CN209354861U - Running gear for climbing robot in pipeline - Google Patents
Running gear for climbing robot in pipeline Download PDFInfo
- Publication number
- CN209354861U CN209354861U CN201822158399.2U CN201822158399U CN209354861U CN 209354861 U CN209354861 U CN 209354861U CN 201822158399 U CN201822158399 U CN 201822158399U CN 209354861 U CN209354861 U CN 209354861U
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- hydraulic
- pipeline
- telescopic rod
- running gear
- climbing robot
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Abstract
The utility model discloses the running gears for climbing robot in pipeline, including set casing, hydraulic device and expansion bend, its described set casing rectangular enclosure body, and set casing is internally provided with hydraulic device, the hydraulic device is by hydraulic strut, hydraulic power unit, hydraulic telescopic rod and connector, the hydraulic strut is set to set casing inner cavity rear and front end, and two hydraulic struts are connected by connector, the connector is hydraulic connecting pipe, and connector right part is provided with hydraulic power unit；The hydraulic strut is connected by connecting rod with hydraulic telescopic rod, and hydraulic telescopic rod lower part is provided with expansion bend, and the expansion bend is connected by telescopic rod with driving motor, and is provided with wheel in driving motor drive shaft.The utility model is for solving the problems, such as to be difficult to when robot encounters barrier in pipeline by while improving the service efficiency and economy of robot.
Description
Technical field
The utility model relates to climbing robot technical field, and in particular to the walking dress for climbing robot in pipeline
It sets.
Background technique
Scientific and technological high speed development now, all kinds of Municipal pipelines, long distance pipeline, industrial pipeline are all over the world.Thereupon
Pipe-line maintenance work just become the most important thing of power-assisted sustainable development.Though various pipes pumped (conveying) medium is different, dimension
Shield is difficult very nearly the same.Therefore it is all kinds of for pipe detection, maintenance pipeline in climbing robot come into being.Big portion now
Point robot running gear still based on traditional wheel type, in pipeline there are obstacle without in the case where, by structure type
Limitation, passage capacity are extremely limited.
Utility model content
The purpose of this utility model is to provide the running gears for climbing robot in pipeline, solve robot in pipe
The problem of passing through is difficult to when encountering barrier in road.
In order to solve the above technical problems, the utility model uses following technical scheme:
For the running gear of climbing robot in pipeline, including set casing, hydraulic device and expansion bend, the fixation
Shell rectangular enclosure body, and set casing is internally provided with hydraulic device, the hydraulic device by hydraulic strut, hydraulic power unit,
Hydraulic telescopic rod and connector, the hydraulic strut is set to set casing inner cavity rear and front end, and two hydraulic struts pass through company
It connects device to be connected, the connector is hydraulic connecting pipe, and connector right part is provided with hydraulic power unit；The hydraulic strut
It is connected by connecting rod with hydraulic telescopic rod, and hydraulic telescopic rod lower part is provided with expansion bend, the expansion bend passes through flexible
Bar is connected with driving motor, and is provided with wheel in driving motor drive shaft.
Further, the connecting rod is to be flexibly connected, and connecting rod is fixed in 120 ° with hydraulic telescopic rod with hydraulic strut
Connection.
Further, the expansion bend is internally provided with telescopic cavity, and compression spring is provided in telescopic cavity, the pressure bullet
Spring bottom is mutually connected with telescopic rod.
Further, the hydraulic strut is bullhead hydraulic stem, and hydraulic strut head is provided with mounting hole, the installation
Rivet interlacement device is provided in hole.
Further, rectangle fixation hole is provided on the driving motor casing, the telescopic rod passes through fixation hole and driving
Motor is connected.
Further, the wheel is that wear-resistant flexible natural gum is made, and wheel is mutually connected with inner wall of the pipe.
Further, the set casing top is provided with creeps and the mounting hole of arch maintenance robot for fixed.
Compared with prior art, the utility model at least has one of following beneficial effect:
1. there are when barrier in pipeline, height of the carbody can be promoted by the hydraulic strut in hydraulic system, and to
Wheel is unfolded in two sides, makes wheel and tube wall contact surface is parallel to pipe level face, applied by hydraulic strut one of wheel
Perpendicular to contact surface power and increase the frictional force between tube wall so that car body suspend with pipeline central location, to avoid pipe
The barrier of road lower part is current.
2. by increasing hydraulic device on robot running gear, adjustable robot wheel and tube wall contact position
It sets, the barrier of one fixed width in effective crossing pipeline.
3. be provided with telescopic spring device at hydraulic device and wheel position, can be automatically adjusted by compression spring wheel with
Inner wall of the pipe contact pressure increases frictional force, avoids wheel-slip.
It is applicable in different direct pipelines 4. applied widely, can be improved robot service efficiency and
Economy.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the utility model side structure diagram.
In figure: 1- set casing, 2- hydraulic strut, 3- driving motor, 4- wheel, 5- hydraulic power unit, 6- tube wall, 7- stretch
Contracting device, 8- compression spring, 9- telescopic rod, 10- connecting rod, 11- connector, 12- hydraulic telescopic rod.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Embodiment 1:
Fig. 1 Fig. 2 shows: for the running gear of climbing robot in pipeline, including set casing 1, hydraulic device and stretch
Contracting device 7, the 1 rectangular enclosure body of set casing, and set casing 1 is internally provided with hydraulic device, the hydraulic device is by hydraulic support
Bar 2, hydraulic power unit 5, hydraulic telescopic rod 12 and connector 11, the hydraulic strut 2 are set to two before and after 1 inner cavity of set casing
End, and two hydraulic struts 2 are connected by connector 11, the connector 11 are hydraulic connecting pipe, and 11 right part of connector
It is provided with hydraulic power unit 5；The hydraulic strut 2 is connected by connecting rod 10 with hydraulic telescopic rod 12, and hydraulically extensible
12 lower part of bar is provided with expansion bend 7, and the expansion bend 7 is connected by telescopic rod 9 with driving motor 3, and driving motor 3 drives
Wheel 4 is provided on axis.
A kind of running gear for pipeline is devised in above scheme, for assisting climbing robot in narrow pipeline
Inside walking, improves the service efficiency and economy of robot；It is internally provided with hydraulic device in the device, it can be by hydraulic
Power unit 5 controls 2 both ends of hydraulic strut and stretches simultaneously, and realizes machine by connecting rod 10 and hydraulic telescopic rod 12
4 tilt adjustable of people's height and wheel enhances the passage capacity of robot, and is provided with expansion bend, adjusts vehicle in robot
Certain flexibility stress is provided when taking turns 4 inclination angle, avoids wheel 4 stuck in pipeline.
Embodiment 2:
The present embodiment is to have carried out further instruction to 10 part of connecting rod on the basis of specific embodiment 1, described
Connecting rod 10 is to be flexibly connected, and connecting rod 10 is fixedly connected in 120 ° with hydraulic telescopic rod 12 with hydraulic strut.
Connecting rod 10 is connected in 120 ° -140 ° with hydraulic telescopic rod 12, this mode makes the whole device be in pipeline
Rectangular configuration can be improved stability when driving.
Embodiment 3:
The present embodiment is to have carried out further instruction, the expansion bend to expansion bend 7 on the basis of specific embodiment 1
7 are internally provided with telescopic cavity, and compression spring 8 is provided in telescopic cavity, and 8 bottom of compression spring is connected with 9 phase of telescopic rod.
Above-mentioned expansion bend 7 is internally provided with telescopic cavity and compression spring 8, can be by vehicle by its retractility and ductility
It takes turns 4 parts and applies fixation pressure, be bonded it with tube wall 6, authorize certain frictional force to it when 4 part of wheel adjusts height,
When entire robot can not only break the barriers and can prevent wheel 4 from skidding.
Embodiment 4:
The present embodiment is to have carried out further instruction to hydraulic strut 2 on the basis of specific embodiment 1, described hydraulic
Strut 2 is bullhead hydraulic stem, and 2 head of hydraulic strut is provided with mounting hole, and rivet interlacement device is provided in the mounting hole.
It is provided with mounting hole in the interconnecting piece of hydraulic strut 2 and connecting rod 10, two mounting holes are mutually solid by rivet
It is fixed, and it is just provided with pressure bearing in two sides of mounting hole, it further avoids occurring getting stuck after working long hours convenient for rotation existing
As.
Embodiment 5:
The present embodiment is to have carried out further instruction, the driving to driving motor 3 on the basis of specific embodiment 1
Rectangle fixation hole is provided on 3 casing of motor, the telescopic rod 9 is connected by fixation hole with driving motor 3.
Directly wheel 4 is driven using four driving motors 3, and driving motor can be increased and decreased according to actual needs
Under the not high landform of power demand driving motor 3 only can be arranged to 4 part of rear wheel in 3 quantity.
Embodiment 6:
The present embodiment is to have carried out further instruction to wheel 4 on the basis of specific embodiment 1, and the wheel 4 is
Wear-resistant flexible natural gum is made, and wheel 4 is mutually connected with 6 inner wall of pipeline.
Wheel 4 is made using nitrile rubber, and 4 outer wall of wheel is provided with prismatic striped, and not only frictional property is stronger, but also
Skidding when can prevent work.
Embodiment 7:
The present embodiment is to have carried out further instruction, the set casing to set casing 1 on the basis of specific embodiment 1
1 top is provided with creeps and the mounting hole of arch maintenance robot for fixed.
The fixed position of installation climbing robot is reserved on set casing 1.
