CN209427895U - A kind of pipe robot rope winder - Google Patents

Abstract

The utility model discloses a pipeline robot rope winder, which comprises a first bracket and a cable winding mechanism arranged on the first bracket, and the winding mechanism includes a first motor, a reel for winding cables, and a The first motor drives the reel of the reel to rotate to rewind or unwind the cable. When performing pipeline inspection, put the main structure of the pipeline robot into the pipeline to be tested. The main structure of the pipeline robot is connected to the upper computer bracket through a cable. The controller communicates with the main structure of the pipeline robot through the cable. The battery is the controller and the pipeline robot. Main structure power supply. When the main structure of the pipeline robot advances along the pipeline, the controller controls the first motor to drive the reel to rotate for unwinding. After the detection is completed, the first motor rotates in the opposite direction to drive the reel to rotate for rewinding the cable. The operation is very convenient and efficient. It saves manpower, and it is not easy to mess up the rope or break the cable.

Description

A pipe robot rope winder

technical field

The invention relates to a pipeline robot rope winder.

Background technique

The environment of municipal pipelines is very harsh, and after long-term use, it is prone to corrosion, fatigue damage, or potential internal defects of the pipeline to develop into damage and cause leakage accidents, etc., especially for water pipelines, which are also prone to blockage and other accidents. Therefore, the in-pipe detection and desilting of pipelines is a very important practical project. At present, most of the in-pipe detection and decontamination are performed manually, which is limited by factors such as the size of the pipeline and the harsh environment, resulting in high work intensity and low work efficiency. The problem currently arises with pipeline bots. However, the cable rewinding of the existing pipeline robot is manually pulled, which is cumbersome to operate, easy to mess up the rope, difficult to organize, and easy to break the cable.

Contents of the invention

The purpose of the present invention is to provide a pipeline robot rope winder, which solves the technical problems that the cable winding of the existing pipeline robot depends on manual pulling, which is troublesome to operate, easy to mess up the rope, difficult to arrange, and easy to break the cable.

In order to solve the above technical problems, the present invention adopts the following technical solutions:

A pipeline robot rope winder, comprising a first bracket and a cable winding mechanism arranged on the first bracket, the winding mechanism includes a first motor, a reel for winding cables, and a meter counter, the first The motor drives the reel of the reel to rotate to rewind or unwind the cable; one end of the cable is connected to the main structure of the pipeline robot, and the other end is fixed to the reel of the reel and connected to the controller of the upper computer; the cable is used to connect the main structure of the pipeline robot and The upper computer, for communication and power supply, and the main structure of the pipeline robot.

When performing pipeline inspection, put the main structure of the pipeline robot into the pipeline to be tested. The main structure of the pipeline robot is connected to the host computer bracket through a cable. The controller communicates with the main structure of the pipeline robot through the cable. The battery is the controller and the pipeline robot. Main structure power supply. When the main structure of the pipeline robot advances along the pipeline, the controller controls the first motor to drive the reel to rotate for unwinding. After the detection is completed, the first motor rotates in the opposite direction to drive the reel to rotate for rewinding the cable. The operation is very convenient and efficient. It saves manpower, and it is not easy to mess up the rope or break the cable.

As a further improvement, the rotating shaft of the reel is rotated on the first bracket through the bearing, the first synchronous wheel is fixedly sleeved on the reel, the second synchronous wheel is arranged on the output shaft of the first motor, the first synchronous wheel and the second synchronous wheel The synchronous wheel is connected through a synchronous belt; the bearing seat for installing the bearing is detachably installed on the first bracket, and the distance between the first motor and the reel can be adjusted, which has strong applicability and is convenient for disassembly and assembly.

As a further improvement, it also includes a rope guide mechanism, the rope guide mechanism includes a second motor, a lead screw and a slider, the second motor is fixed on the first bracket, and the output shaft of the second motor is connected to one end of the lead screw through a coupling Fixed connection, the two ends of the lead screw are rotatably connected to the first bracket through bearings, the lead screw is arranged parallel to the rotating shaft of the reel; the slider is sleeved on the lead screw, and is threadedly connected with the lead screw.

The meter counter is fixedly arranged on the slide block, and the meter counter includes a second support, an encoder, and a first roller and a second roller that are rotated on the second support, and the rotating shaft of the encoder and the rotating shaft of the second roller Fixed connection, the outer peripheral surface of the first roller is provided with a groove, the outer peripheral surface of the second roller is covered with a rubber layer, the cable passes between the first roller and the second roller, and the cable is stuck in the groove, And the surface of the cable is in contact with the outer peripheral surfaces of the first roller and the second roller, and the groove and the rubber layer are provided to prevent slippage between the cable and the first roller and the second roller, thereby improving the accuracy of the meter counter.

The first bracket is provided with two limit switches, the two limit switches are located at both ends of the lead screw, and the two limit switches correspond to the two ends of the reel. The second motor, the limit switch and the controller are electrically connected.

In the process of winding the cable, the second motor drives the screw to rotate, driving the slider and the meter counter to move along the screw, and the cable is wound from one end of the reel to the other end of the reel with the movement of the meter counter. At one end, after the slider collides with the limit switch on the corresponding side, the controller controls the second motor to rotate in the opposite direction, driving the slider and the meter counter to move to the other side along the screw rod, and winds the cable from one end of the reel to the reel. One end of the drum is connected to the other end to ensure that the cable is evenly wound on the drum layer by layer to prevent the messy rope from affecting the next unwinding.

As a further improvement, the second bracket includes a first vertical plate and a second vertical plate fixed on the slider, the first vertical plate and the second vertical plate are arranged in parallel, and the first roller and the second roller are both arranged on the first Between the vertical board and the second vertical board. By setting the first vertical plate and the second vertical plate, it plays a position-limiting role, preventing the cable from accidentally falling off between the first roller and the second roller during the unwinding and rewinding process, and improving the accuracy of the meter counter

As a further improvement, at least one guide rod is provided on the first bracket, and at least one guide wheel is provided on the slider for rotation, the guide wheel is slidably clamped on the guide rod, and the guide rod is arranged parallel to the screw rod. The second motor drives the screw to rotate, and in the process of driving the slider to move along the screw, the guide wheel moves along the guide rod. By setting the guide rod and the guide wheel, the structural stability is improved and the slider is prevented from shaking during the movement.

As a further improvement, two guide rods are provided, and the two guide rods are located on both sides of the slider; four guide wheels are provided, and the four guide wheels are divided into two groups, and the two guide wheels of each group are slidingly clamped on the corresponding on one of the guide rods. By arranging two guide rods and four guide wheels, the slider is clamped in the middle, and the slider is not easy to shake when moving along the lead screw, further improving the structural stability.

As a further improvement, the first bracket is provided with a wire slip ring, and one end of the cable is connected to the controller after passing through the wire slip ring, which solves the problem of cable entanglement or even twisting.

As a further improvement, both ends of the reel are fixed with limiting plates to prevent the cables wound on the reel from detaching from the reel; weight-reducing holes are provided on the limiting plates.

As a further improvement, a handle is provided at one end of the rotating shaft of the reel, and the reel is driven to rotate by turning the handle to manually unwind or rewind the cable.

Compared with prior art, the beneficial effect of the present invention is:

1) When the main structure of the pipeline robot advances along the pipeline, the controller controls the first motor to work, and drives the reel to rotate for unwinding. After the detection is completed, the first motor rotates in the opposite direction to drive the reel to rotate for rewinding the cable. The operation is very convenient. , high efficiency, saves manpower, and is not easy to mess up the rope or break the cable.

2) By setting the rope guide, during the winding process of the cable, the cable is guaranteed to be evenly wound on the reel layer by layer, so as to prevent the disordered rope from affecting the next unwinding.

3) By setting the wire slip ring, one end of the cable is connected to the controller after passing through the wire slip ring, which solves the problems of cable entanglement and even twisting.

Description of drawings

Fig. 1 is a structural diagram of a pipeline robot rope winder according to the present invention.

Fig. 2 is a perspective view of the rope guide mechanism and the meter counter.

FIG. 3 is a top view of FIG. 2 .

Figure 4 is a structural diagram of the meter counter.

Detailed ways

In order to make the purpose and technical solution of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention.

As shown in Figures 1-4, a pipeline robot rope winder includes a first bracket 200 and a cable winding mechanism arranged on the first bracket 200, and the winding mechanism includes a first motor for winding a cable 300 The reel 306 and the meter counter 307, the first motor drives the reel of the reel 305 to rotate, the cable is used to connect the communication and power supply of the pipeline robot, and the traction robot, one end of the cable is connected with the main structure of the pipeline robot, and the other end is connected with the reel The reel of the drum is fixed and connected with the controller.

