CN208670436U - A kind of pipe robot - Google Patents
A kind of pipe robot Download PDFInfo
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- CN208670436U CN208670436U CN201821465749.3U CN201821465749U CN208670436U CN 208670436 U CN208670436 U CN 208670436U CN 201821465749 U CN201821465749 U CN 201821465749U CN 208670436 U CN208670436 U CN 208670436U
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Abstract
The application discloses a kind of pipe robot, compared with prior art, comprising: robot controls main body；The power telescoping mechanism being set in robot control main body；It is set to first supporting mechanism of the power telescoping mechanism far from robot control body side；It is set in robot control main body, and the second supporting mechanism with the first supporting mechanism opposite side；First supporting mechanism and the second supporting mechanism are for contacting compression inner wall of the pipe to support robot to control main body.Pipe robot provided by the present application, compared to existing technologies, solve the problems, such as that existing pipe robot is difficult to the operation in complicated underground piping, its operating environment that can be better adapted to the complexity such as vertical pipe, tilted tube, sludge pipeline, operational reliability and flexibility are significantly improved.
Description
Technical field
This application involves intelligent robot technology fields, more specifically more particularly to a kind of pipe robot.
Background technique
Currently, pipeline has as one kind in the fields such as general heavy industry, nuclear facilities, petroleum gas and military equipment
The material mode of movement of effect and be widely used；The working environment very severe of pipeline is easy to happen corrosion and fatigue destruction
Or potential development of defects inside pipeline is made to cause the accidents such as leakage at breakage；In order to extend the service life of pipeline, prevent from leaking
Etc. accidents generation, effective detection maintenance, repair must be just carried out to pipeline, so pipe robot comes into being.
Pipe robot is that one kind can walk inside pipeline, in the remote control operation or computer controlled automatic of staff
Under, a series of specialized robot of pipeline operations can be carried out.Pipe robot in the prior art is difficult in complicated buried pipe
Operation is carried out in road, is especially difficult to work of walking in vertical pipe, sludge pipeline and bend pipe, existing pipe robot
Reliability, flexibility it is to be improved.
Therefore it provides a kind of pipe robot, can adapt in complicated pipeline operations environment, operation with higher
Reliability and flexibility have become those skilled in the art's technical problem urgently to be resolved.
Utility model content
In order to solve the above technical problems, the application provides a kind of pipe robot, can adapt to make in complicated pipeline
Industry environment, operational reliability with higher and flexibility.
Technical solution provided by the present application is as follows:
A kind of pipe robot, comprising: robot controls main body；The power telescopic machine being set in robot control main body
Structure；It is set to first supporting mechanism of the power telescoping mechanism far from robot control body side；It is set to robot control master
On body, and the second supporting mechanism with the first supporting mechanism opposite side；First supporting mechanism and the second supporting mechanism are for connecing
Tight inner wall of the pipe is pressed to support robot to control main body.
Further, in a kind of preferred mode of the utility model, power telescoping mechanism includes: flexible pedestal；Installation
Power telescopic rod on flexible pedestal；It is set in robot control main body, for controlling the stretching of power telescopic rod and receiving
The extension and contraction control portion of contracting.
Further, in a kind of preferred mode of the utility model, supporting mechanism include: be installed on power telescopic rod or
Robot controls the support fixing base in main body；The supporting arm assembly being installed on support fixing base, supporting arm assembly tool
There is the first state for being pressed in inner wall of the pipe and is detached from the second state of inner wall of the pipe.
Further, in a kind of preferred mode of the utility model, supporting arm assembly includes being articulated with the fixed base of support
Spade arm on body, spade arm is at least 3, and is evenly arranged around support fixing base.
Further, in a kind of preferred mode of the utility model, support fixing base includes: support fixing seat；Peace
Loaded on support fixing seat on and telescopic support push rod；Support push rod is equipped with supporting methods far from one end of support fixing seat
It is blue.
Further, in a kind of preferred mode of the utility model, spade arm includes: hinged with support fixing seat the
One support rod；The 4th hinged support rod with pivot flange；4th support rod one end and first support bar far from pivot flange
Hingedly；The third support rod being articulated on the 4th support rod；Third support rod is hinged with second far from one end of the 4th support rod
Support rod；Second support bar is hinged with first support bar.
Further, in a kind of preferred mode of the utility model, the one end of second support bar far from third support rod
It is provided with supporting block.
Further, in a kind of preferred mode of the utility model, supporting block is set on third support rod specifically:
Supporting block is hingedly set to one end of third support rod.
Further, in a kind of preferred mode of the utility model, anti-skid structure is provided in supporting block.
Further, in a kind of preferred mode of the utility model, third support rod is also set close to one end of supporting block
It is equipped with the position limiting structure for limiting supporting block rotational angle.
A kind of pipe robot provided by the utility model, compared with prior art, comprising: robot controls main body, machine
Device people, which controls, is arranged dynamic telescoping mechanism in main body, power telescoping mechanism is equipped with first far from robot control body side
Support mechanism is additionally provided with the second supporting mechanism in robot control main body, and the second supporting mechanism is opposite with the first supporting mechanism sets
It sets, the first supporting mechanism and the second supporting mechanism are used equally for contact to compress inner wall of the pipe to support robot to control main body.Such as
This, for pipe robot provided by the present application when inner wall of the pipe is walked, the first supporting mechanism, which is in strut, compresses inner wall of the pipe shape
When state, the second supporting mechanism shrink in inner wall of the pipe state is left, and power telescoping mechanism withdrawn forward, power are stretched at this time
The second supporting mechanism, which opens, after contracting mechanism withdrawn forward compresses inner wall of the pipe, and the first supporting mechanism shrink away from pipeline
Wall, power telescoping mechanism are pushed open forward, and the first supporting mechanism struts compression inner wall of the pipe after power telescoping mechanism is pushed open forward, with
This circulation, realizes pipe robot Chi type motion mode.Compared to existing technologies, pipe robot provided by the present application
It can adapt in complicated pipeline operations environment, operational reliability and flexibility are significantly improved.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the in running order structural front view of pipe robot provided by the embodiment of the utility model；
Fig. 2 is the structural front view that pipe robot provided by the embodiment of the utility model is in off working state；
Fig. 3 is the in running order structural side view of pipe robot provided by the embodiment of the utility model；
Fig. 4 is the structural side view that pipe robot provided by the embodiment of the utility model is in off working state；
Fig. 5 is the first supporting mechanism provided by the embodiment of the utility model or the in running order knot of the second supporting mechanism
Structure main view；
Fig. 6 is the first supporting mechanism provided by the embodiment of the utility model or the in running order knot of the second supporting mechanism
Structure side view.
Specific embodiment
In order to make those skilled in the art more fully understand the technical solution in the application, the application will be implemented below
Technical solution in example is clearly and completely described, it is clear that described embodiment is only that a part of the application is implemented
Example, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making creativeness
Every other embodiment obtained, shall fall in the protection scope of this application under the premise of labour.
Please be as shown in Figures 1 to 6, the utility model embodiment provides a kind of pipe robot, comprising: robot control master
Body 1；The power telescoping mechanism 2 being set in robot control main body 1；Power telescoping mechanism 2 is set to control far from robot
First supporting mechanism 3 of 1 side of main body；Be set to robot control main body 1 on, and with 3 opposite side of the first supporting mechanism
Second supporting mechanism 4；First supporting mechanism 3 and the second supporting mechanism 4 are for contacting compression inner wall of the pipe 7 to support robot control
Main body 1 processed.
Pipe robot provided by the embodiment of the utility model, compared with prior art, the utility model embodiment is related to
Pipe robot include: robot control main body 1, robot control main body 1 on dynamic telescoping mechanism 2 is set, power is stretched
Contracting mechanism 2 is equipped with the first supporting mechanism 3 far from robot control 1 side of main body, is additionally provided with second in robot control main body 1
Support mechanism 4, and the second supporting mechanism 4 is oppositely arranged with the first supporting mechanism 3, the first supporting mechanism 3 and the second supporting mechanism 4 are
It can be used for contacting and compress inner wall of the pipe 7 to support robot to control main body 1.In this way, pipe robot provided by the present application is in pipe
When road inner wall 7 is walked, in when strutting compression 7 state of inner wall of the pipe, the second supporting mechanism 4 is shunk the first supporting mechanism 3
In 7 state of inner wall of the pipe is left, 2 withdrawn forward of power telescoping mechanism at this time, second after 2 withdrawn forward of power telescoping mechanism
Support mechanism 4, which opens, compresses inner wall of the pipe 7, and the first supporting mechanism 3 carries out shrinking away from inner wall of the pipe 7, and power telescoping mechanism 2 is forward
It pushes open, the first supporting mechanism 3, which struts, after power telescoping mechanism 2 is pushed open forward compresses inner wall of the pipe 7, is recycled with this, realizes pipeline
Robot Chi type motion mode.Compared to existing technologies, pipe robot provided by the present application can adapt in complexity
Pipeline operations environment, operational reliability and flexibility are significantly improved.
Wherein, pipe robot provided by the embodiment of the utility model has working condition and off working state；When first
When supporting mechanism 3 or the second supporting mechanism 4 strut compression inner wall of the pipe 7, pipe robot is in running order, specific such as Fig. 1
Shown, when the first supporting mechanism 3 and the second supporting mechanism 4 bounce back when storing disengaging inner wall of the pipe 7, pipe robot is in
Off working state, it is specific as described in Figure 2.
Specifically, in the utility model embodiment, power telescoping mechanism 2 includes: flexible pedestal；It is installed on flexible pedestal
On power telescopic rod 21；It is set in robot control main body 1, for controlling, power telescopic rod 21 stretches out and that shrinks stretches
Contracting control unit.
Specifically, in the utility model embodiment, the first supporting mechanism 3 and the second supporting mechanism 4 include: to be installed on
Support fixing base 5 on power telescopic rod 21 or robot control main body 1；The support arm being installed on support fixing base 5
Component 6, supporting arm assembly 6 have the first state for being pressed in inner wall of the pipe 7 and are detached from the second state of inner wall of the pipe 7.
Specifically, in the utility model embodiment, supporting arm assembly 6 includes being articulated with staying on support fixing base 5
Arm 60 is uprooted, spade arm 60 is at least 3, and is evenly arranged around support fixing base 5.
Specifically, in the utility model embodiment, support fixing base 5 includes: support fixing seat 51；It is installed on support
In fixing seat 51 and telescopic support push rod 52；Support push rod 52 is equipped with pivot flange far from one end of support fixing seat
53.Wherein, support push rod 52 drives pivot flange flexible, so that 3 groups of spade arms be driven to carry out stretching motion.
Specifically, in the utility model embodiment, spade arm 60 includes: first support hinged with support fixing seat 51
Bar 61；The 4th hinged support rod 62 with pivot flange 53；The one end of 4th support rod 64 far from pivot flange 53 with first
Strut 61 is hinged；It is articulated on the 4th support rod 64 third support rod 63；Third support rod 63 is far from the 4th support rod 64
One end is hinged with second support bar 62；Second support bar 62 and first support bar 61 are hinged.
Specifically, in the utility model embodiment, second support bar 62 is provided with far from one end of third support rod 63
Supporting block 65.
Specifically, in the utility model embodiment, supporting block 65 is set on third support rod 63 specifically: supporting block
65 are hingedly set to one end of third support rod 63.
Specifically, in the utility model embodiment, anti-skid structure is provided in supporting block 65.
Specifically, in the utility model embodiment, third support rod 63 is additionally provided with use close to one end of supporting block 65
In the position limiting structure for limiting 65 rotational angle of supporting block.
More specifically, temperature sensor, sound transducer and pressure is also equipped in robot control main body 1 to pass
Sensor.
As above, pipe robot provided by the embodiment of the utility model, when its is in running order in inner wall of the pipe operation
During, the first supporting mechanism 3 be in strut compress 7 state of inner wall of the pipe when, the second supporting mechanism 4 carry out shrink in from
7 state of inner wall of the pipe is opened, at this time 2 withdrawn forward of power telescoping mechanism, the second support machine after 2 withdrawn forward of power telescoping mechanism
Structure 4, which opens, compresses inner wall of the pipe 7, and the first supporting mechanism 3 shrink away from inner wall of the pipe 7, and power telescoping mechanism 2 is to being pushed forward
It opens, the first supporting mechanism 3, which struts, after power telescoping mechanism 2 is pushed open forward compresses inner wall of the pipe 7, is recycled with this, it can be achieved that managing
Pipeline robot is moved in 5 Jin Hang Chi type of inner wall of the pipe, is difficult to so as to solve existing pipe robot in complicated underground piping
The problem of middle operation, can be better adapted to the operating environment of the complexity such as vertical pipe, tilted tube, sludge pipeline,
Operational reliability and flexibility are obviously improved.
The foregoing description of the disclosed embodiments can be realized professional and technical personnel in the field or using originally practical new
Type.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (10)
1. a kind of pipe robot characterized by comprising robot controls main body；It is set to the robot control main body
On power telescoping mechanism；It is set to first support machine of the power telescoping mechanism far from robot control body side
Structure；It is set in the robot control main body, and the second supporting mechanism with the first supporting mechanism opposite side；It is described
First supporting mechanism and second supporting mechanism support the robot control main body for contacting compression inner wall of the pipe.
2. pipe robot according to claim 1, which is characterized in that the power telescoping mechanism includes: flexible pedestal；
The power telescopic rod being installed on the flexible pedestal；It is set in the robot control main body, for controlling the power
The extension and contraction control portion that telescopic rod is stretched out and shunk.
3. pipe robot according to claim 2, which is characterized in that the supporting mechanism includes: to be installed on described move
Support fixing base on power telescopic rod or robot control main body；The support arm being installed on the support fixing base
Component, the supporting arm assembly have the first state for being pressed in inner wall of the pipe and are detached from the second shape of the inner wall of the pipe
State.
4. pipe robot according to claim 3, which is characterized in that the supporting arm assembly includes being articulated with the branch
The spade arm on fixing base is supportted, the spade arm is at least 3, and is evenly arranged around the support fixing base.
5. pipe robot according to claim 4, which is characterized in that the support fixing base includes: that support is fixed
Seat；It is installed in the support fixing seat and telescopic support push rod；The support push rod is far from the support fixing seat
One end is equipped with pivot flange.
6. pipe robot according to claim 5, which is characterized in that the spade arm includes: to fix with the support
The hinged first support bar of seat；The 4th hinged support rod with the pivot flange；4th support rod is far from the support
One end of flange and the first support bar are hinged；The third support rod being articulated on the 4th support rod；The third branch
Strut is hinged with second support bar far from one end of the 4th support rod；The second support bar and the first support bar are cut with scissors
It connects.
7. pipe robot according to claim 6, which is characterized in that the second support bar is supported far from the third
One end of bar is provided with supporting block.
8. pipe robot according to claim 7, which is characterized in that the supporting block is set to the third support rod
On specifically: the supporting block is hingedly set to one end of the third support rod.
9. pipe robot according to claim 7, which is characterized in that be provided with anti-skid structure in the supporting block.
10. according to pipe robot described in claim 7 to 9 any one, which is characterized in that the third support rod is close
One end of the supporting block is additionally provided with the position limiting structure for limiting the supporting block rotational angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821465749.3U CN208670436U (en) | 2018-09-07 | 2018-09-07 | A kind of pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821465749.3U CN208670436U (en) | 2018-09-07 | 2018-09-07 | A kind of pipe robot |
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| Publication Number | Publication Date |
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| CN208670436U true CN208670436U (en) | 2019-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821465749.3U Active CN208670436U (en) | 2018-09-07 | 2018-09-07 | A kind of pipe robot |
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| CN (1) | CN208670436U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108758167A (en) * | 2018-09-07 | 2018-11-06 | 湖南千智机器人科技发展有限公司 | A kind of pipe robot |
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2018
- 2018-09-07 CN CN201821465749.3U patent/CN208670436U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108758167A (en) * | 2018-09-07 | 2018-11-06 | 湖南千智机器人科技发展有限公司 | A kind of pipe robot |
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