Running gear working method for climbing robot in pipeline:
It, can be by hydraulic system there are when barrier in pipeline for the running gear of climbing robot in pipeline
Hydraulic telescopic rod 12 promote height of the carbody, and wheel 4 is unfolded to two sides, makes wheel 4 and 6 contact surface of tube wall is parallel to pipeline
Horizontal plane, wheel 4 increase the friction between tube wall 6 by the power perpendicular to contact surface that hydraulic telescopic rod 12 is applied
Power, so that car body suspends and pipeline central location, so that the barrier for avoiding pipeline lower part is current；When robot meets in pipeline
When meeting barrier the 50% of pipeline section (blocking area be not more than), can hydraulic telescopic rod 12 in drive hydraulic system principle, by vehicle body
Height is improved to pipe radius length.At this time again by the intracorporal hydraulic strut 2 of vehicle sideways against 4 part of wheel, change wheel 4 with
The left and right sides wall of pipeline (is changed into) in tube contacts position by duct bottom, and the large torque by connecting wheel 4 drives electricity
Machine 3 drives robot to move on.
" one embodiment ", " another embodiment ", " embodiment ", " preferred implementation spoken of in the present specification
Example " etc., referring to combining specific features, structure or the feature of embodiment description includes describing extremely in the application generality
In few one embodiment.It is not centainly to refer to the same embodiment that statement of the same race, which occur, in multiple places in the description.Into one
For step, when describing a specific features, structure or feature in conjunction with any embodiment, what is advocated is to combine other implementations
Example realizes that this feature, structure or feature are also fallen in the scope of the utility model.
Although reference be made herein to the utility model is described in multiple explanatory embodiments of the utility model, still,
It should be understood that those skilled in the art can be designed that a lot of other modification and implementations, these modifications and implementations
It will fall within scope and spirit disclosed in the present application.More specifically, it discloses in the application, drawings and claims
In range, can building block to theme combination layout and/or layout carry out a variety of variations and modifications.In addition to building block
And/or outside the modification and improvement of layout progress, to those skilled in the art, other purposes also be will be apparent.
Claims (7)
1. for the running gear of climbing robot in pipeline, including set casing (1), hydraulic device and expansion bend (7), feature
It is: set casing (1) the rectangular enclosure body, and set casing (1) is internally provided with hydraulic device, the hydraulic device is by hydraulic
Strut (2), hydraulic power unit (5), hydraulic telescopic rod (12) and connector (11), the hydraulic strut (2) are set to fixation
Shell (1) inner cavity rear and front end, and two hydraulic struts (2) are connected by connector (11), the connector (11) is hydraulic
Connecting tube, and connector (11) right part is provided with hydraulic power unit (5)；The hydraulic strut (2) by connecting rod (10) with
Hydraulic telescopic rod (12) is connected, and hydraulic telescopic rod (12) lower part is provided with expansion bend (7), and the expansion bend (7) is by stretching
Contracting bar (9) is connected with driving motor (3), and is provided with wheel (4) in driving motor (3) drive shaft.
2. the running gear according to claim 1 for climbing robot in pipeline, it is characterised in that: the connecting rod
It (10) is to be flexibly connected, and connecting rod (10) is fixedly connected in 120 ° with hydraulic telescopic rod (12) with hydraulic strut (2).
3. the running gear according to claim 1 for climbing robot in pipeline, it is characterised in that: the expansion bend
(7) it is internally provided with telescopic cavity, and is provided with compression spring (8) in telescopic cavity, compression spring (8) bottom and telescopic rod
(9) mutually it is connected.
4. the running gear according to claim 1 for climbing robot in pipeline, it is characterised in that: the hydraulic support
Bar (2) is bullhead hydraulic stem, and hydraulic strut (2) head is provided with mounting hole, is provided with rivet interlacement in the mounting hole
Device.
5. the running gear according to claim 1 for climbing robot in pipeline, it is characterised in that: the driving electricity
Rectangle fixation hole is provided on machine (3) casing, the telescopic rod (9) is connected by fixation hole with driving motor (3).
6. the running gear according to claim 1 for climbing robot in pipeline, it is characterised in that: the wheel
(4) made for wear-resistant flexible natural gum, and wheel (4) is mutually connected with pipeline (6) inner wall.
7. the running gear according to claim 1 for climbing robot in pipeline, it is characterised in that: the set casing
(1) top is provided with creeps and the mounting hole of arch maintenance robot for fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822158399.2U CN209354861U (en) | 2018-12-21 | 2018-12-21 | Running gear for climbing robot in pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822158399.2U CN209354861U (en) | 2018-12-21 | 2018-12-21 | Running gear for climbing robot in pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209354861U true CN209354861U (en) | 2019-09-06 |
Family
ID=67799509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822158399.2U Active CN209354861U (en) | 2018-12-21 | 2018-12-21 | Running gear for climbing robot in pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209354861U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109506079A (en) * | 2018-12-21 | 2019-03-22 | 云南大红山管道有限公司 | Running gear for climbing robot in pipeline |
-
2018
- 2018-12-21 CN CN201822158399.2U patent/CN209354861U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109506079A (en) * | 2018-12-21 | 2019-03-22 | 云南大红山管道有限公司 | Running gear for climbing robot in pipeline |
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