CN206708635U - A kind of pipe robot walking auxiliary body - Google Patents
A kind of pipe robot walking auxiliary body Download PDFInfo
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- CN206708635U CN206708635U CN201720330407.XU CN201720330407U CN206708635U CN 206708635 U CN206708635 U CN 206708635U CN 201720330407 U CN201720330407 U CN 201720330407U CN 206708635 U CN206708635 U CN 206708635U
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- auxiliary
- slide bar
- auxiliary wheel
- sliding sleeve
- bar
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Abstract
The utility model discloses a kind of pipe robot walking auxiliary body, including body and creeper undercarriage, body top is provided with auxiliary slide bar, auxiliary slide bar is provided with sliding sleeve, the sliding sleeve is fixedly connected with support bar, and the upper end of two support bars is connected by fixed spring, and supporting bar top is fixedly connected with ball base by angle axle on support bar, the middle part of the lower end of body is provided with operating groove, has auxiliary wheel in operating groove.When there is the obstacle that creeper undercarriage can not be crossed in front of robot in the utility model structure, operating personnel control electric drive hydraulic thruster to work by controller, so as to which auxiliary wheel be released, increase the frictional force between auxiliary wheel and obstacle using the apical tooth of auxiliary wheel outer end, under the propulsion of creeper undercarriage, utilize lever principle, robot is set to cross obstacle, and ball contacts with inwall on pipeline all the time in the presence of spring and fixed spring, so as to when internal diameter of the pipeline changes, ensure the stability of machine human organism.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of pipe robot walking auxiliary body.
Background technology
When the operation such as being detected, safeguarded to pipeline, because the size of pipeline limits, staff cannot be introduced into pipeline
Carry out operation, or staff enter pipeline in have asphyxia poisoning etc. danger, in these cases, it is necessary to use pipeline
Walking robot enters operation in pipeline.Pipe walking robot be one kind can along automatically walk inside pipeline, carry it is a kind of or
Multiple sensors and operation machinery, under the straighforward operation of staff or computer controlled automatic, carry out a series of pipeline works
Mechanical, electrical, the instrument integral system of industry.
Current pipe robot can only walk in the consistent pipeline of internal diameter of the pipeline mostly, for the crooked pipeline of complexity
Or the pipeline that internal diameter differs, pipe robot are unable to automatic adjusting position to adapt to the change of internal diameter of the pipeline, and buried pipe
There is debris not of uniform size in road inner surface, large volume of debris is encountered during robot ambulation mostly, it is more likely that
Can not be advanced by stopping, in addition when robot situation about blocking, be this it is proposed that a kind of pipe robot is walked auxiliary machine
Structure is used to solve the above problems.
The content of the invention
It is an object of the invention to provide a kind of pipe robot walking auxiliary body, to solve to carry in above-mentioned background technology
The problem of going out.
To achieve the above object, the present invention provides following technical scheme：A kind of pipe robot walking auxiliary body, including
Body, body lower end both sides are provided with creeper undercarriage, and body top both sides are provided with auxiliary slide bar, and the auxiliary is slided
Pivot bush unit is provided with two sliding sleeves on bar, is fixedly connected between the sliding sleeve by spring, and the spring wrap is located at auxiliary and slided
On bar, support bar is fixedly connected with by support bar inferior horn axle on the sliding sleeve, the upper end of two support bars is connected by fixed spring
Connect, and supporting bar top is fixedly connected with ball base by angle axle on support bar, the ball base top is provided with fixing groove, institute
State in fixing groove and be provided with ball, and fixing groove opening is provided with fixture block；
The middle part of the lower end of the body is provided with operating groove, and operating groove top both sides are fixed by connecting rod angle axle and set
There are two connecting rods, two connecting rod bottoms are actively socketed on auxiliary wheel, and are fixed in the middle part of right-side connecting bar by rotating shaft
The push rod end of electric drive hydraulic thruster is connected, the electric drive hydraulic thruster is arranged on the top of operating groove, and electric drive hydraulic thruster leads to
Cross robot controller electric connection of power supply.
