CN211707631U - Foot-leg type pipeline robot - Google Patents
Foot-leg type pipeline robot Download PDFInfo
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- CN211707631U CN211707631U CN201922347495.6U CN201922347495U CN211707631U CN 211707631 U CN211707631 U CN 211707631U CN 201922347495 U CN201922347495 U CN 201922347495U CN 211707631 U CN211707631 U CN 211707631U
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Abstract
The utility model discloses a legged pipeline robot, which comprises a pipeline and a cleaning robot, wherein the cleaning robot is arranged inside the pipeline, one end of the cleaning robot is provided with a transmission case, one side of the transmission case is provided with a machine head, the outer side of the cleaning robot is uniformly provided with a first electric telescopic rod, one end of the first electric telescopic rod is provided with a first roller, the pipeline robot can move back and forth in the pipeline, the whole pipeline can be cleaned, the advancing and retreating are very simple and convenient, the cleaning of the pipelines with different diameters can be realized by using the telescopic rod, the rust layer, scaling, corrosion, perforation, cracks and other conditions in the pipeline can be comprehensively detected and photographed by using a camera, the collected image inside the pipeline is synchronously transmitted to a display through a cable, the remote monitoring is realized, the cleaning efficiency is improved, the time is saved, and three groups of cleaning brushes are all cleaned for 130 degrees, 360-degree cleaning of the pipe wall is completed, and the flexibility is strong.
Description
Technical Field
The utility model relates to a robot field specifically is a sufficient leg formula pipeline robot.
Background
The special robot has about tens of subdivision fields, but the market of partial subdivision fields in China is still blank. The underground pipe network detection robot is mainly applied to municipal departments and civil markets, and has huge market capacity potential. The robot function that has now to carry out the clearance to the pipeline inner arm is more single, can not adapt to the pipeline of different diameters, and the current brush robot that clears up gos forward in the pipeline in addition and retreat very inconvenient, can not monitor the pipe inner wall, and the flexibility is poor, uses inconveniently.
Disclosure of Invention
The utility model aims at the defect of prior art, provide a sufficient leg formula pipeline robot to solve the problem that above-mentioned background art provided.
In order to achieve the above object, the utility model provides a following technical scheme: a legged pipeline robot comprises a pipeline and a cleaning robot, wherein the cleaning robot is arranged inside the pipeline, one end of the cleaning robot is provided with a transmission case, one side of the transmission case is provided with a machine head, the outer side of the cleaning robot is uniformly provided with a first electric telescopic rod, one end of the first electric telescopic rod is provided with a first roller, the outer side of the machine head is uniformly provided with a second electric telescopic rod, one end of the second electric telescopic rod is provided with a second roller, the outer sides of the cleaning robot and the machine head are respectively provided with a third electric telescopic rod, one end of the third electric telescopic rod is provided with an anti-skid block, a second motor is arranged in the transmission case, one end of the second motor is fixed with a pinion, a driving gear strip is meshed on the pinion, a turntable is arranged at one end of the transmission case, and a second connecting rod is arranged on the turntable, a first connecting rod is installed at one end of the second connecting rod, a first motor is installed at one end of the first connecting rod, and a cleaning brush is installed on the first motor.
As an optimal technical scheme of the utility model, it is fixed continuous with transmission case that the cleaning robot passes through the connector.
As an optimized technical scheme of the utility model, the transmission machine case is fixed continuous with the aircraft nose through driving the rack.
As an optimal technical scheme of the utility model, the second motor passes through the bolt fastening on the inside of transmission machine case, the pinion is fixed in the pivot of second motor, the pinion links to each other with the meshing of drive rack.
As a preferred technical scheme of the utility model, the carousel is connected with the gear wheel through the connecting rod, the carousel passes through the gear wheel and links to each other with little gear engagement, the second connecting rod is fixed on the carousel through the pivot, the head rod links to each other through the pivot is fixed with the second connecting rod.
As an optimal technical scheme of the utility model, first motor passes through the bolt fastening on the head rod, the cleaning brush with the pivot of first motor passes through the bolt fastening and links to each other.
