CN206738816U - A kind of four limbs are provided with the pipe robot of anti-skid structure - Google Patents
A kind of four limbs are provided with the pipe robot of anti-skid structure Download PDFInfo
- Publication number
- CN206738816U CN206738816U CN201720531304.XU CN201720531304U CN206738816U CN 206738816 U CN206738816 U CN 206738816U CN 201720531304 U CN201720531304 U CN 201720531304U CN 206738816 U CN206738816 U CN 206738816U
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- China
- Prior art keywords
- rotating shaft
- support arm
- principal arm
- groups
- arm
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Abstract
The utility model the utility model is related to pipeline robot technique field,Specially a kind of four limbs are provided with the pipe robot of anti-skid structure,Including principal arm,Rotating shaft and support arm,The principal arm is hollow body structure,And one end of principal arm is fixedly connected on robot body,The other end is connected to rotating shaft,The rotating shaft is fixedly connected on the both sides of principal arm,And it is connected with support arm on the main shaft of rotating shaft,The upper end of the support arm and principal arm are equipped with identical conduit through bore close to one end of rotating shaft,The conduit through bore is circular port slot structure,And the surrounding of conduit through bore surround and is provided with sealing ring,Conduit through bore interior sealing on the principal arm and support arm is connected with main pipeline,User is by adjusting the pressure in air pump,Every group of air pump is enabled to cause slipmat to be located at different positions for different pipelines,Slipmat can be so caused more to be bonded with the inwall of pipeline,Increase skidproof effect,With very strong practicality.
Description
Technical field
Pipeline robot technique field is the utility model is related to, specially a kind of four limbs are provided with the pipeline machine of anti-skid structure
People.
Background technology
Pipe robot be one kind can along automatically walk inside or outside small sized pipeline, carry one or more sensors and
Operation machinery, under the straighforward operation of staff or computer controlled automatic, carries out mechanical, electrical, the instrument of a series of pipeline operations
Integral system.
Existing pipe robot is because majority is used in the fluid lines such as petroleum pipeline, water pipe, the inwall of pipeline
Often spread all over the residue of fluid, so the operation for pipe robot generates obstruction, it is therefore desirable to which this is changed
Enter, to increase the non-skid property of existing pipe robot.
Utility model content
The purpose of this utility model is to provide the pipe robot that a kind of four limbs are provided with anti-skid structure, the pipe robot
Four limbs by set can the anti-skid structure of activity realize antiskid function.
To achieve the above object, the utility model provides following technical scheme：A kind of four limbs are provided with the pipeline of anti-skid structure
Robot, including principal arm, rotating shaft and support arm, the principal arm is hollow body structure, and one end of principal arm is fixedly connected on machine
On human agent, the other end is connected to rotating shaft, and the rotating shaft is fixedly connected on the both sides of principal arm, and is flexibly connected on the main shaft of rotating shaft
There is support arm, the upper end of the support arm and principal arm are equipped with identical conduit through bore, the conduit through bore close to one end of rotating shaft
For circular port slot structure, and the surrounding of conduit through bore is around being provided with sealing ring, close in the conduit through bore on the principal arm and support arm
Envelope is connected with main pipeline, and the main pipeline enters after support arm along the extension of support arm axis direction, and the bottom of main pipeline is close
Envelope is connected with three and is in charge of, and is in charge of described in three and extends in the leg of support arm bottom, and three are in charge of and are sealedly attached to respectively
On the air admission hole of three groups of cylinders, piston is provided with cylinder described in three groups, and upper cover of piston rod is connected to back-moving spring, it is multiple described in three groups
The position top of spring is fixedly connected with the bottom of piston, and lower end is fixedly connected with the plate inner wall of cylinder, piston described in three groups
Bar extends to the bottom of leg, and three groups of piston rods lean out the outside of leg through the bottom plate of leg, and piston rod described in three groups is visited
The end gone out outside leg is fixed with slipmat, and the surrounding of the slipmat surround the rubber ring provided with ring-type, and anti-skidding
The bottom of pad is fixed with three groups of identical rubber blankets, and two groups of vertical fixed columns, institute are fixed with the top of the slipmat
The bottom that fixed column is plugged in piston rod is stated, and is fixedly connected by the fastening screw vertical with piston rod with piston rod.
Preferably, the main pipeline is tightly connected the outlet of the small air pump located at robot interior away from the one end being in charge of
Pipe, the part at the rotating shaft of the main pipeline set for bending, and the length at rotating shaft is more than the 1/4 of rotating shaft
Girth, the maximum pressure that the cylinder can be provided are equal to the gravity suffered by robot.
Preferably, the flexible movable angle of the principal arm and support arm is 90 °~270 °, and solid in the rotating shaft between principal arm and support arm
Surely transmission device is provided with, the transmission device is fixedly connected with the end of support arm.
