CN210344716U

CN210344716U - Positioning device for pipeline robot

Info

Publication number: CN210344716U
Application number: CN201921386925.9U
Authority: CN
Inventors: 孙楚; 罗磊; 方毅; 张金国; 陈凯骎; 贾鹏
Original assignee: Zhejiang Hongyan Testing Technology Co Ltd
Current assignee: Zhejiang Hongyan Testing Technology Co Ltd
Priority date: 2019-08-26
Filing date: 2019-08-26
Publication date: 2020-04-17
Anticipated expiration: 2029-08-26

Abstract

The utility model discloses a positioner is laid to pipeline robot, including supporting in the support on ground, installing the pressure cylinder that is used for laying the supporter of robot and is used for driving the relative support up-and-down motion of supporter under the support, the pressure cylinder sets up under the support and pressure cylinder one end is fixed on the supporter. Place the robot on the supporter, erect equipment on the inspection shaft, start the pressure cylinder for the supporter descends to the lower terminal surface looks parallel and level with the pipeline inner wall, removes the support again, makes the supporter press close to the pipeline, and the robot can lay. The equipment can replace manpower to go into the well, and the robot can be placed in the pipe through the control equipment.

Description

Positioning device for pipeline robot

Technical Field

The utility model relates to a positioner is laid to pipeline robot belongs to the pipeline and detects auxiliary device field.

Background

The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer. At present, the robot can be placed in a pipeline of an inspection well only through manual operation, and if a sand sediment trap exists at the bottom of the inspection well, workers need to go into the well to operate, and the robot can be placed in the pipeline to continue working.

The sand sediment trap is a pit deeper than the pipeline, and is mainly used for settling sludge in the drainage pipe, so that the sand sediment trap is convenient to clean and keeps the pipeline smooth. When the manual work is gone into the well, because the sand sediment trap is darker and probably amasss a large amount of sewage and silt, has great potential safety hazard, needs one kind now and can replace the manpower with the robot steadily place the equipment in the pipeline.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a positioner is laid to pipeline robot reaches the purpose of putting into the pipeline with the robot through pressure cylinder control supporter lift.

The above technical purpose of the present invention can be achieved by the following technical solutions: pipeline robot lays positioner, including support in the support on ground, install the supporter that is used for laying the robot under the support and be used for driving the pressure cylinder of supporter relative support up-and-down motion, the pressure cylinder setting is under the support and pressure cylinder one end is fixed on the supporter.

Through adopting above-mentioned technical scheme, place the robot on the supporter, erect equipment on the inspection shaft, start the pressure cylinder for the supporter descends to the lower terminal surface looks parallel and level with pipeline inner wall, removes the support again, makes the supporter press close to the pipeline, and the robot can lay. The equipment can replace manpower to go into the well, and the robot can be placed in the pipe through the control equipment.

The utility model discloses further set up to: the support is fixedly connected with a hollow supporting piece, a limiting groove is formed in the supporting piece along the length direction of the supporting piece, a sliding groove communicated with the limiting groove is formed in the lower end of the supporting piece, a sliding block is connected in the limiting groove in a sliding mode, the lower end of the sliding block is fixedly connected with a pressure cylinder body, a lead screw is arranged on the supporting piece in a penetrating mode, the lead screw penetrates through the center of the sliding block, two ends of the lead screw are respectively connected to the supporting piece in a rotating mode, the lead screw is connected to the sliding block in a threaded mode, and a.

Through adopting above-mentioned technical scheme, first motor starts, drives the lead screw and rotates, and the slider slides in the spacing groove and drives the supporter and move along lead screw length direction, transports the robot to the position that is more close to the pipeline.

The utility model discloses further set up to: the support comprises two support components which are symmetrically arranged at two sides of the supporting piece along the center of the supporting piece, each support component comprises a first support rod fixedly connected to the side wall of the supporting piece and a second support rod sleeved on the first support rod along the horizontal direction, and the second support rod is connected to the first support rod in a positioning and sliding mode, and the other end of the second support rod is abutted to the ground.

By adopting the technical scheme, the length of the bracket in the horizontal direction is adjustable, and the bracket can adapt to inspection wells with various diameters. When the support is used, the second support rod sleeved on the first support rod is drawn out to a proper length and then is fixed for reuse. The adjusting mode is simple to operate and convenient to use, and the cost is reduced.

The utility model discloses further set up to: the utility model discloses a pressure cylinder, including pressure cylinder, supporter, box body, the supporter lower extreme fixedly connected with box body, the supporter rotates to be connected in the box body, and installs in the box body and be used for driving supporter level pivoted second motor, fixed connection in supporter behind the box body is passed to the pivot of second motor tip.

