected to the third connecting side plate 4032, and a fourth limit support bar 406 movably connected to the fourth connecting side plate 4033, and the second connecting plate 403 is capable of moving along the axial direction of the third limit support bar 405 and the fourth limit support bar 406.
It should be noted that, the first connecting side plate 3032 and the second connecting side plate 3033 disclosed in the embodiment of the present invention are respectively provided with a first through hole and a second through hole, wherein the first limiting supporting rod 305 passes through the first through hole, the second limiting supporting rod 306 passes through the second through hole, the first limiting supporting rod 306 can move in the first through hole, and the second limiting supporting rod 306 can move in the second through hole;
correspondingly, the third connecting side plate 4032 and the fourth connecting side plate 4033 disclosed in the embodiment of the present invention are respectively provided with a third through hole and a fourth through hole, wherein the third limiting support rod 405 passes through the third through hole, the fourth limiting support rod 406 passes through the fourth through hole, the third limiting support rod 406 can move in the third through hole, and the fourth limiting support rod 406 can move in the fourth through hole.
The embodiment of the invention does not limit the specific structure of the limiting support rod, and the structure meeting the use requirement of the invention is within the protection scope of the invention.
As a preferred embodiment, the limiting support rod disclosed in the embodiment of the present invention specifically includes a support main rod, and a limiting boss and a limiting nut that are disposed on the support main rod, wherein the connecting side plate is disposed between the limiting boss and the limiting nut, and can move between the limiting boss and the limiting nut.
When the connecting plate is installed, the limiting support rod is installed on the bottom plate 201, the connecting plate is installed on the limiting support rod, and finally the limiting nut is screwed down to complete connection.
Referring to fig. 5, in the auxiliary device for walking and obstacle crossing of the pipeline robot according to the embodiment of the present invention, the rotating wheel train 500 includes a rotating shaft 501, a rotating frame and rotating wheels, the rotating shaft 501 is disposed between the first elastic mechanism 300 and the second elastic mechanism 400, the rotating frame is disposed on the rotating shaft 501, the rotating wheels are disposed on the rotating frame, and the rotating frame and the rotating wheels can rotate under the rotation of the rotating shaft 501. When pipeline robot body 100 walks in pipeline 600, the angle that carousel and rotating wheel were adjusted to the cross-sectional change that rotates train mechanism 500 can be according to pipeline 600 inner wall to make pipeline robot walk, cross the change that the barrier auxiliary device can adapt to different pipeline internal diameters, promoted whole pipeline robot walking, crossed the self-adaptability of barrier auxiliary device.
The ear plate disclosed in the embodiment of the present invention includes a first ear plate 304 disposed on the first connecting plate 303 and a second ear plate 404 disposed on the second connecting plate 403.
Wherein, offer the first through hole that is used for pivot 501 to pass through on first otic placode 304, be provided with the second through hole that pivot 501 passes through on the second otic placode 404, wherein the first through hole is arranged respectively in at the both ends of pivot 501 and the second through hole, and pivot 501 can rotate in first through hole and second through hole.
The embodiment of the invention does not limit the specific number of the rotating frames, and can be provided with one, two or more rotating frames, and the rotating frames are within the protection scope of the invention as long as the structures meeting the use requirements of the invention are provided.
In order to further optimize the above embodiment, two rotating frames are preferably provided in the embodiment of the present invention, including a first rotating frame 502 and a second rotating frame 503, wherein a first rotating wheel 504 is provided on the first rotating frame 502, and a second rotating wheel 505 is provided on the second rotating frame 503, wherein the first rotating wheel 504 and the second rotating wheel 505 are oppositely disposed and are disposed between the first rotating frame 502 and the second rotating frame 503.
The embodiment of the present invention does not specifically limit the specific shape and structure of the rotating frame, and the rotating frame may be rectangular, circular, or a special-shaped structure, and the structure that meets the use requirements of the present invention is within the protection scope of the present invention.
In order to optimize the embodiment, the rotating frame disclosed by the embodiment of the invention comprises a rotating frame main body and at least two arc-shaped bulges which are arranged on the rotating frame main body and used for mounting the rotating wheels, and one rotating wheel is mounted on any one of the arc-shaped bulges.
In order to further optimize the above embodiment, four arc-shaped protrusions disclosed in the embodiment of the present invention are preferably arranged on one rotating frame, and one rotating wheel is installed on any one arc-shaped protrusion.
The rotating frame is fixedly connected with the rotating wheel, and the rotating wheel can rotate along with the rotating frame under the action of the rotating shaft 501.
The embodiment of the invention does not specifically limit the connection structure of the rotating frame and the rotating wheel, and the connection structure can be welded connection or bolted connection, and the structure meeting the use requirement of the invention is within the protection scope of the invention.
In order to facilitate connection and disassembly and improve the working efficiency of workers, the rotating frame and the rotating wheel disclosed by the embodiment of the invention are preferably connected by adopting a bolt connection mode.
In order to limit the axial position of the rotating shaft 501, a first retaining ring 506 and a second retaining ring 507 are further respectively disposed at two ends of the rotating shaft 501, and the axial position of the rotating shaft 501 can be limited by the arrangement of the first retaining ring 506 and the second retaining ring 507.
In order to prevent the turret and the ear plate from directly contacting each other and avoid mutual abrasion between the turret and the ear plate, a spacer is further disposed between the turret and the ear plate disclosed in the embodiments of the present invention, and specifically, a first spacer 508 is disposed between the first turret 502 and the first ear plate 304. And a second spacer 509 is arranged between the second rotating frame 503 and the second ear plate 404, and the arrangement of the spacer can further improve the strength of the auxiliary device for walking and obstacle crossing of the pipeline robot, so that the service life of the auxiliary device is prolonged.
The embodiment of the invention also discloses a pipeline robot, which comprises a pipeline robot body and the auxiliary device for walking and obstacle crossing of the pipeline robot disclosed by any one of the embodiments.
Because this pipeline robot has adopted the disclosed pipeline robot walking of above-mentioned embodiment, has crossed barrier auxiliary device, consequently, this pipeline robot has above-mentioned pipeline robot walking concurrently, crosses barrier auxiliary device's technical advantage, and this application is no longer repeated this.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a pipeline robot walking, cross barrier auxiliary device which characterized in that includes:
the mounting base is used for being connected with the pipeline robot body;
the first elastic mechanism and the second elastic mechanism are arranged on the mounting base and can provide elastic force;
set up in first elastic mechanism with between the second elastic mechanism and with the rotatory train mechanism of the inner wall laminating of pipeline, rotatory train mechanism can push up tightly under the elastic force effect the inner wall of pipeline.
2. The pipe robot walking, obstacle crossing assistance device according to claim 1, wherein the mounting base comprises a base plate connected to the pipe robot body, and a barrier provided on the base plate.
3. The walking and obstacle-crossing assisting device for pipeline robots as claimed in claim 2, wherein a base plate is further provided between the bottom plate and the pipeline robot body.
4. The walking and obstacle-crossing assisting device of the pipeline robot as claimed in claim 1, wherein the first elastic mechanism and the second elastic mechanism each comprise a spring, a sleeve, a connecting plate and an ear plate, one end of the spring is arranged in the spring sleeve, the other end of the spring is connected with the connecting plate, and the ear plate is arranged on the connecting plate.
5. The walking and obstacle-crossing assisting device for pipeline robots as claimed in claim 4, wherein the connecting plate comprises a connecting main plate, connecting side plates respectively disposed at both sides of the connecting main plate, and a supporting plate connecting the connecting main plate and the connecting side plates.
6. The walking and obstacle-crossing assisting device of the pipeline robot as claimed in claim 5, wherein the first elastic mechanism and the second elastic mechanism each further comprise a limit support rod movably connected with the connecting side plate, and the connecting plate can move along the axial direction of the limit support rod to limit the telescopic length of the spring.
7. The walking and obstacle-crossing assisting device for pipeline robots as claimed in claim 4, wherein the rotational wheel train mechanism comprises a rotating shaft, a rotating frame and a rotating wheel which are arranged between the first elastic mechanism and the second elastic mechanism, the rotating frame is arranged on the rotating shaft, the rotating wheel is arranged on the rotating frame, and the rotating frame and the rotating wheel can rotate under the rotation of the rotating shaft.
8. The walking and obstacle-crossing assisting device of the pipeline robot as claimed in claim 7, wherein the rotating frame comprises a rotating frame body and at least two arc-shaped protrusions which are arranged on the rotating frame body and used for mounting the rotating wheels, and one rotating wheel is mounted on any one of the arc-shaped protrusions.
9. The walking and obstacle crossing assisting device of the pipeline robot as claimed in claim 7, wherein a first retaining ring and a second retaining ring are respectively arranged at two end portions of the rotating shaft, and a spacer is further arranged between the ear plate and the rotating frame.
10. A pipeline robot, characterized by comprising a pipeline robot body and the walking and obstacle-crossing assisting device of the pipeline robot as claimed in any one of claims 1 to 9.
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| CN202210101235.4A CN114484143A (en) | 2022-01-27 | 2022-01-27 | Pipeline robot walking and obstacle crossing auxiliary device and pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210101235.4A CN114484143A (en) | 2022-01-27 | 2022-01-27 | Pipeline robot walking and obstacle crossing auxiliary device and pipeline robot |
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