Preferably, the rubber ring is that VA vinyl acetate materials are made with rubber blanket, and rubber ring is with rubber blanket
Projective structure in slipmat
Compared with prior art, the beneficial effects of the utility model are:User is by adjusting the pressure in air pump so that
Every group of air pump can cause slipmat to be located at different positions for different pipelines, can so cause the interior of slipmat and pipeline
Wall is more bonded, and increases skidproof effect, has very strong practicality.
Brief description of the drawings
Fig. 1 is the utility model structure diagram；
Fig. 2 is the utility model pivot structure side view；
Fig. 3 is the utility model slipmat polycrystalline substance schematic diagram.
In figure：1 principal arm, 2 rotating shafts, 3 support arms, 4 main pipelines, 5 be in charge of, 6 pistons, 7 cylinders, 8 back-moving springs, 9 fixed columns, 10
Fastening bolt, 11 slipmat, 111 rubber rings, 112 rubber blankets, 12 legs, 13 conduit through bore, 14 sealing rings.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1-3 are referred to, the utility model provides a kind of technical scheme：A kind of four limbs are provided with the pipeline machine of anti-skid structure
The flexible movable angle of people, including principal arm 1, rotating shaft 2 and support arm 3, principal arm 1 and support arm 3 is 90 °~270 °, and principal arm 1 and support arm 3 it
Between rotating shaft 2 in be fixed with transmission device, the transmission device is fixedly connected with the end of support arm 3, and principal arm 1 is hollow body knot
Structure, and one end of principal arm 1 is fixedly connected on robot body, the other end is connected to rotating shaft 2, and rotating shaft 2 is fixedly connected on principal arm 1
Both sides, and support arm 3 is connected with the main shaft of rotating shaft 2, the upper end of support arm 3 and principal arm 1 are all provided with close to one end of rotating shaft 2
There is identical conduit through bore 13, conduit through bore 13 is circular port slot structure, and the surrounding of conduit through bore 13 surround and is provided with sealing ring
14, the interior sealing of conduit through bore 13 on principal arm 1 and support arm 3 is connected with main pipeline 4, and main pipeline 4 enters after support arm 3 along support arm
3 axis direction extend, and the bottom end seal of main pipeline 4 is connected with three and is in charge of 5, is in charge of 5 for three and extends to the bottom of support arm 3
In leg 12, and three are in charge of 5 and are sealedly attached to respectively on the air admission hole of three groups of cylinders 7, and piston 6 is provided with three groups of cylinders 7, and
Upper cover of piston rod is connected to back-moving spring 8, and the top of three groups of back-moving springs 8 is fixedly connected with the bottom of piston 6, and lower end and gas
The plate inner wall of cylinder 7 is fixedly connected, and three groups of piston rods extend to the bottom of leg 12, and three groups of piston rods run through the bottom of leg 12
Plate leans out the outside of leg 12, and the end that three groups of piston rods are leant out outside leg 12 is fixed with slipmat 11, slipmat 11
Surrounding around the rubber ring 111 provided with ring-type, and the bottom of slipmat 11 is fixed with three groups of identical rubber blankets 112, rubber
Cushion rubber 111 is that VA vinyl acetate materials are made with rubber blanket 112, and rubber ring 111 and rubber blanket 112 are in slipmat 11
Projective structure, the top of slipmat 11 is fixed with two groups of vertical fixed columns 9, and fixed column 9 is plugged in the bottom of piston rod,
And be fixedly connected by the fastening screw 10 vertical with piston rod with piston rod, main pipeline 4 is tightly connected away from the one end for being in charge of 5
Located at the escape pipe of the small air pump of robot interior, the part at rotating shaft 2 of main pipeline 4 is set for bending, and position
Length at rotating shaft 2 is more than 1/4 girth of rotating shaft 2, and the maximum pressure that cylinder 7 can be provided is equal to the weight suffered by robot
Power.