Through adopting above-mentioned technical scheme, set up on the supporter and order about supporter level pivoted second motor, the supporter opening can turn to arbitrary direction, need not remove whole equipment and reaches the purpose of ordering about the robot and getting into other pipelines.

The utility model discloses further set up to: the upper end surface of the storage rack is provided with an inverted T-shaped groove, the upper end surface of the box body is provided with an annular groove, the cross section of the annular groove is inverted T-shaped, and the end parts of the connecting rods are embedded in the annular groove and are connected with the annular groove in a sliding mode.

Through adopting above-mentioned technical scheme, the cooperation of connecting rod and annular groove has a spacing power along vertical direction to supporter and box body, has played the effect of connecting relative position between supporter and the second motor for the supporter is connected more firmly stably. When the second motor is driven, the rotating shaft at the end part of the second motor drives the article placing rack to horizontally rotate, and the end part of each connecting rod is embedded at the upper end of the article placing rack and slides in the annular groove.

The utility model discloses further set up to: the lower end of each bracket component is rotatably connected with a roller.

Through adopting above-mentioned technical scheme, set up the gyro wheel at each support component lower extreme, make things convenient for the removal of equipment, improved the installation effectiveness.

The utility model discloses further set up to: the supporter is both ends open-ended cavity box, supporter opening both ends are equipped with the slope and set up the direction sweep downwards.

Through adopting above-mentioned technical scheme, the bottom plate opening part sets up to the inclined plane, compares with non-inclined plane, and when the robot got into the pipeline, the inclined plane obtains the transition in height for it is more stable when the robot got into the pipeline, is difficult for overturning forward.

The utility model discloses further set up to: the bottom surface is equipped with the sand grip along supporter width direction in the supporter, the sand grip is provided with a plurality ofly along supporter opening direction equidistance.

Through adopting above-mentioned technical scheme, the supporter is in the decline in-process, and the supporter probably has slight shake, if the bottom plate up end sets up to the smooth surface, can lead to unexpected slip even to drop, and the friction when having increased the robot and having gos forward along the sand grip of its width direction setting at the bottom plate up end makes it be difficult for dropping.

To sum up, the utility model discloses following beneficial effect has: set up the commodity shelf up-and-down motion that the pressure cylinder drive has the robot, can replace the manpower to get into the lower shaft for the commodity shelf descends to the lower terminal surface looks parallel and level with the pipeline inner wall, removes the support again, makes the commodity shelf press close to the pipeline, and the robot can lay.

Drawings

FIG. 1 is a first axial schematic view of the present embodiment, primarily for embodying the overall structure;

FIG. 2 is a sectional view of the present embodiment mainly used for embodying the internal structure;

FIG. 3 is a partial sectional view of the embodiment mainly used for showing the position relationship between the sliding block and the sliding groove;

FIG. 4 is a schematic diagram of the embodiment mainly used for showing the connection relationship of the horizontal adjustment assembly;

fig. 5 is a schematic diagram of the embodiment mainly used for showing the connection relationship between the second motor and the rack.

Reference numerals: 10. a rack; 20. a support; 30. a pressure cylinder; 40. a support member; 50. a limiting groove; 51. a slider; 53. A screw rod; 54. a first motor; 55. a chute; 61. fixing the bolt; 62. fixing a nut; 63. a level adjustment assembly; 70. a first support bar; 71. a second support bar; 72. a box body; 73. a second motor; 74. an annular groove; 75. a connecting rod; 80. a roller; 81. a connecting member; 91. a leading-out board; 94. and (4) raised strips.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The positioning device for pipeline robot placement, as shown in fig. 1 and 2, comprises a support 20 supported on the ground and a rack 10 for placing the robot, wherein a pressure cylinder 30 for driving the rack 10 to move up and down and a box 72 fixedly connected to the lower end of the pressure cylinder 30 are sequentially arranged between the support 20 and the rack 10 from top to bottom. The box body 72 is provided with a second motor 73 for adjusting the horizontal rotation angle of the article placing rack 10, and the rotating shaft of the second motor 73 passes through the box body 72 and then is connected with the article placing rack 10. The bracket 20 is provided with a horizontal adjusting component 63 along the horizontal direction for driving the object placing frame 10 to move along the horizontal direction, and the upper end of the cylinder body of the pressure cylinder 30 is connected with the horizontal adjusting component 63.