The utility model has the advantages that: this pipeline robot can realize the back-and-forth movement in the pipeline, can clear up whole pipeline, and go forward and retreat very simple and convenient, utilize the telescopic link to realize clearing up the pipeline of different diameters, utilize the camera can be to the rust layer in the pipeline, the scale deposit, it is corroded, perforate, all-round detection and the making a video recording are carried out to situations such as crackle, the pipeline internal image that will gather in step passes through cable transmission to display, realize remote monitoring, improve the cleaning efficiency, save time, and the equal clean 130 degrees of three group's cleaning brushes that are equipped with, 360 cleanness of completion pipe wall, high flexibility, moreover, the steam generator is simple in structure, and is convenient for popularize.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a cross-sectional view of the present invention;
fig. 3 is a schematic structural view of the transmission case of the present invention;
fig. 4 is a side view of the transmission case of the present invention;
fig. 5 is a schematic view of the connection structure of the transmission case of the present invention;
fig. 6 is a schematic structural diagram of the pipeline of the present invention.
In the figure: 1. pipeline, 2, cleaning robot, 3, transmission machine case, 4, aircraft nose, 5, first electric telescopic handle, 6, first gyro wheel, 7, second electric telescopic handle, 8, second gyro wheel, 9, head rod, 10, cleaning brush, 11, first motor, 12, pinion, 13, second motor, 14, drive gear strip, 15, connector, 16, second connecting rod, 17, third electric telescopic handle, 18, non slipping spur, 19, carousel.
Detailed Description
The following detailed description of the preferred embodiments of the present invention will be provided in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the protection scope of the present invention can be clearly and clearly defined.
Example (b): referring to fig. 1-6, the present invention provides a technical solution: a legged pipeline robot comprises a pipeline 1 and a cleaning robot 2, wherein the cleaning robot 2 is arranged inside the pipeline 1, one end of the cleaning robot 2 is provided with a transmission case 3, one side of the transmission case 3 is provided with a machine head 4, the outer side of the cleaning robot 2 is uniformly provided with a first electric telescopic rod 5, one end of the first electric telescopic rod 5 is provided with a first roller 6, the outer side of the machine head 4 is uniformly provided with a second electric telescopic rod 7, one end of the second electric telescopic rod 7 is provided with a second roller 8, the outer sides of the cleaning robot 2 and the machine head 4 are both provided with a third electric telescopic rod 17, one end of the third electric telescopic rod 17 is provided with an anti-skid block 18, a second motor 13 is arranged in the transmission case 3, one end of the second motor 13 is fixed with a pinion 12, a driving gear strip 14 is meshed on the pinion 12, one end of the transmission case 3 is provided with a, a second connecting rod 16 is installed on the rotary table 19, a first connecting rod 9 is installed at one end of the second connecting rod 16, a first motor 11 is installed at one end of the first connecting rod 9, and a cleaning brush 10 is installed on the first motor 11.
The cleaning robot 2 is fixedly connected with the transmission case 3 through a connector 15.
The transmission case 3 is fixedly connected with the machine head 4 through a driving gear rack 14.
The second motor 13 is fixed to the inside of the transmission case 3 by bolts, the pinion 12 is fixed to a rotation shaft of the second motor 13, and the pinion 12 is connected to the drive rack 14 in a meshing manner.
The rotary table 19 is connected with a large gear through a connecting rod, the rotary table 19 is meshed with the small gear 12 through the large gear, the second connecting rod 16 is fixed on the rotary table 19 through a rotating shaft, and the first connecting rod 9 and the second connecting rod 16 are fixedly connected through the rotating shaft.
The first motor 11 is fixed on the first connecting rod 9 through a bolt, and the cleaning brush 10 is fixedly connected with a rotating shaft of the first motor 11 through a bolt.
The working principle is as follows: a legged pipeline robot comprises a pipeline 1, a cleaning robot 2, a transmission case 3, a machine head 4, a first electric telescopic rod 5, a first roller 6, a second electric telescopic rod 7, a second roller 8, a first connecting rod 9, a cleaning brush 10, a first motor 11, a pinion 12, a second motor 13, a driving gear bar 14, a connecting head 15, a second connecting rod 16, a third electric telescopic rod 17, an antiskid block 18 and a turntable 19, wherein a storage battery is arranged in the cleaning robot 2, the storage battery is electrically connected with the first electric telescopic rod 5, the second electric telescopic rod 7, the third electric telescopic rod 17, the first motor 11 and the second motor 13, the storage battery is electrically connected with an external power supply through a cable, a camera is also arranged on the cleaning robot 2, and the conditions such as a rust layer, scaling, corrosion, perforation, cracks and the like in the pipeline can be detected and photographed in an omnibearing manner through the camera, the collected images inside the pipeline are synchronously transmitted to a display through a cable to realize remote monitoring, the cleaning robot 2 can adjust the length of the anti-skid block 18, the first roller 6 and the second roller 8 through the first electric telescopic rod 5, the second electric telescopic rod 7 and the third electric telescopic rod 17 so as to adapt to the pipelines 1 with different diameters, when the cleaning robot is used, the first motor 11 is controlled by a switch to be switched on, the first motor 11 drives the pinion 12 to rotate, the pinion 12 drives the driving gear strip 14 to move forwards when rotating, the first motor 11 is a positive and negative motor, the driving gear strip 14 can move forwards when the first motor 11 rotates forwards, the driving gear strip 14 can move backwards when the first motor 11 rotates backwards, the machine head 4 is driven to stretch forwards and backwards, and forwards the second roller 8 and the anti-skid block 18 on the machine head 4 can move forwards, when the driving gear rack 14 moves backwards, the cleaning robot 2 can be pulled forwards, the cleaning robot is moved in the pipeline 1, when the first motor 11 drives the pinion 12 to rotate, the pinion 12 can drive the gearwheel to rotate, the rotating disc 19 is driven to rotate, when the rotating disc 19 rotates, the first connecting rod 9 can be thrown out, the cleaning robot is suitable for pipelines 1 with different diameters, meanwhile, the cleaning brush 10 is driven to rotate through braking of the first motor 11, the inner wall of the pipeline 1 is cleaned, the three groups of cleaning brushes 10 are all cleaned for 130 degrees, 360-degree cleaning of the pipe wall is completed, after cleaning is completed, the front group of walking mechanism supports are not moved, the rear group of walking mechanism supports are radially reduced, the front group of walking mechanism supports are kept in a tensioning state, and at the moment, the rear part of the body retracts forwards and moves to be close to the front group of walking mechanism supports. Then the walking mechanism bracket is fixed on the pipe wall in an extending way. The rear walking mechanism support is fixed on the pipe wall in an extending mode, the front walking mechanism support is reduced in the radial direction, the front part of the body extends forwards, namely extends in the axial direction, and then extends the leg arms in the radial direction to be tightly supported and fixed on the pipe wall; at the moment, the cleaning group cleans the pipe wall, and through the actions, the whole robot body moves forwards and walks a distance forwards. And repeating the cycle, finishing the pipeline cleaning and walking in the opposite direction, and the like.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.
Claims (6)
1. The utility model provides a sufficient leg formula pipeline robot, includes pipeline (1) and cleans robot (2), its characterized in that: the cleaning robot is characterized in that the cleaning robot (2) is arranged inside a pipeline (1), one end of the cleaning robot (2) is provided with a transmission case (3), one side of the transmission case (3) is provided with a machine head (4), the outer side of the cleaning robot (2) is uniformly provided with a first electric telescopic rod (5), one end of the first electric telescopic rod (5) is provided with a first roller (6), the outer side of the machine head (4) is uniformly provided with a second electric telescopic rod (7), one end of the second electric telescopic rod (7) is provided with a second roller (8), the outer sides of the cleaning robot (2) and the machine head (4) are both provided with a third electric telescopic rod (17), one end of the third electric telescopic rod (17) is provided with an anti-skid block (18), the transmission case (3) is internally provided with a second motor (13), one end of the second motor (13) is fixed with a pinion (12), the utility model discloses a cleaning brush, including pinion (12), drive gear rack (14) have meshed on pinion (12), carousel (19) are installed to the one end of transmission machine case (3), install second connecting rod (16) on carousel (19), head rod (9) are installed to the one end of second connecting rod (16), first motor (11) are installed to the one end of head rod (9), install cleaning brush (10) on first motor (11).
2. The legged pipeline robot according to claim 1, characterized in that: the cleaning robot (2) is fixedly connected with the transmission case (3) through a connector (15).
3. The legged pipeline robot according to claim 1, characterized in that: the transmission case (3) is fixedly connected with the machine head (4) through a driving gear rack (14).
4. The legged pipeline robot according to claim 1, characterized in that: the second motor (13) is fixed on the inner part of the transmission case (3) through bolts, the pinion (12) is fixed on a rotating shaft of the second motor (13), and the pinion (12) is meshed and connected with the driving gear rack (14).
5. The legged pipeline robot according to claim 1, characterized in that: the turntable (19) is connected with a large gear through a connecting rod, the turntable (19) is meshed with a small gear (12) through the large gear, the second connecting rod (16) is fixed on the turntable (19) through a rotating shaft, and the first connecting rod (9) is fixedly connected with the second connecting rod (16) through the rotating shaft.
6. The legged pipeline robot according to claim 1, characterized in that: the cleaning brush is characterized in that the first motor (11) is fixed on the first connecting rod (9) through a bolt, and the cleaning brush (10) is fixedly connected with a rotating shaft of the first motor (11) through a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922347495.6U CN211707631U (en) | 2019-12-24 | 2019-12-24 | Foot-leg type pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922347495.6U CN211707631U (en) | 2019-12-24 | 2019-12-24 | Foot-leg type pipeline robot |
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| Publication Number | Publication Date |
|---|---|
| CN211707631U true CN211707631U (en) | 2020-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922347495.6U Active CN211707631U (en) | 2019-12-24 | 2019-12-24 | Foot-leg type pipeline robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112405279A (en) * | 2020-11-12 | 2021-02-26 | 常州嘉业智能装备科技有限公司 | Pipeline grinding type dredging mechanism |
| CN112495959A (en) * | 2020-12-17 | 2021-03-16 | 江西明生水泥有限公司 | Cleaning device for preventing scaling of cement conveying pipeline |
| CN112676281A (en) * | 2020-12-14 | 2021-04-20 | 马鞍山章鱼心网络科技服务有限公司 | Driving type bidirectional cleaning device for inner wall of pipeline |
| CN113770133A (en) * | 2021-09-18 | 2021-12-10 | 成都兴鹏远建筑安装工程有限公司 | Pipeline maintenance is with robot in pipeline and steering piece based on central air conditioning |
| CN113847822A (en) * | 2021-09-26 | 2021-12-28 | 上海铎点环保科技有限公司 | Full-automatic coke cleaning device for U-shaped furnace pipe of petrochemical manifold |
-
2019
- 2019-12-24 CN CN201922347495.6U patent/CN211707631U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112405279A (en) * | 2020-11-12 | 2021-02-26 | 常州嘉业智能装备科技有限公司 | Pipeline grinding type dredging mechanism |
| CN112676281A (en) * | 2020-12-14 | 2021-04-20 | 马鞍山章鱼心网络科技服务有限公司 | Driving type bidirectional cleaning device for inner wall of pipeline |
| CN112676281B (en) * | 2020-12-14 | 2022-09-13 | 马鞍山章鱼心网络科技服务有限公司 | Driving type bidirectional cleaning device for inner wall of pipeline |
| CN112495959A (en) * | 2020-12-17 | 2021-03-16 | 江西明生水泥有限公司 | Cleaning device for preventing scaling of cement conveying pipeline |
| CN113770133A (en) * | 2021-09-18 | 2021-12-10 | 成都兴鹏远建筑安装工程有限公司 | Pipeline maintenance is with robot in pipeline and steering piece based on central air conditioning |
| CN113847822A (en) * | 2021-09-26 | 2021-12-28 | 上海铎点环保科技有限公司 | Full-automatic coke cleaning device for U-shaped furnace pipe of petrochemical manifold |
| CN113847822B (en) * | 2021-09-26 | 2024-03-29 | 上海铎点环保科技有限公司 | Full-automatic coke cleaning device for U-shaped furnace pipe of petrochemical collecting pipe |
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Effective date of registration: 20211210 Address after: 518000 1201, building 1, cultural and Creative Industrial Park, Shenzhen radio, film and television group, No. 1, Qingqing Road, Qinghu community, Longhua street, Longhua District, Shenzhen, Guangdong Patentee after: Shenzhen Zimu Intelligent Equipment Co.,Ltd. Address before: 518000 silicon valley power, Guiyue Road, Zhangge community, Fucheng, Longhua New District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN QINGQINGZIMU TECHNOLOGY CO.,LTD. |