When performing pipeline inspection, put the main structure of the pipeline robot into the pipeline to be tested. The main structure of the pipeline robot is connected to the host computer bracket through a cable. The controller communicates with the main structure of the pipeline robot through the cable. The battery is the controller and the pipeline robot. Main structure power supply. When the main structure of the pipeline robot advances along the pipeline, the controller controls the first motor to drive the reel to rotate for unwinding. After the detection is completed, the first motor rotates in the opposite direction to drive the reel to rotate for rewinding the cable. The operation is very convenient and efficient. It saves manpower, and it is not easy to mess up the rope or break the cable.

In this embodiment, the rotating shaft of the reel 305 is set on the first support 300 through bearing rotation, the first synchronous wheel is fixedly sleeved on the reel, and the second synchronous wheel is arranged on the output shaft of the first motor. The synchronous wheel and the second synchronous wheel are connected by a synchronous belt, and are connected by a synchronous belt to prevent slipping. The bearing seat for installing the bearing is detachably installed in the slot of the aluminum alloy profile, the distance between the first motor and the reel can be adjusted, and the disassembly and assembly are convenient.

In this embodiment, a rope guide mechanism 308 is also included, and the rope guide mechanism 308 includes a second motor 3081, a screw 3082 and a slider 3083, the second motor 3081 is fixed on the first support 300, and the second motor 3081 The output shaft is fixedly connected with one end of the lead screw 3082 through a coupling, and the two ends of the lead screw 3082 are rotationally connected with the first support 300 through bearings, and the lead screw 3082 is arranged parallel to the rotating shaft of the reel 305; On the rod, and threaded with the lead screw.

The meter counter 307 is fixedly arranged on the slide block. The meter counter includes a second support, an encoder 3074, and a first roller 3072 and a second roller 3072 that are rotated on the second support. The rotating shafts of the two rollers are fixedly connected, the outer peripheral surface of the first roller is provided with a groove, the outer peripheral surface of the second roller is covered with a rubber layer, and the rubber layer is provided with anti-slip lines, and the cable runs from the first roller to the second roller. The cable is stuck in the groove, and the surface of the cable is in contact with the outer peripheral surface of the first roller and the second roller. By setting the groove and the rubber layer, it is prevented from happening between the cable and the first roller and the second roller. Slip phenomenon, improve the accuracy of the meter counter.

The first bracket is provided with two limit switches 3086, the two limit switches are located at both ends of the lead screw, and the two limit switches correspond to the two ends of the reel. The second motor, the limit switch and the controller are electrically connected.

During the winding process, the second motor drives the screw to rotate, and in the process of driving the slider and the meter counter to move along the screw, the cable is wound from one end of the reel to the other end of the reel with the movement of the meter counter. , after the slider collides with the limit switch on the corresponding side, the controller controls the second motor to rotate in the opposite direction, driving the slider and the meter counter to move to the other side along the screw rod, and wind the cable from one end of the reel to the reel One end of the cable is connected to the other end to ensure that the cable is evenly wound on the reel layer by layer to prevent the messy rope from affecting the next unwinding.

In this embodiment, the second bracket includes a first vertical plate 3071 and a second vertical plate 3075 fixed on the slider, the first vertical plate 3071 and the second vertical plate 3075 are arranged in parallel, and the first roller 3072 and the second vertical plate 3075 The second rollers 3073 are all arranged between the first vertical plate 3071 and the second vertical plate 3075 . By arranging the first vertical plate and the second vertical plate, it acts as a limit, prevents the cable from accidentally falling off between the first roller and the second roller during the unwinding and winding process, and improves the accuracy of the meter counter.

In this embodiment, the first bracket 300 is provided with two guide rods 3085, and the two guide rods are located on both sides of the slider; four guide wheels 3084 are rotated on the slider, and the four guide wheels are divided into Two groups, two guide wheels 3084 of each group are slidably clamped on a corresponding guide rod 3085, and the guide rod is arranged parallel to the screw mandrel. The second motor drives the screw to rotate, and in the process of driving the slider to move along the screw, the guide wheel moves along the guide rod. By setting the guide rod and the guide wheel, the structural stability is improved and the slider is prevented from shaking during the movement.

In this embodiment, the first bracket 300 is provided with a wire slip ring, and one end of the cable is connected to the controller after passing through the wire slip ring, which solves the problem of cable entanglement or even twisting.

In this embodiment, both ends of the reel 306 are fixed with limiting plates 309 to prevent the cables wound on the reel from detaching from the reel; the limiting plates are provided with weight-reducing holes.

In this embodiment, a handle 310 is provided at one end of the rotating shaft of the reel, and the reel is driven to rotate by turning the handle to manually unwind or rewind the cable.

What is not specifically described in the present invention is the prior art or can be realized through the prior art, and the specific implementation cases described in the present invention are only preferred implementation cases of the present invention, and are not used to limit the implementation of the present invention scope. That is, all equivalent changes and modifications made according to the content of the patent scope of the present invention should be regarded as the technical scope of the present invention.

Claims (9)

1. A pipe robot rope winder, characterized in that it comprises a first support and a cable winding mechanism arranged on the first support, and the winding mechanism comprises a first motor, a reel for winding cables, and Meter counter, the first motor drives the reel of the reel to rotate to rewind or unwind the cable; one end of the cable is connected to the main structure of the pipeline robot, and the other end is connected to the controller of the upper computer after being fixed with the reel of the reel; the cable is used for Connect the main structure of the pipeline robot with the host computer for communication and power supply, and the main structure of the pipeline robot. 2. The pipeline robot rope winder according to claim 1, characterized in that, the rotating shaft of the reel is set on the first support through bearing rotation, the first synchronous wheel is fixedly sleeved on the reel, and the first motor outputs There is a second synchronous wheel on the shaft, and the first synchronous wheel and the second synchronous wheel are connected by a synchronous belt; the bearing seat for installing the bearing is detachably installed on the first bracket, and the distance between the first motor and the reel can be adjusted . 3. The pipe robot rope winder according to claim 1 or 2, further comprising a rope guide mechanism, the rope guide mechanism comprising a second motor, a lead screw and a slide block, the second motor is fixed on the first On the bracket, the output shaft of the second motor is fixedly connected with one end of the lead screw through a coupling, and the two ends of the lead screw are rotationally connected with the first bracket through bearings, and the lead screw is arranged parallel to the rotating shaft of the reel; the slider is sleeved on On the lead screw, and threaded with the lead screw; The meter counter is fixedly arranged on the slide block, and the meter counter includes a second support, an encoder, and a first roller and a second roller that are rotated on the second support, and the rotating shaft of the encoder and the rotating shaft of the second roller Fixed connection, the outer peripheral surface of the first roller is provided with a groove, the outer peripheral surface of the second roller is covered with a rubber layer, the cable passes between the first roller and the second roller, and the cable is stuck in the groove, And the surface of the cable is in contact with the outer peripheral surfaces of the first roller and the second roller; The first bracket is provided with two limit switches, the two limit switches are located at both ends of the lead screw, and the two limit switches correspond to the two ends of the reel. 4. The pipe robot rope winder according to claim 3, wherein the second support includes a first vertical plate and a second vertical plate fixed on the slider, and the first vertical plate and the second vertical plate They are arranged in parallel, and both the first roller and the second roller are arranged between the first vertical board and the second vertical board. 5. The pipeline robot rope winder according to claim 4, wherein at least one guide rod is provided on the first bracket, and at least one guide wheel is provided for rotation on the slider, and the guide wheel is slidably clamped on the On the guide rod, the guide rod is arranged in parallel with the screw mandrel. 6. The pipeline robot rope winder according to claim 5, characterized in that, two guide rods are provided, and the two guide rods are located on both sides of the slider; four guide wheels are arranged, and the four guide wheels are divided into There are two groups, and the two guide wheels of each group are slidingly clamped on a corresponding guide rod. 7 . The pipeline robot rope winder according to claim 5 , wherein a wire slip ring is provided on the first bracket, and one end of the cable is connected to the reel after passing through the wire slip ring. 8. The pipeline robot rope winder according to claim 1, characterized in that, both ends of the reel are fixedly provided with limiting plates, and weight-reducing holes are opened on the limiting plates. 9. The robot rope winder for pipelines according to claim 1, wherein a handle is provided at one end of the rotating shaft of the reel.