When in use, the robot is put into the shelf 10. By actuating the cylinder 30, the rack 10 is lowered to a depth relatively flush with the pipeline. Drive second motor 73, supporter 10 rotates the pipeline direction that needs surveyed, simultaneously, through adjusting horizontal adjustment subassembly 63, makes supporter 10 be close to until the laminating state to the pipeline, can place the robot.

Specifically, as shown in fig. 1 and 4, the bracket 20 is shaped like a v-21274with a downward opening, and the bracket 20 includes symmetrically arranged bracket components, the bracket components are respectively arranged into a first supporting rod 70 and a second supporting rod 71 sleeved on the first supporting rod 70, and the second supporting rod 71 is L-shaped and has a certain width. A plurality of adjusting holes are formed in the second supporting rod 71 along the length direction of the second supporting rod, a through hole with the diameter being consistent with that of the adjusting holes is formed in the first supporting rod 70, fixing bolts 61 used for fixing the first supporting rod 70 and the second supporting rod 71 are connected to the adjusting holes in a threaded mode, and fixing nuts 62 are connected to the fixing bolts 61 in a threaded mode after the fixing bolts 61 penetrate through the second supporting rod 71 and the first supporting rod 70.

The surface of the position of the first support bar 70 connected to the second support bar 71 is provided with a scale indicating the distance between the two frame members in the adjusted position.

When the horizontal length of the bracket 20 is adjusted, the fixing nut 62 is unscrewed, and the fixing bolt 61 is removed. The relative positions of the first support rod 70 and the second support rod 71 are adjusted according to the diameter of the inspection well, a value slightly larger than the diameter of the inspection well is selected and the scale is roughly corresponding to the value. In this position the adjustment holes correspond to the through holes and are fixed by fixing bolts 61 and fixing nuts 62.

Specifically, as shown in fig. 1, a roller 80 is disposed at one end of the second support rod 71 abutting against the ground, and a connecting member 81 for connecting the second support rod 71 and the roller 80 is disposed at the lower end of the second support rod 71. The connecting piece 81 is of a v-21274shape with a downward opening, the upper end of the connecting piece 81 is fixedly connected to the second supporting rod 71, and the end parts of the two ends of the connecting piece are rotatably connected with the rollers 80.

Before work, the equipment is moved to an inspection well, and the roller 80 rotates relative to the second supporting rod 71 until the equipment is moved to a proper position and fixed.

Specifically, as shown in fig. 2 and 3, the horizontal adjustment assembly 63 includes a support member 40 disposed at the upper end of the pressure cylinder 30 and a screw 53 penetrating the support member 40 along the length direction of the support member 40, the support member 40 is fixedly connected to the first support rods 70 at both sides, a limit groove 50 is formed in the support member 40 along the length direction thereof, a sliding groove 55 is formed at the lower end of the limit groove 50, the sliding groove 55 is communicated with the limit groove 50, a sliding block 51 is slidably connected in the limit groove 50, and the lower end of the sliding block 51 is fixedly connected to the cylinder body of the pressure cylinder 30. The screw 53 passes through the center of the slider 51, and both ends of the screw are respectively rotatably connected to the supporting member 40, and one end of the screw 53 is provided with a first motor 54 for driving the screw 53 to rotate. A motor box for placing the first motor 54 is fixedly connected to one side of the support member 40.

When the horizontal position is adjusted, the first motor 54 is started, the screw rod 53 is controlled to rotate by the first motor 54, the sliding block 51 slides in the limiting groove 50, the commodity shelf 10 is driven to move to the position attached to the pipeline along the length direction of the screw rod 53, and then the robot can be placed.

Specifically, as shown in fig. 1 and 5, the lower end of the box 72 is fixedly connected with four connecting rods 75 for fixing the horizontal position of the article placing rack 10, an annular groove 74 is formed on the upper end surface of the article placing rack 10, and the end of each connecting rod 75 is circularly embedded in the annular groove 74 and is slidably connected to the annular groove 74.

Starting second motor 73, the pivot rotates and drives supporter 10 horizontal rotation, because connecting rod 75 upper end is fixed in box body 72, therefore when supporter 10 rotated, connecting rod 75 tip slided in annular groove 74 and connecting rod 75 had restricted the ascending displacement of supporter 10 vertical direction. The rotation is stopped until the direction of the pipe to be surveyed.

Specifically, as shown in fig. 5, the article placing shelf 10 is a hollow box body with two open ends, and the two open ends of the article placing shelf 10 are provided with guiding vehicle-out plates 91 which are obliquely and downwardly arranged. The inner bottom surface of the article placing rack 10 is provided with a plurality of convex strips 94 along the width direction, and the convex strips 94 are equidistantly arranged along the opening direction of the article placing rack 10.