Preferably, the quantity of the auxiliary slide bar is two, and it is inverted U-shaped structure to aid in slide bar, and one of auxiliary is slided
Sliding sleeve quantity on bar is two, and the internal diameter of the sliding sleeve and the diameter of auxiliary slide bar are consistent, and the quantity of sliding sleeve and rolling
The quantity of pearl seat is consistent.
Preferably, the top surface of the ball base is curved-surface structure, and the quantity of the ball in it is no less than one, two of which
The distance between fixture block is less than the diameter of ball.
Preferably, the auxiliary wheel outer end is provided with apical tooth, and the diameter of auxiliary wheel is more than the height of creeper undercarriage.
Preferably, the distance of the operating groove top to creeper undercarriage bottom is more than the diameter of auxiliary wheel.
Preferably, the top of the connecting rod is on the operating groove of auxiliary wheel surface rear end.
Compared with prior art, the beneficial effects of the invention are as follows：There is crawler travel in front of robot in structure of the present invention
During the obstacle that mechanism can not cross, operating personnel control electric drive hydraulic thruster to work by controller, so as to which auxiliary wheel be pushed away
Go out, increase the frictional force between auxiliary wheel and obstacle using the apical tooth of auxiliary wheel outer end, under the propulsion of creeper undercarriage,
Using lever principle, robot is crossed obstacle, then again by controller control electric drive hydraulic thruster work, make auxiliary
Wheel is withdrawn, and robot is more efficiently walked using creeper undercarriage, and ball is in the effect of spring and fixed spring
Under contacted all the time with inwall on pipeline, so as to when internal diameter of the pipeline changes, ensure the stability of machine human organism.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is body sectional view of the present invention；
Fig. 3 is body front view of the present invention；
Fig. 4 is ball base structure sectional view of the present invention.
In figure：1 body, 2 walking mechanisms, 3 auxiliary slide bars, 4 sliding sleeves, 5 springs, 6 support bar inferior horn axles, 7 support bars, 8
Angle axle, 9 ball bases, 10 fixing grooves, 11 fixture blocks, 12 balls, 13 auxiliary wheels, 14 connecting rods, 15 connecting rod angle axles, 16 electricity on strut
Hydrodynamic pressure push rod, 17 rotating shafts, 18 operating grooves, 19 fixed springs.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-4 are referred to, the present invention provides a kind of technical scheme：A kind of pipe robot walking auxiliary body, including machine
Body 1, the lower end both sides of body 1 are provided with creeper undercarriage 2, and robot makes it in pipeline by common creeper undercarriage 2
Walked.
The top both sides of body 1 are provided with auxiliary slide bar 3, aid in pivot bush unit on slide bar 3 to be provided with two sliding sleeves 4, aid in slide bar 3
Quantity be two, and it be inverted U-shaped structure to aid in slide bar 3, and the quantity of sliding sleeve 4 on one of auxiliary slide bar 3 is two, sliding sleeve
The diameter of 4 internal diameter and auxiliary slide bar 3 is consistent, and two sliding sleeves 4 can be on auxiliary slide bar 3 slidably, and U-shape structure
Aid in slide bar 3 can anti-anti-skid sheath 4 from both sides slide.
It is fixedly connected between sliding sleeve 4 by spring 5, the winding of spring 5 is located on auxiliary slide bar 3, and spring 5 can ensure two
Maintained a certain distance between sliding sleeve 4, support bar 7 is fixedly connected with by support bar inferior horn axle 6 on the sliding sleeve 4, this two supports
The upper end of bar 7 is connected by fixed spring 19, and the top of support bar 7 is fixedly connected with ball base 9 by angle axle 8 on support bar, and
The quantity of sliding sleeve 4 and the quantity of ball base 9 are consistent, and the up and down motion of ball base 9 drives support bar 7 to be rotated on sliding sleeve 4,
And drive sliding sleeve 4 to horizontally slip, and spring 5 can ensure that the distance between two sliding sleeves 4 change within the specific limits.
