CN211993010U - Climbing mechanism for comprehensive pipeline inspection robot - Google Patents
Climbing mechanism for comprehensive pipeline inspection robot Download PDFInfo
- Publication number
- CN211993010U CN211993010U CN202020359421.4U CN202020359421U CN211993010U CN 211993010 U CN211993010 U CN 211993010U CN 202020359421 U CN202020359421 U CN 202020359421U CN 211993010 U CN211993010 U CN 211993010U
- Authority
- CN
- China
- Prior art keywords
- arc
- frame
- walking
- plate
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 119
- 230000009194 climbing Effects 0.000 title claims abstract description 25
- 238000007689 inspection Methods 0.000 title claims abstract description 18
- 238000009434 installation Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000002194 synthesizing effect Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 239000011120 plywood Substances 0.000 claims 3
- 238000005096 rolling process Methods 0.000 claims 3
- 230000002093 peripheral effect Effects 0.000 claims 1
- 230000008859 change Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 206010066054 Dysmorphism Diseases 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
A climbing mechanism for a comprehensive pipeline inspection robot comprises a main walking mechanism and an auxiliary walking mechanism; the main running gear includes from the top down fixed connection's main platform, link and loop configuration's walking frame in proper order, the top of walking frame is semicircular arc frame I, the below is the arc frame II of fourth arc, and motor drive's walking wheel is installed to the inboard of arc frame I, two auxiliary wheels that parallel are installed to the inboard of arc frame II, auxiliary running gear includes two card pipe mechanisms, the utility model discloses a climbing mechanism can break away from the track and rely on the pipeline independently to walk, patrols and examines the robot for comprehensive pipeline and provides the structural support.
Description
Technical Field
The utility model relates to a technical field of robot is patrolled and examined to the pipeline, in particular to a climbing mechanism for synthesizing robot is patrolled and examined to pipeline.
Background
With the development of the construction of urban underground spaces, the management of underground spaces and the development of urban infrastructure, urban pipelines are a very effective method for solving the problems. The development and the start of pipelines in China are relatively late, at present, the underground construction of cities is still in the planning, design and construction stages of development and utilization, and the management and operation of the underground comprehensive pipelines after the construction are particularly in a lagged way by using an information control detection method. With the lapse of time, the service life of the pipeline is gradually shortened, so that the phenomena of aging, corrosion damage and deformation of the pipeline inevitably occur, and the urban drainage system is inevitably influenced greatly. Along with the construction of underground pipe gallery internal environment, the intraductal environment is more and more complicated, lets the workman go down the testing and maintenance, and not only work efficiency is low, and the complex environment in the pipe gallery also can bring danger for the workman. Therefore, it is necessary to design a robot for detecting the internal conditions of a pipeline, and in the face of a complex comprehensive pipeline, the robot must have a reasonable moving structure to smoothly move, avoid obstacles, change directions and replace the pipeline on the pipeline.
A plurality of patents of pipeline inspection robots have been applied in China, and in the patent with the application number of 201810771047.6, the walking structure of the pipeline inspection robot is tightly matched with a T-shaped steel rail to keep the walking stability. In addition, a guide rail is buried under the body of another robot having a patent application No. 201820684058.6, and the robot detects temperature, humidity, and harmful gas along the predetermined guide rail. In the two patents, the robot needs to complete the operation along the guide rail, but the laying of the guide rail inevitably increases the cost and also has certain influence on the maintenance of the guide rail in the future.
The utility model discloses a utility model with publication number CN108216519A discloses a towards wheeled moving mechanism of offshore oil field well head platform jacket, this mechanism can break away from the track autonomous movement, but this mechanism is limited only to the removal and the diversion at same continuous pipeline and junction, nevertheless to complicated comprehensive pipeline (parallel, unsettled alternately, fracture), the transform pipeline walking that this moving mechanism can not be free.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a climbing mechanism for synthesizing pipeline inspection robot.
The technical scheme of the utility model is that: a climbing mechanism for a comprehensive pipeline inspection robot comprises a main walking mechanism and an auxiliary walking mechanism;
the main walking mechanism comprises a main platform, a connecting frame and a walking frame with an annular structure, wherein the main platform, the connecting frame and the walking frame are fixedly connected from top to bottom in sequence;
the two arc-shaped frames II are respectively hinged with the arc-shaped frame I through hinges, the cylinder body of the electric cylinder is hinged with the connecting frame, the telescopic rod is hinged with the arc-shaped frame II, the inner sides of the arc-shaped frames I are provided with walking wheels driven by a motor, and the inner sides of the arc-shaped frames II are provided with two parallel auxiliary wheels;
the auxiliary walking mechanism comprises two pipe clamping mechanisms, the two pipe clamping mechanisms are connected to two sides of the main platform through swing arms respectively, each pipe clamping mechanism comprises a pipe clamping platform, a cantilever and a clamping jaw, two ball screw structures which are parallel along the length direction are arranged on the pipe clamping platform, the two ball screw structures on the pipe clamping platform are collinear, the clamping jaws are connected to one end of the cantilever and the ball nuts and the other ends of the ball screw structures, and the two clamping jaws on the pipe clamping platform are arranged oppositely.
Preferably, the swing arm includes platform connecting plate, one-level swing board, second grade swing board, T shape frame, first steering wheel and second steering wheel, the one end and the main platform of platform connecting plate are connected, the first steering wheel of other end installation, the one end of one-level swing board is connected with the power shaft of first steering wheel, the second steering wheel of other end installation, the one end of second grade swing board is connected with the power shaft of second steering wheel, the riser of T shape frame is connected to the other end, the diaphragm and the card pipe platform of T shape frame are connected.
Preferably, supplementary running gear still includes at least one mechanism that turns round, the mechanism that turns round includes the motor that turns round, driving pulley, turns round, driven pulleys and drive belt, the motor that turns round is fixed on the main platform, the power shaft that turns round the motor passes the main platform and is connected with driving pulley, it also passes the main platform and supports through the bearing to fall the pivot, the one end and the platform connecting plate fixed connection, the other end that fall the pivot are connected with driven pulleys, driving pulley with connect the drive belt between the driven pulleys, the drive belt is fixed on driving pulley and driven pulleys global with the screw respectively.
Preferably, at least one pipe clamping mechanism further comprises a torsion mechanism, the torsion mechanism comprises a Z-shaped frame, a torsion motor, a driving gear, a half-body gear, a rotating disc and a guide block, the Z-shaped frame comprises a lower plate and an upper plate which are connected through a vertical connecting plate, the lower part of the lower plate is fixedly connected with a transverse plate of the T-shaped frame, the upper part of the lower plate is fixedly connected with the guide block, the lower part of the upper plate is connected with the torsion motor, a power shaft of the torsion motor penetrates through the upper plate upwards, the end part of the power shaft is connected with the driving gear, the rotating disc matched with the guide block is further arranged above the lower plate, the half-body gear meshed with the driving gear is fixed above the rotating disc, and the pipe clamping platform is connected above the half-.
Preferably, the jack catch includes dysmorphism mount pad and interdigital cardboard, dysmorphism mount pad includes seat main part and the cardboard connecting plate of body coupling, one side and cantilever fixed connection, the opposite side of seat main part are two cardboard connecting plates that lean out, the cardboard connecting plate with interdigital cardboard fixed connection.
Preferably, the wheel shaft of walking wheel supports on the walking backup pad of both sides, the walking backup pad is fixed on arc frame I and the outside with fix wedge an organic whole at arc frame I and be connected, one of them the wedge lower surface is fixed with the walking motor, the power shaft of walking motor with the wheel shaft of walking wheel passes through gear pair and connects.
Preferably, the auxiliary wheel is installed on the auxiliary support frame of door-shaped structure, the top of auxiliary support frame is equipped with the connecting axle, arc frame II is equipped with the screw thread through-hole, the tip of connecting axle is equipped with the threaded rod of screw in screw thread through-hole, be connected with two fastening nuts who hugs closely II medial surfaces of arc frame on the threaded rod.
Preferably, the walking wheel is located the central line of arc frame I, the auxiliary wheel is located the central line of arc frame II, one the tip of arc frame II is equipped with the arc locating lever, another the tip of arc frame II is equipped with the location slot that matches with the arc locating lever.
Preferably, the upper end of the rotating disc is provided with an outwards extending installation edge, the lower end of the rotating disc is provided with a downwards protruding arc-shaped convex edge, the side face of the rotating disc is provided with a conical groove, the installation edge is fixedly connected with the half-body gear, the guide block comprises a flat plate and an arc plate which are integrally connected and perpendicular to each other, the flat plate is fixedly connected with the lower plate of the Z-shaped frame, the inner side of the arc plate is provided with a conical protrusion matched with the conical groove, and the joint of the arc plate and the flat plate is provided with an arc-shaped groove matched with the arc-shaped convex edge.
Preferably, the rotating disc and the half-body gears are both of a semicircular structure, and the centers of the rotating disc and the half-body gears are both provided with a cavity.
The utility model has the advantages that:
the utility model discloses a climbing mechanism can break away from the track and rely on the pipeline independently to walk, patrols and examines the robot for synthesizing the pipeline and provides structural support.
The utility model discloses a climbing mechanism not only can keep away barrier, diversion, change pipeline through supplementary running gear through main running gear still, and the underground comprehensive pipe of being applied to that can be fine patrols and examines.
The utility model provides a torsion mechanism with fall to change main running gear's direction with the structure of changeing, the swing arm can make and mutually support between two card pipe mechanisms and the main running gear, mutually support between torsion mechanism transfer dish and the guide block and can rotate relatively, the cooperation between the protruding edge of arc and the arc slot can restrict the transfer dish again and break away from the guide block moreover.
Drawings
Fig. 1 is one of the schematic front view structures of the present invention;
fig. 2 is a second schematic view of the front view structure of the present invention;
FIG. 3 is one of the top views of FIG. 1;
FIG. 4 is a second top view of FIG. 1;
FIG. 5 is a side view of the main travel mechanism;
FIG. 6 is an enlarged view of a portion of FIG. 1;
FIG. 7 is a schematic front view of the tube clamping mechanism;
FIG. 8 is a schematic top view of the tube gripping mechanism;
FIG. 9 is a schematic top view of the special-shaped mounting seat;
FIG. 10 is a cross-sectional view A-A of FIG. 9;
FIG. 11 is a front view of the torsion mechanism;
FIG. 12 is a bottom view of the rotatable disk and the half-gears connected together;
FIG. 13 is a left side view of the structure of FIG. 12;
FIG. 14 is a schematic top view of the guide block;
FIG. 15 is a front view of the guide block;
FIG. 16 is a sectional view of the rotating disk, the half-body gear and the guide block connected in sequence;
in the figure: 1. the device comprises a main platform, 1-1. a rotation-dropping motor, 1-2. a driving belt wheel, 1-3. a rotation-dropping shaft, 1-4. a driven belt wheel, 1-5. a transmission belt, 2. a connecting frame, 3. an arc frame I, 3-1. a travelling wheel, 3-2. a travelling support plate, 3-3. a wedge-shaped block, 3-4. a travelling motor, 4. an arc frame II, 4-1. a threaded through hole, 4-2. an auxiliary wheel, 4-3. an auxiliary support frame, 4-4. a connecting shaft, 4-41. a threaded rod, 4-5. a fastening nut, 5. an electric cylinder, 6. a swinging mechanical arm, 6-1. a platform connecting plate, 6-2. a primary swinging plate, 6-3. a secondary swinging plate, 6-4. a T-shaped frame, 6-5. a first steering engine, 6-4. a, 6-6 parts of a second steering engine, 7 parts of a torsion mechanism, 7-1 parts of a Z-shaped frame, 7-11 parts of a lower layer plate, 7-12 parts of an upper layer plate, 7-2 parts of a torsion motor, 7-3 parts of a driving gear, 7-4 parts of a half gear, 7-5 parts of a rotating disc, 7-51 parts of a mounting edge, 7-52 parts of a tapered groove, 7-53 parts of an arc-shaped convex edge, 7-6 parts of a guide block, 7-61 parts of a flat plate, 7-62 parts of an arc-shaped plate, 7-63 parts of a tapered bulge, 7-64 parts of an arc-shaped groove, 8 parts of a pipe clamping mechanism, 8-1 parts of a pipe clamping platform, 8-2 parts of a cantilever, 8-3 parts of a special-shaped mounting seat, 8-31 parts of a seat main body, 8-32 parts of a clamping plate.
Detailed Description
The specific implementation mode of the utility model is shown in the figures 1-16:
a climbing mechanism for a comprehensive pipeline inspection robot is shown in figures 1-5 and 7-10 and comprises a main walking mechanism and an auxiliary walking mechanism;
the main walking mechanism comprises a main platform 1, a connecting frame 2 and a walking frame with an annular structure, wherein the main platform 1, the connecting frame 2 and the walking frame are fixedly connected from top to bottom in sequence, the upper part of the walking frame is a semicircular arc-shaped frame I3, the lower part of the walking frame is a quarter arc-shaped frame II 4, the lower part of the main platform 1 is connected with the connecting frame 2 with an arc-shaped structure, the lower part of the connecting frame 2 is an inwards concave arc surface and is fixedly connected with the arc-shaped frame I3, and two sides of the connecting frame 2 are respectively connected with the two arc-shaped frames II 4 through electric cylinders 5;
two arc frames II 4 are respectively hinged with an arc frame I3 through hinges, a cylinder body of an electric cylinder 5 is hinged with a connecting frame 2, a telescopic rod is hinged with the arc frame II 4, the inner side of the arc frame I3 is provided with a motor-driven travelling wheel 3-1, the inner side of the arc frame II 4 is provided with two parallel auxiliary wheels 4-2, wheel shafts of the travelling wheels 3-1 are supported on travelling support plates 3-2 at two sides, the travelling support plates 3-2 are fixed on the arc frame I3, the outer sides of the travelling support plates are integrally connected with wedge blocks 3-3 fixed on the arc frame I3, the lower surface of one wedge block 3-3 is fixed with a travelling motor 3-4, a power shaft of the travelling motor 3-4 is connected with the wheel shaft of the travelling wheel 3-1 through a gear pair, the auxiliary wheels 4-2 are arranged on an auxiliary support frame 4-3, the top of the auxiliary support frame 4-3 is provided with a connecting shaft 4-4, the arc-shaped frame II 4 is provided with a thread through hole 4-1, the end part of the connecting shaft 4-4 is provided with a threaded rod 4-41 screwed into the thread through hole 4-1, the threaded rod 4-41 is connected with two fastening nuts 4-5 tightly attached to the inner side surface of the arc-shaped frame II 4, a travelling wheel 3-1 is positioned on the central line of the arc-shaped frame I3, an auxiliary wheel 4-2 is positioned on the central line of the arc-shaped frame II 4, the end part of one arc-shaped frame II 4 is provided with an arc-shaped positioning rod, and the end part of the other arc;
the auxiliary travelling mechanism comprises two pipe clamping mechanisms 8, the two pipe clamping mechanisms 8 are respectively connected to two sides of the main platform 1 through swing arms 6, each pipe clamping mechanism 8 comprises a pipe clamping platform 8-1, a cantilever 8-2 and a clamping jaw, two ball screw structures which are parallel in the length direction are arranged on the pipe clamping platform 8-1, the two ball screw structures on the pipe clamping platform 8-1 are collinear, one end of the cantilever 8-2 is fixedly connected with a ball nut of the ball screw structure, the other end of the cantilever 8-2 is connected with the clamping jaw, and the two clamping jaws on the pipe clamping platform 8-1 are arranged oppositely; the swing arm 6 comprises a platform connecting plate 6-1, a primary swing plate 6-2, a secondary swing plate 6-3, a T-shaped frame 6-4, a first steering engine 6-5 and a second steering engine 6-6, one end of the platform connecting plate 6-1 is connected with the main platform 1, the other end of the platform connecting plate is provided with the first steering engine 6-5, one end of the primary swing plate 6-2 is connected with a power shaft of the first steering engine 6-5, the other end of the primary swing plate is provided with the second steering engine 6-6, one end of the secondary swing plate 6-3 is connected with the power shaft of the second steering engine 6-6, the other end of the secondary swing plate is connected with a vertical plate of the T-shaped frame, and a transverse plate of the T-; the clamping jaw comprises a special-shaped mounting seat 8-3 and an interdigital clamping plate 8-4, the special-shaped mounting seat 8-3 comprises a seat main body 8-31 and a clamping plate connecting plate 8-32 which are integrally connected, a threaded blind hole and a pin hole are formed in one side of the seat main body 8-31, when the seat main body 8-31 is connected with the cantilever 8-2, a pin is inserted into the pin hole after being screwed into the threaded blind hole through a screw, two clamping plate connecting plates 8-32 inclining outwards are arranged on the other side of the seat main body 8-31, the clamping plate connecting plates 8-32 are fixedly connected with the interdigital clamping plate 8-4, and the length of a pipe clamping platform 8-1 of the pipe clamping mechanism 8 can be changed according to.
Referring to fig. 1 and 6, the auxiliary walking mechanism of the present invention further comprises a rotation-dropping mechanism installed on the main platform 1, the rotation-dropping mechanism comprises a rotation-dropping motor 1-1, a driving pulley 1-2, a rotation-dropping shaft 1-3, a driven pulley 1-4 and a transmission belt 1-5, the rotation-dropping motor 1-1 is fixed on the main platform 1, the power shaft of the rotation-dropping motor 1-1 passes through the main platform 1 and is connected with the driving pulley 1-2, the rotation-dropping shaft 1-3 also passes through the main platform 1 and is supported by a bearing, one end of the rotation-dropping shaft 1-3 is fixedly connected with a platform connecting plate 6-1 corresponding to the swing arm 6, the other end is connected with the driven pulley 1-4, the transmission belt 1-5 is connected between the driving pulley 1-2 and the driven pulley 1-4, the transmission belt 1-5 is respectively fixed on the circumferential surfaces of the driving pulley 1-2 and the driven pulley, the turning-down mechanism can turn down the main walking mechanism and the other pipe clamping mechanism 8 when the corresponding pipe clamping mechanism 8 clamps the pipeline.
The two turning mechanisms can also be arranged, and the two pipe clamping mechanisms 8 can realize the turning of the main walking mechanism.
As shown in figures 1 and 11-16, the pipe clamping mechanism 8 connected with the rotation-dropping mechanism in the utility model also comprises a torsion mechanism 7, the torsion mechanism 7 comprises a Z-shaped frame 7-1, a torsion motor 7-2, a driving gear 7-3, a half-body gear 7-4, a rotating disc 7-5 and a guide block 7-6, the Z-shaped frame 7-1 comprises a lower plate 7-11 and an upper plate 7-12 which are connected through a vertical connecting plate, the lower part of the lower plate 7-11 is fixedly connected with a transverse plate of the T-shaped frame, the upper part is fixedly connected with the guide block 7-6, the lower part of the upper plate 7-12 is connected with the torsion motor 7-2, the power shaft of the torsion motor 7-2 upwards passes through the upper plate 7-12 and is connected with the driving gear 7-3 at the end part, the rotating disc 7-5 matched with the guide block 7-6 is arranged above the lower plate 7-11, a half gear 7-4 meshed with the driving gear 7-3 is fixed above the rotating disc 7-5, a pipe clamping platform 8-1 is connected above the half gear 7-4, an outward extending installation edge 7-51 is arranged at the upper end of the rotating disc 7-5, a downward protruding arc convex edge 7-53 is arranged at the lower end of the rotating disc 7-5, a tapered groove 7-52 is arranged on the side surface of the rotating disc 7-5, the installation edge 7-51 is fixedly connected with the half gear 7-4, the guide block 7-6 comprises a flat plate 7-61 and an arc plate 7-62 which are integrally connected and mutually perpendicular, the flat plate 7-61 is fixedly connected with a lower plate 7-11 of the Z-shaped frame 7-1, a tapered protrusion 7-63 matched with the tapered groove 7-52 is arranged on the inner side of the arc plate 7-62, the connection part of the arc-shaped plate 7-62 and the flat plate 7-61 is provided with an arc-shaped groove 7-64 matched with the arc-shaped convex edge 7-53, the rotating disc 7-5 and the half-body gear 7-4 are both in a semicircular structure, and the centers of the rotating disc 7-5 and the half-body gear 7-4 are both provided with a cavity.
The utility model discloses a theory of operation does:
when the climbing mechanism walks along a pipeline, the pipeline is clamped by an arc-shaped frame I3 and an arc-shaped frame II 4 of the main walking mechanism, and the climbing mechanism walks along the pipeline by a walking wheel 3-1 and an auxiliary wheel 4-2; when meeting flange, barrier or the department of buckling, will block pipe mechanism 8 and rotate downwards through swing arm 6, make the jack catch block the pipeline, then open arc frame II 4 through electric jar 5, two block pipe mechanisms 8 utilize swing arm 6 alternative work to creep, utilize two block pipe mechanisms 8 to make main running gear cross barrier or the department of buckling, resume again and continue the walking.
When the pipeline fracture and the tail end of the pipeline are met, the main walking mechanism cannot pass through, and the two pipe clamping mechanisms 8 are also utilized to pass through; if the fracture is small, the working process is the same as that of crossing the obstacle, the clamping jaws clamp the pipeline, then the arc-shaped frame II 4 is opened through the electric cylinder 5, the two pipe clamping mechanisms 8 alternately work by utilizing the swing arm 6 to crawl, the main walking mechanism crosses the fracture by utilizing the two pipe clamping mechanisms 8, and then the main walking mechanism is reset to continue walking; if the fracture is large or the working range of the two pipe clamping mechanisms 8 is insufficient when the pipeline reaches the tail end of the pipeline, the pipe clamping mechanisms 8 are twisted by a certain angle through the twisting mechanism 7, the clamping jaws of the two pipe clamping mechanisms 8 clamp the adjacent pipelines which are not on the same horizontal plane, the two pipe clamping mechanisms 8 crawl by alternately working through the swing arms 6, the stroke of the ball screw structure can be long, the clamping jaws of the two pipe clamping mechanisms 8 are cheap towards one side, the clamping jaws clamp the adjacent pipelines which are on the same horizontal plane, and then the two pipe clamping mechanisms 8 crawl by alternately working through the swing arms 6.
If meet the pipeline that intersects perpendicularly or intersect with certain angle and when needing to be changed the pipeline, block the pipeline before the change, after the change with two card pipe mechanism 8 respectively, then utilize electric jar 5 to open arc frame II 4, two card pipe mechanism 8 utilize 6 alternate work of swing arm to crawl, can pass through the junction smoothly like this.
If vertical but non-intersecting pipelines which are crossed at a certain angle but not intersected are met, one pipe clamping mechanism 8 clamps the original pipeline, the arc-shaped frame II 4 is opened by the electric cylinder 5, then the other pipe clamping mechanism 8 is rotated by a corresponding angle by the turning-off mechanism, then the other pipeline is clamped downwards or upwards by the pipe clamping mechanism 8 by the swing arm 6, then the rotating angle of the turning-off mechanism is continuously adjusted, and meanwhile, the two pipe clamping mechanisms 8 alternately work by the swing arm 6 to crawl until the other pipeline is completely reached.
If an obstacle is arranged on one side, which is parallel to the two pipelines and faces back, of the climbing mechanism, the state of the climbing mechanism is as shown in figure 1, the main walking mechanism cannot be used, the climbing mechanism is moved between the two pipelines, the two pipe clamping mechanisms 8 are respectively clamped on the two pipelines, and the two pipe clamping mechanisms 8 alternately work by utilizing the swing arms 6 to climb; when the distance between the two pipelines is small, one pipe clamping mechanism 8 is rotated by an angle by using the turning mechanism 7, so that the distance between the clamping jaws of the two pipe clamping mechanisms 8 is reduced.
The preferred embodiments of the present invention are described in detail with reference to the accompanying drawings, wherein the connection of the components is realized by adopting a known and common connection mode, such as welding, riveting, screwing, etc.; it should be noted that the present invention is not limited to the above-described embodiments. In conclusion, any modification, equivalent substitution, improvement and the like made within the spirit and principle of the present invention should be covered within the technical scope of the claimed invention as long as the technical scope of the present invention is possessed by a person of ordinary skill in the art.
Claims (10)
1. The utility model provides a climbing mechanism for synthesizing pipeline inspection robot which characterized in that: comprises a main walking mechanism and an auxiliary walking mechanism;
the main walking mechanism comprises a main platform, a connecting frame and a walking frame with an annular structure, wherein the main platform, the connecting frame and the walking frame are fixedly connected from top to bottom in sequence;
the two arc-shaped frames II are respectively hinged with the arc-shaped frame I through hinges, the cylinder body of the electric cylinder is hinged with the connecting frame, the telescopic rod is hinged with the arc-shaped frame II, the inner sides of the arc-shaped frames I are provided with walking wheels driven by a motor, and the inner sides of the arc-shaped frames II are provided with two parallel auxiliary wheels;
the auxiliary walking mechanism comprises two pipe clamping mechanisms, the two pipe clamping mechanisms are connected to two sides of the main platform through swing arms respectively, each pipe clamping mechanism comprises a pipe clamping platform, a cantilever and a clamping jaw, two ball screw structures which are parallel in the length direction are arranged on the pipe clamping platform, the clamping jaws are connected to one end of the cantilever and the ball nuts and the other end of the ball screw structures, and the two clamping jaws on the pipe clamping platform are arranged oppositely.
2. The climbing mechanism for the integrated pipeline inspection robot according to claim 1, characterized in that: the swing arm comprises a platform connecting plate, a first-stage swing plate, a second-stage swing plate, a T-shaped frame, a first steering engine and a second steering engine, wherein one end of the platform connecting plate is connected with the main platform, the other end of the platform connecting plate is provided with the first steering engine, one end of the first-stage swing plate is connected with a power shaft of the first steering engine, the other end of the first-stage swing plate is provided with the second steering engine, one end of the second-stage swing plate is connected with the power shaft of the second steering engine, the other end of the second-stage swing plate is connected with a vertical plate of.
3. The climbing mechanism for the integrated pipeline inspection robot according to claim 2, characterized in that: the auxiliary walking mechanism further comprises at least one turning mechanism, the turning mechanism comprises a turning motor, a driving pulley, a turning shaft, a driven pulley and a transmission belt, the turning motor is fixed on the main platform, a power shaft of the turning motor penetrates through the main platform and is connected with the driving pulley, the turning shaft also penetrates through the main platform and is supported by a bearing, one end of the turning shaft is fixedly connected with a platform connecting plate, the other end of the turning shaft is connected with the driven pulley, the driving pulley is connected with the driven pulley through the transmission belt, and the transmission belt is fixed on the peripheral surfaces of the driving pulley and the driven pulley through screws.
4. The climbing mechanism for the integrated pipeline inspection robot according to claim 3, wherein: at least one card pipe mechanism still includes torsion mechanism, torsion mechanism includes Z shape frame, torsion motor, drive gear, halfbody gear, rolling disc and guide block, the Z shape frame includes lower plywood and the upper plate that connects through vertical even board, the below and the diaphragm fixed connection of T type frame of lower plywood, the top and the guide block fixed connection, the torsion motor is connected to the below of upper plate, the power shaft of torsion motor upwards passes upper plate and end connection drive gear, the top of lower plywood still is equipped with the rolling disc with guide block complex, the top of rolling disc is fixed with the halfbody gear with drive gear meshing, the card pipe platform is connected to the top of halfbody gear.
5. The climbing mechanism for the integrated pipeline inspection robot according to claim 4, wherein: the jack catch includes special-shaped mount pad and interdigital cardboard, special-shaped mount pad includes a body coupling's seat main part and cardboard connecting plate, one side of seat main part and cantilever fixed connection, opposite side are two cardboard connecting plates that lean out, the cardboard connecting plate with interdigital cardboard fixed connection.
6. The climbing mechanism for the integrated pipeline inspection robot according to any one of claims 1 to 5, wherein: the wheel shaft of walking wheel supports on the walking backup pad of both sides, the walking backup pad is fixed on arc frame I and the outside and fix wedge an organic whole at arc frame I and be connected, one of them wedge lower surface is fixed with the walking motor, the power shaft of walking motor with the wheel shaft of walking wheel passes through gear pair and connects.
7. The climbing mechanism for the integrated pipeline inspection robot according to claim 6, wherein: the auxiliary wheel is installed on the auxiliary support frame of door-shaped structure, the top of auxiliary support frame is equipped with the connecting axle, arc frame II is equipped with the screw thread through-hole, the tip of connecting axle is equipped with the threaded rod of screw in screw thread through-hole, be connected with two fastening nuts who hugs closely II medial surfaces of arc frame on the threaded rod.
8. The climbing mechanism for the integrated pipeline inspection robot according to claim 7, wherein: the walking wheel is located on the central line of the arc-shaped frame I, the auxiliary wheel is located on the central line of the arc-shaped frame II, one end portion of the arc-shaped frame II is provided with an arc-shaped positioning rod, and the other end portion of the arc-shaped frame II is provided with a positioning slot matched with the arc-shaped positioning rod.
9. The climbing mechanism for the integrated pipeline inspection robot according to claim 4, wherein: the upper end of the rotating disc is provided with an outwards extending installation edge, the lower end of the rotating disc is provided with a downward protruding arc convex edge, the side face of the rotating disc is provided with a conical groove, the installation edge is fixedly connected with the half-body gear, the guide block comprises a flat plate and an arc plate which are integrally connected and perpendicular to each other, the flat plate is fixedly connected with the lower plate of the Z-shaped frame, the inner side of the arc plate is provided with a conical protrusion matched with the conical groove, and the joint of the arc plate and the flat plate is provided with an arc groove matched with the arc convex edge.
10. The climbing mechanism for the integrated pipeline inspection robot according to claim 9, wherein: the rotating disc and the half-body gears are of semicircular structures, and cavities are formed in the centers of the rotating disc and the half-body gears.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020359421.4U CN211993010U (en) | 2020-03-20 | 2020-03-20 | Climbing mechanism for comprehensive pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020359421.4U CN211993010U (en) | 2020-03-20 | 2020-03-20 | Climbing mechanism for comprehensive pipeline inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211993010U true CN211993010U (en) | 2020-11-24 |
Family
ID=73430234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020359421.4U Withdrawn - After Issue CN211993010U (en) | 2020-03-20 | 2020-03-20 | Climbing mechanism for comprehensive pipeline inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211993010U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152241A (en) * | 2020-03-20 | 2020-05-15 | 郑州轻工业大学 | Climbing mechanism for comprehensive pipeline inspection robot |
| CN113400266A (en) * | 2021-06-22 | 2021-09-17 | 中国长江电力股份有限公司 | Lifting and translating device for maintenance of water lifting pipe and operation method thereof |
-
2020
- 2020-03-20 CN CN202020359421.4U patent/CN211993010U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152241A (en) * | 2020-03-20 | 2020-05-15 | 郑州轻工业大学 | Climbing mechanism for comprehensive pipeline inspection robot |
| CN111152241B (en) * | 2020-03-20 | 2024-05-28 | 郑州轻工业大学 | Climbing mechanism for comprehensive pipeline inspection robot |
| CN113400266A (en) * | 2021-06-22 | 2021-09-17 | 中国长江电力股份有限公司 | Lifting and translating device for maintenance of water lifting pipe and operation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111152241A (en) | Climbing mechanism for comprehensive pipeline inspection robot | |
| CN211993010U (en) | Climbing mechanism for comprehensive pipeline inspection robot | |
| CN104674655B (en) | A kind of cable climbing robot | |
| CN105084218A (en) | Pipeline construction straddle carrier and straddling method | |
| CN105317005A (en) | Inspection trolley for bridge upper chord | |
| CN201850506U (en) | Lower chord checking mechanism for steel truss bridge | |
| CN114715303A (en) | Pipe pole inspection robot with climbing and obstacle crossing functions | |
| CN110842900A (en) | Pipeline robot inspection system and method | |
| CN1515484A (en) | H-wheel turning device | |
| CN214405170U (en) | Novel pipeline intelligence shutoff robot universal connection that can suspend device | |
| CN203947413U (en) | A kind of bridge top chord check car | |
| CN105970870A (en) | Road waterlogging disposing trolley for municipal engineering | |
| CN115013614B (en) | Construction process of pipeline and pipeline | |
| CN201817778U (en) | Rotary track structure, rotary device with same and rotary wheel group structure | |
| CN215146364U (en) | Welding fixture for steel structure | |
| CN115673624A (en) | Annular movement mechanism for welding main arch connecting section of large-span arch bridge | |
| CN103498559A (en) | Splicing movable bridge frame of steel structure industrial factory building and construction method for applying splicing movable bridge frame to roof construction | |
| CN109722987B (en) | Free positioning intelligent beam bottom inspection maintenance vehicle | |
| CN207111747U (en) | The attachment means of the multiple rows of linkage of photovoltaic tracking system | |
| CN218114803U (en) | Modular steel wire rope electric hoist | |
| CN112046342A (en) | Wrist arm mounting device | |
| CN215674263U (en) | Reducing pipeline robot | |
| CN205932968U (en) | Steel construction guide rail is used in driving of bearing workshop | |
| CN213622998U (en) | Steel corrugated culvert pipe hoisting equipment | |
| CN209798526U (en) | Self-propelled suspension operation platform for large-span continuous steel truss cable-stayed bridge cantilever erection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20201124 Effective date of abandoning: 20240528 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20201124 Effective date of abandoning: 20240528 |