After the commodity shelf 10 is adjusted to the position that can get into the pipeline, the robot comes out from in the commodity shelf 10, through sand grip 94 and direction play sweep, steadily falls to in the pipeline, begins the survey task.

The working principle of the embodiment is as follows: before use, the horizontal length of the bracket 20 is adjusted, the fixing nut 62 is unscrewed, and the fixing bolt 61 is taken out. The relative positions of the first support rod 70 and the second support rod 71 are adjusted according to the diameter of the inspection well, a value slightly larger than the diameter of the inspection well is selected and the scale is roughly corresponding to the value. In this position the adjustment holes correspond to the through holes and are fixed by fixing bolts 61 and fixing nuts 62.

Before work, the equipment is moved to an inspection well, and the roller 80 rotates relative to the second supporting rod 71 and moves to a proper position to stop.

During operation, pressure cylinder 30 is started, and pressure cylinder 30 extension drives supporter 10 downwards, stops after moving to the position with the pipeline parallel and level.

When the horizontal position is adjusted, the first motor 54 is started, the screw 53 is controlled by the first motor 54 to rotate, the sliding block 51 slides in the limiting groove 50, and the article placing rack 10 is driven to move to the position attached to the pipeline along the length direction of the screw 53.

Starting second motor 73, the pivot rotates and drives supporter 10 horizontal rotation, because connecting rod 75 upper end is fixed in box body 72, connecting rod 75 tip slides in annular groove 74 and connecting rod 75 has restricted the ascending displacement of supporter 10 vertical direction. The robot can enter the pipeline by rotating to the direction of the pipeline to be surveyed and stopping.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications to the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present invention.

Claims

1. Positioner is laid to pipeline robot, characterized by: including support in support (20) on ground, install supporter (10) that are used for laying the robot under support (20) and be used for driving supporter (10) pressure cylinder (30) relative support (20) up-and-down motion, pressure cylinder (30) set up under support (20) and pressure cylinder (30) one end is fixed on supporter (10).

2. The positioning device for pipeline robot placement according to claim 1, wherein: fixedly connected with is hollow support (40) that sets up on support (20), spacing groove (50) have been seted up along its length direction in support (40), spout (55) of intercommunication spacing groove (50) have been seted up to support (40) lower extreme, sliding connection has slider (51) in spacing groove (50), slider (51) lower extreme and pressure cylinder (30) cylinder body fixed connection, lead screw (53) wear to be equipped with on support (40), lead screw (53) pass slider (51) center and both ends and rotate respectively and connect in support (40), lead screw (53) threaded connection in slider (51), lead screw (53) one end is equipped with and is used for driving lead screw (53) pivoted first motor (54).

3. The positioning device for pipeline robot placement according to claim 1, wherein: the support (20) comprises two support component elements which are arranged on two sides of the support element (40) along the center of the support element (40) in a symmetrical mode, each support component element comprises a first support rod (70) fixedly connected to the side wall of the support element (40) and a second support rod (71) sleeved on the first support rod (70) along the horizontal direction, the second support rod (71) is L-shaped, one end of the second support rod (71) is located and connected to the first support rod (70) in a sliding mode, and the other end of the second support rod (71) abuts against the ground.

4. The positioning device for pipeline robot placement according to claim 1, wherein: pressure cylinder (30) lower extreme fixedly connected with box body (72), supporter (10) rotate to be connected in box body (72), and install in box body (72) and be used for driving supporter (10) horizontal pivoted second motor (73), fixed connection in supporter (10) behind box body (72) is passed in the pivot of second motor (73) tip.

5. The positioning device for pipeline robot placement according to claim 4, wherein: annular groove (74) and annular groove (74) cross-section are seted up to the up end of supporter (10) and are the shape of falling T, a plurality of connecting rods (75) of lower terminal surface along vertical direction fixedly connected with of box body (72), each connecting rod (75) tip is inlayed and is located in annular groove (74) and sliding connection in annular groove (74).

6. The positioning device for pipeline robot placement according to claim 3, wherein: the lower end of each bracket component is rotatably connected with a roller (80).

7. The positioning device for pipeline robot placement according to claim 1, wherein: the commodity shelf (10) is a hollow box body with two open ends, and the two open ends of the commodity shelf (10) are provided with guide vehicle outlet plates (91) which are arranged obliquely downwards.

8. The positioning device for pipeline robot placement according to claim 7, wherein: the bottom surface is equipped with sand grip (94) along supporter (10) width direction in supporter (10), sand grip (94) are provided with a plurality ofly along supporter (10) opening direction equidistance.