The top of ball base 9 is provided with fixing groove 10, is provided with ball 12 in fixing groove 10, and the opening of fixing groove 10 is provided with
Fixture block 11, the top surface of ball base 9 are curved-surface structure, and the quantity of the ball 12 in it is no less than one, two of which fixture block 11 it
Between distance be less than the diameter of ball 12, ball 12 connects with inwall on pipeline all the time in the presence of spring 5 and fixed spring 19
Touch, so as to when internal diameter of the pipeline changes, ensure the stability of machine human organism 1, wherein the curvature on the surface of ball base 9 and
The curvature of inner surface of pipeline is close.
The middle part of the lower end of body 1 is provided with operating groove 18, and the top both sides of operating groove 18 are fixed by connecting rod angle axle 15 and set
There are two connecting rods 14, two bottoms of connecting rod 14 are actively socketed on auxiliary wheel 13, and the outer end of auxiliary wheel 13 is provided with apical tooth, and
The diameter of auxiliary wheel 13 is more than the height of creeper undercarriage 2, and auxiliary wheel 13 is movably fixed into operating groove by connecting rod 14
In 18, wherein the distance on the top of operating groove 18 to the bottom of creeper undercarriage 2 is more than the diameter of auxiliary wheel 13, and connecting rod 14
Top is on the operating groove 18 of the surface rear end of auxiliary wheel 13.
And the middle part of right-side connecting bar 14 is fixedly connected with the push rod end of electric drive hydraulic thruster 16 by rotating shaft 17, electric hydaulic pushes away
Bar 16 is arranged on the top of operating groove 18, and electric drive hydraulic thruster 16 works as robot by robot controller electric connection of power supply
When the obstacle that creeper undercarriage 2 can not be crossed occurs in front, operating personnel control electric drive hydraulic thruster 16 by controller
Work, this is existing common technology, be will not be described here, and so as to which auxiliary wheel 13 be released, utilizes the apical tooth of the outer end of auxiliary wheel 13
Increase the frictional force between auxiliary wheel 13 and obstacle, under the propulsion of creeper undercarriage 2, using lever principle, make machine
People crosses obstacle, is then worked again by controller control electric drive hydraulic thruster 16, withdraws auxiliary wheel 13, use crawler belt
Walking mechanism 2 makes robot more efficiently walk.
Operation principle：When there is the obstacle that creeper undercarriage 2 can not be crossed in front of robot in structure of the present invention, behaviour
Make personnel controls electric drive hydraulic thruster 16 to work by controller, so as to which auxiliary wheel 13 be released, utilizes the outer end of auxiliary wheel 13
Apical tooth increases the frictional force between auxiliary wheel 13 and obstacle, under the propulsion of creeper undercarriage 2, using lever principle, makes
Obstacle is crossed by robot, is then worked again by controller control electric drive hydraulic thruster 16, withdraws auxiliary wheel 13, use
Creeper undercarriage 2 makes robot more efficiently walk, and ball 12 in the presence of spring 5 and fixed spring 19 all the time
Contacted with inwall on pipeline, so as to when internal diameter of the pipeline changes, ensure the stability of machine human organism 1.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
- The auxiliary body 1. a kind of pipe robot is walked, including body（1）, the body（1）Lower end both sides are provided with crawler travel Mechanism（2）, it is characterised in that：The body（1）Top both sides are provided with auxiliary slide bar（3）, the auxiliary slide bar（3）Upper movable sleeve It is equipped with two sliding sleeves（4）, the sliding sleeve（4）Between pass through spring（5）It is fixedly connected, the spring（5）Winding is located at auxiliary Slide bar（3）On, the sliding sleeve（4）It is upper to pass through support bar inferior horn axle（6）It is fixedly connected with support bar（7）, two support bars（7）It is upper End passes through fixed spring（19）Connection, and support bar（7）Top passes through angle axle on support bar（8）It is fixedly connected with ball base（9）, institute State ball base（9）Top is provided with fixing groove（10）, the fixing groove（10）It is interior to be provided with ball（12）, and fixing groove（10）Open Fixture block is provided with mouthful（11）；The body（1）The middle part of lower end be provided with operating groove（18）, the operating groove（18）Top both sides pass through connecting rod angle Axle（15）It is fixed with two connecting rods（14）, two connecting rods（14）Bottom is actively socketed on auxiliary wheel（13）On, and it is right Lateral connector bar（14）Middle part passes through rotating shaft（17）It is fixedly connected with electric drive hydraulic thruster（16）Push rod end, the electric drive hydraulic thruster （16）Installed in operating groove（18）Top, and electric drive hydraulic thruster（16）Pass through robot controller electric connection of power supply.
- A kind of 2. pipe robot walking auxiliary body according to claim 1, it is characterised in that：The auxiliary slide bar （3）Quantity be two, and aid in slide bar（3）For inverted U-shaped structure, one of auxiliary slide bar（3）On sliding sleeve（4）Quantity is Two, the sliding sleeve（4）Internal diameter and auxiliary slide bar（3）Diameter be consistent, and sliding sleeve（4）Quantity and ball base（9） Quantity be consistent.
- A kind of 3. pipe robot walking auxiliary body according to claim 1, it is characterised in that：The ball base（9） Top surface be curved-surface structure, the ball in it（12）Quantity be no less than one, two of which fixture block（11）The distance between it is small In ball（12）Diameter.
- A kind of 4. pipe robot walking auxiliary body according to claim 1, it is characterised in that：The auxiliary wheel（13） Outer end is provided with apical tooth, and auxiliary wheel（13）Diameter be more than creeper undercarriage（2）Height.
- A kind of 5. pipe robot walking auxiliary body according to claim 1, it is characterised in that：The operating groove（18） Top is to creeper undercarriage（2）The distance of bottom is more than auxiliary wheel（13）Diameter.
- A kind of 6. pipe robot walking auxiliary body according to claim 1, it is characterised in that：The connecting rod（14） Top be auxiliary wheel（13）The operating groove of surface rear end（18）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720330407.XU CN206708635U (en) | 2017-03-31 | 2017-03-31 | A kind of pipe robot walking auxiliary body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720330407.XU CN206708635U (en) | 2017-03-31 | 2017-03-31 | A kind of pipe robot walking auxiliary body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206708635U true CN206708635U (en) | 2017-12-05 |
Family
ID=60468470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720330407.XU Active CN206708635U (en) | 2017-03-31 | 2017-03-31 | A kind of pipe robot walking auxiliary body |
Country Status (1)
| Country | Link |
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| CN (1) | CN206708635U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108692133A (en) * | 2018-06-20 | 2018-10-23 | 燕山大学 | Pipe robot |
| CN109340348A (en) * | 2018-10-15 | 2019-02-15 | 襄阳奇竞特机电制造有限责任公司 | A kind of two-groove belt pulley with anti-slip function |
-
2017
- 2017-03-31 CN CN201720330407.XU patent/CN206708635U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108692133A (en) * | 2018-06-20 | 2018-10-23 | 燕山大学 | Pipe robot |
| CN108692133B (en) * | 2018-06-20 | 2023-05-23 | 燕山大学 | Pipeline robot |
| CN109340348A (en) * | 2018-10-15 | 2019-02-15 | 襄阳奇竞特机电制造有限责任公司 | A kind of two-groove belt pulley with anti-slip function |
| CN109340348B (en) * | 2018-10-15 | 2024-03-26 | 襄阳奇竞特机电制造有限责任公司 | Double-groove belt pulley with anti-slip function |
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