Pipe robot first can be positioned in pipeline by user, then adjust the angle of principal arm 1 and support arm 3 so that
Robot is in pipeline center position, then adjusts the air pressure in cylinder 7 so that the displacement of the piston 6 in every group of cylinder 7
It is different so that even if the slipmat 11 of every group of bottom of cylinder 7 can be also bonded in different positions in the inwall of pipeline, increase is anti-skidding
Effect.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (4)
1. a kind of four limbs are provided with the pipe robot of anti-skid structure, including principal arm（1）, rotating shaft（2）And support arm（3）, its feature exists
In：The principal arm（1）For hollow body structure, and principal arm（1）One end be fixedly connected on robot body, the other end connection
In rotating shaft（2）, the rotating shaft（2）It is fixedly connected on principal arm（1）Both sides, and rotating shaft（2）Main shaft on be connected with support arm
（3）, the support arm（3）Upper end and principal arm（1）Close to rotating shaft（2）One end be equipped with identical conduit through bore（13）, institute
State conduit through bore（13）For circular port slot structure, and conduit through bore（13）Surrounding around being provided with sealing ring（14）, the principal arm
（1）And support arm（3）On conduit through bore（13）Interior sealing is connected with main pipeline（4）, the main pipeline（4）Into support arm（3）Afterwards
Along support arm（3）Axis direction extends, and main pipeline（4）Bottom end seal be connected with three and be in charge of（5）, it is in charge of described in three
（5）Extend to support arm（3）The leg of bottom（12）It is interior, and three are in charge of（5）Three groups of cylinders are sealedly attached to respectively（7）Air inlet
Kong Shang, cylinder described in three groups（7）It is interior to be provided with piston（6）, and upper cover of piston rod is connected to back-moving spring（8）, reset bullet described in three groups
Spring（8）Top and piston（6）Bottom be fixedly connected, and lower end and cylinder（7）Plate inner wall be fixedly connected, described in three groups
Piston rod extends to leg（12）Bottom, and three groups of piston rods run through leg（12）Bottom plate lean out leg（12）Outside,
Piston rod described in three groups leans out leg（12）Outside end is fixed with slipmat（11）, the slipmat（11）Surrounding
Around the rubber ring provided with ring-type（111）, and slipmat（11）Bottom be fixed with three groups of identical rubber blankets（112）, institute
State slipmat（11）Top be fixed with two groups of vertical fixed columns（9）, the fixed column（9）It is plugged in the bottom of piston rod
Portion, and pass through the fastening screw vertical with piston rod（10）It is fixedly connected with piston rod.
2. a kind of four limbs according to claim 1 are provided with the pipe robot of anti-skid structure, it is characterised in that：The supervisor
Road（4）It is remote to be in charge of（5）One end be tightly connected located at robot interior small air pump escape pipe, the main pipeline（4）
Be located at rotating shaft（2）The part at place is set for bending, and is located at rotating shaft（2）The length at place is more than rotating shaft（2）1/4 week
It is long, the cylinder（7）The maximum pressure that can be provided is equal to the gravity suffered by robot.
3. a kind of four limbs according to claim 1 are provided with the pipe robot of anti-skid structure, it is characterised in that：The principal arm
（1）And support arm（3）Flexible movable angle be 90 °~270 °, and principal arm（1）With support arm（3）Between rotating shaft（2）Inside it is fixed with biography
Dynamic device, the transmission device and support arm（3）End be fixedly connected.
4. a kind of four limbs according to claim 1 are provided with the pipe robot of anti-skid structure, it is characterised in that：The rubber
Circle（111）With rubber blanket（112）It is that VA vinyl acetate materials are made, and rubber ring（111）With rubber blanket（112）It is anti-skidding
Pad（11）On projective structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720531304.XU CN206738816U (en) | 2017-05-15 | 2017-05-15 | A kind of four limbs are provided with the pipe robot of anti-skid structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720531304.XU CN206738816U (en) | 2017-05-15 | 2017-05-15 | A kind of four limbs are provided with the pipe robot of anti-skid structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206738816U true CN206738816U (en) | 2017-12-12 |
Family
ID=60565547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720531304.XU Expired - Fee Related CN206738816U (en) | 2017-05-15 | 2017-05-15 | A kind of four limbs are provided with the pipe robot of anti-skid structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206738816U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882284A (en) * | 2017-03-22 | 2017-06-23 | 武汉科技大学 | A kind of four-jaw type apery tube climber device people |
| CN109611643A (en) * | 2019-02-01 | 2019-04-12 | 任成� | A kind of pipe robot |
| CN109764210A (en) * | 2019-02-01 | 2019-05-17 | 任成� | A kind of traveling method of pipe robot |
-
2017
- 2017-05-15 CN CN201720531304.XU patent/CN206738816U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882284A (en) * | 2017-03-22 | 2017-06-23 | 武汉科技大学 | A kind of four-jaw type apery tube climber device people |
| CN106882284B (en) * | 2017-03-22 | 2019-03-19 | 武汉科技大学 | A kind of four-jaw type apery tube climber device people |
| CN109611643A (en) * | 2019-02-01 | 2019-04-12 | 任成� | A kind of pipe robot |
| CN109764210A (en) * | 2019-02-01 | 2019-05-17 | 任成� | A kind of traveling method of pipe robot |
| CN109611643B (en) * | 2019-02-01 | 2020-11-10 | 蒙城县友继家庭农场 | Pipeline robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171212 Termination date: 20180515 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |