CN214368570U - Running gear of pipeline inspection robot - Google Patents
Running gear of pipeline inspection robot Download PDFInfo
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- CN214368570U CN214368570U CN202120112319.9U CN202120112319U CN214368570U CN 214368570 U CN214368570 U CN 214368570U CN 202120112319 U CN202120112319 U CN 202120112319U CN 214368570 U CN214368570 U CN 214368570U
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Abstract
The utility model discloses a walking device of a pipeline detection robot, belonging to the field of robot driving equipment, comprising a wheel axle and wheels; the top of wheel is equipped with the protection arc with the coaxial setting of wheel, the brush cleaner of blowing shower nozzle and with the contact of wheel upper portion towards the wheel is installed to the inner arc side of protection arc, install the pneumatic cylinder on the robot body, be equipped with the piston board that has the piston rod in the pneumatic cylinder, the outer end side of piston rod is connected with actuating mechanism, the input of pneumatic cylinder is connected with the breathing pipe, the output of pneumatic cylinder is connected with the outlet duct, all be equipped with the check valve on breathing pipe and the outlet duct, it supplies gas to be connected with the hose to blow between shower nozzle and the outlet duct. The utility model discloses debris and water on the wheel can in time be got rid of, prevent that the wheel from skidding because of the coefficient of friction reduces, and then be favorable to ensureing that pipeline inspection robot can normal use, avoid causing the difficulty for the detection achievement at scene because of the wheel skids, guarantee higher work efficiency.
Description
Technical Field
The utility model relates to a robot drive equipment field, specificly relate to a running gear of pipeline inspection robot.
Background
Along with the rapid development of urban construction, a large number of pipeline networks can be built, the calibers of the pipelines are different, after a certain service life, the condition of the pipelines needs to be detected, along with the technical progress, the pipeline robot is used for detecting on site at present, the existing pipeline detecting robot adopts a wheel type driving mechanism, when the pipeline detecting robot is used in the pipelines, water possibly exists on a walking surface of the pipelines, when the pipeline detecting robot walks on a channel road surface with the water, if patterns on wheels are filled with sundries and the water on the channel road surface is accumulated, the coefficient of friction is reduced, in the process of changing the speed change after the driving direction is changed, the wheels are slipped due to the action of inertia force and the reduction of the coefficient of friction, and water on the channel road surface can form an interlayer between the tires and the ground, so that the road surface gripping force is insufficient in the braking process, and the wheels are slipped, therefore, the pipeline detection robot cannot be used normally, difficulty is caused to field detection work, and efficiency is low.
SUMMERY OF THE UTILITY MODEL
1. Technical problem to be solved
The to-be-solved technical problem of the utility model is to provide a running gear of pipeline inspection robot, debris and water on its accessible time getting rid of wheel, there is sufficient frictional force between guarantee pipeline inspection robot and the road surface, prevent that the wheel from skidding because of the coefficient of friction reduces, and then be favorable to ensureing that pipeline inspection robot can normal use, avoid skidding because of the wheel and cause the difficulty for the detection work at scene, guarantee higher work efficiency.
2. Technical scheme
In order to solve the above problem, the utility model adopts the following technical scheme:
a walking device of a pipeline detection robot comprises a wheel shaft and wheels arranged on the wheel shaft; the pipeline detection robot is characterized in that a protective arc plate which is coaxial with the wheel is arranged above the wheel, the protective arc plate is arc-shaped, the opening of the protective arc plate is downward, an air blowing nozzle and a cleaning brush are installed on the inner arc side of the protective arc plate, a pneumatic cylinder is installed on the pipeline detection robot, a piston plate with a circumference completely attached to the inner side wall of the pneumatic cylinder is arranged in the pneumatic cylinder, a piston rod extending to the outer side of the pneumatic cylinder is fixed at the center of one end face of the piston plate, a driving mechanism is connected to the outer end side of the piston rod, an air suction pipe is connected to the input end of the pneumatic cylinder, an air outlet pipe is connected to the output end of the pneumatic cylinder, check valves are arranged on the air suction pipe and the air outlet pipe, an air feeding hose is connected between the air blowing nozzle and the air outlet pipe, and the output port of the air blowing nozzle faces the wheel; the cleaning brush is contacted with the upper part of the wheel.
Furthermore, the driving mechanism comprises a cam which is positioned at one side of the outer side end of the piston rod, which faces away from the pneumatic cylinder, a rotating shaft which is rotatably connected with the pipeline detection robot through a bearing is fixed on one end face of the cam, a chain transmission structure is connected between the rotating shaft and a wheel shaft, a fixing plate is fixed at the lower end of the piston rod, a spring connected to the pneumatic cylinder is fixed on the fixing plate, and the cam always abuts against the outer side end of the piston rod. The piston rod is acted by a downward acting force under the action of the elastic force of the spring, so that the lower end of the piston rod always props against the cam, when the cam moves from the large arc end to the small arc end, the piston rod drives the piston plate to move downwards, and the air suction of the pneumatic cylinder can be realized under the action of the one-way valve; when the cam moves from the small arc end to the large arc end, the piston rod drives the piston plate to move upwards, and the exhaust of the pneumatic cylinder can be realized by matching the action of the one-way valve, namely the design purpose of the driving mechanism is achieved.
Furthermore, the piston rod is vertically arranged, the lower end of the piston rod penetrates through the bottom surface of the pneumatic cylinder, the cam is arranged below the piston rod, the distance between the rotating shaft and the two wheel shafts is equal, the chain transmission structure comprises a first chain wheel fixedly sleeved on the wheel shafts, a second chain wheel fixedly sleeved on the rotating shaft and a transmission chain which jointly surrounds the first chain wheel and the second chain wheel, the first chain wheel is fixedly sleeved on the two wheel shafts, and the transmission chain is of a triangular structure. The pneumatic cylinder is located the central line of the axletree of both sides, and the axis of rotation all is connected with the axletree of both sides, and the driving chain is triangle-shaped for pipeline inspection robot overall structure is symmetrical, and the stationarity is better.
Furthermore, two air blowing nozzles which are respectively positioned at two sides of the wheel are arranged at the inner arc side of the protective arc plate, and the cleaning brush is positioned between the two air blowing nozzles; the pneumatic tire comprises a pneumatic cylinder, air suction pipes, air outlet pipes, air blowing nozzles and pipe joints, wherein the air suction pipes are connected to the upper ends of the pneumatic cylinder, facing the two sides of a wheel, are connected with the air outlet pipes, each air outlet pipe is connected with two air feeding hoses which are connected with the air blowing nozzles on the corresponding side in a one-to-one correspondence mode, and the output ends of the air outlet pipes are connected with the pipe joints connected with the two air feeding hoses. The air outlet pipes are respectively arranged aiming at the air outlet blowing nozzles at the two sides, so that the air supply hoses can be conveniently arranged and connected, and the air supply hoses can be conveniently and respectively managed.
Furthermore, the outer side of the transmission chain is fixed with a touch floor at equal intervals along the length direction of the transmission chain, and the lower end of the touch floor at the bottom of the transmission chain is flush with the bottom of the wheel. In the walking process of the pipeline detection robot, the lower end of the floor, which is positioned at the bottom of the transmission chain, can also abut against the ground, so that the friction force between the pipeline detection robot and the road surface can be increased, and the anti-slip capacity of the device can be enhanced.
Furthermore, a vibrator for driving the cleaning brush to vibrate is fixed on one side of the protection arc-shaped plate, and a mounting groove for embedding and vibrating the cleaning brush is formed in the inner arc side of the protection arc-shaped plate. The vibrator can drive the cleaning brush to vibrate, and the vibrating cleaning brush can achieve a better cleaning effect on the wheels; the mounting groove can satisfy the installation and the vibration demand of brush cleaner.
3. Advantageous effects
(1) The utility model discloses a setting of pneumatic cylinder, air supply hose and blowing shower nozzle, in the walking process of pipeline inspection robot, the pneumatic cylinder can be bled under the drive of the actuating mechanism who links with the wheel axle, and blow gas to the wheel through air supply hose and blowing shower nozzle, and along with the continuous rotation of wheel, the pneumatic cylinder carries out reciprocating type and bleeds and exhausts, carries out reciprocal blowing work to the wheel; get rid of debris and water on the wheel, prevent that coefficient of friction on the wheel reduces and skids, can ensure that pipeline inspection robot can normal use.
(2) The utility model discloses a setting of brush cleaner, at pipeline inspection robot's walking in-process, the wheel rotates, and the brush cleaner is fixed basically for the brush cleaner can carry out comprehensive cleaning to wheel week side and handle, can further get rid of debris and water on the wheel, prevents that the coefficient of friction on the wheel reduces and skids, can ensure pipeline inspection robot ability normal use.
(3) The utility model discloses an actuating mechanism is including the driving chain that is the triangle-shaped structure, and the outside of driving chain is fixed with along its length direction equidistant and touches the floor, the lower extreme that touches the floor that is located the driving chain bottom and the bottom parallel and level of wheel, at pipeline inspection robot walking in-process, the lower extreme that touches the floor that is located the driving chain bottom also can conflict ground, thereby can increase the frictional force between this device and the road surface, can strengthen the anti-skidding ability of this device, can further ensure pipeline inspection robot ability normal use, avoid causing the difficulty for the detection work at scene because of the wheel skids, guarantee higher work efficiency.
To sum up, the utility model discloses can in time get rid of debris and water on the wheel, there is sufficient frictional force between guarantee pipeline inspection robot and the road surface, prevent that the wheel from skidding because of coefficient of friction reduces, and then be favorable to ensureing that pipeline inspection robot can normal use, avoid skidding because of the wheel and cause the difficulty for the detection work at scene, guarantee higher work efficiency.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic view of the internal structure of the pneumatic cylinder 4;
FIG. 3 is a schematic structural view of the pneumatic cylinder 4 and the driving mechanism 3;
fig. 4 is a schematic structural view of the drive chain 20 and its related structure in embodiment 2;
fig. 5 is a schematic structural view of a sweeper brush 11 and its related structure in embodiment 2.
Reference numerals: 1. a wheel; 2. a protective arc plate; 3. a drive mechanism; 4. a pneumatic cylinder; 5. an air outlet pipe; 6. an air intake duct; 7. a one-way valve; 8. a pipe joint; 9. a piston rod; 10. an air supply hose; 11. cleaning with a brush; 12. a blowing nozzle; 13. a piston plate; 14. a wheel shaft; 15. a rotating shaft; 16. a cam; 17. a spring; 18. a fixing plate; 19. a second sprocket; 20. a drive chain; 21. a first sprocket; 22. touching the floor; 23. a vibrator; 24. and (4) mounting the groove.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
A walking device of a pipeline inspection robot as shown in fig. 1, comprising a wheel axle 14 and wheels 1 mounted on the wheel axle 14; the pipeline inspection robot is characterized in that a protective arc plate 2 which is coaxial with the wheel 1 is arranged above the wheel 1, the protective arc plate 2 is arc-shaped with a downward opening, an air blowing nozzle 12 and a cleaning brush 11 are arranged on the inner arc side of the protective arc plate 2, a pneumatic cylinder 4 is arranged on the pipeline inspection robot, as shown in fig. 2, a piston plate 13 with a circumference completely attached to the inner side wall of the pneumatic cylinder 4 is arranged in the pneumatic cylinder 4, a piston rod 9 extending to the outer side of the pneumatic cylinder 4 is fixed at the center of one end face of the piston plate 13, a driving mechanism 3 is connected to the outer end side of the piston rod 9, an input end of the pneumatic cylinder 4 is connected with an air suction pipe 6, an output end of the pneumatic cylinder 4 is connected with an air outlet pipe 5, an air supply hose 10 is connected between the air blowing nozzle 12 and the air outlet pipe 5, a one-way valve 7 communicated towards the pneumatic cylinder 4 is arranged on the air suction pipe 6, a one-way valve 7 communicated towards the air supply hose 10 is arranged on the air outlet pipe 5, the output port of the blowing nozzle 12 faces the wheel 1; the cleaning brush 11 is contacted with the upper part of the wheel 1;
as shown in fig. 3, the driving mechanism 3 includes a cam 16 located at the side of the outer end of the piston rod 9 facing away from the pneumatic cylinder 4, a rotating shaft 15 rotatably connected to the pipeline inspection robot through a bearing is fixed on one end surface of the cam 16, a chain transmission structure is connected between the rotating shaft 15 and the wheel axle 14, a fixing plate 18 is fixed at the lower end of the piston rod 9, a spring 17 connected to the pneumatic cylinder 4 is fixed on the fixing plate 18, and the cam 16 always abuts against the outer end of the piston rod 9. The piston rod 9 is acted by a downward acting force under the action of the elastic force of the spring 17, so that the lower end of the piston rod 9 always props against the cam 16, when the cam 16 moves from the large arc end to the small arc end, the piston rod 9 drives the piston plate 13 to move downwards, and the air suction of the pneumatic cylinder 4 can be realized under the action of the one-way valve 7; when the cam 16 moves from the small arc end to the large arc end, the piston rod 9 drives the piston plate 13 to move upwards, and the exhaust of the pneumatic cylinder 4 can be realized by matching the action of the one-way valve 7, namely the design purpose of the driving mechanism 3 is achieved;
as shown in fig. 3, the piston rod 9 is vertically disposed, the lower end of the piston rod 9 penetrates through the bottom surface of the pneumatic cylinder 4, the cam 16 is disposed below the piston rod 9, the distance between the rotating shaft 15 and the two wheel shafts 14 is equal, the chain transmission structure includes a first chain wheel 21 fixedly sleeved on the wheel shafts 14, a second chain wheel 19 fixedly sleeved on the rotating shaft 15, and a transmission chain 20 commonly encircling the first chain wheel 21 and the second chain wheel 19, the first chain wheel 21 is fixedly sleeved on each of the two wheel shafts 14, and the transmission chain 20 is in a triangular structure. The pneumatic cylinder 4 is positioned on the central line of the wheel shafts 14 on the two sides, the rotating shaft 15 is connected with the wheel shafts 14 on the two sides, and the transmission chain 20 is triangular, so that the pipeline detection robot is symmetrical in overall structure and good in stability;
as shown in fig. 1, two air blowing nozzles 12 respectively located at two sides of the wheel 1 are installed at the inner arc side of the protection arc-shaped plate 2, and the sweeper brush 11 is located between the two air blowing nozzles 12; the air suction pipe 6 is connected to the upper end of the pneumatic cylinder 4, the upper ends of the two sides of the pneumatic cylinder 4 facing the wheel 1 are connected with air outlet pipes 5, each air outlet pipe 5 is connected with two air supply hoses 10 which are connected with air blowing nozzles 12 on the corresponding side in a one-to-one correspondence mode, and the output end of each air outlet pipe 5 is connected with a pipe joint 8 connected with the two air supply hoses 10. The air outlet pipes 5 are respectively arranged for the air outlet blowing nozzles 12 at the two sides, so that the air supply hoses 10 can be conveniently arranged and connected, and the management is convenient.
The specific application process of the walking device of the pipeline detection robot is as follows:
in the walking process of the pipeline detection robot, when the wheel 1 rotates, the wheel shaft 14 drives the first chain wheel 21 to rotate, and drives the second chain wheel 19 to rotate through the transmission chain 20, the rotating shaft 15 rotates along with the rotating shaft, the cam 16 is driven to rotate, the lower end of the piston rod 9 is enabled to always abut against the cam 16 under the action of the elastic force of the spring 17, the piston rod 9 drives the piston plate 13 to move downwards and upwards once when the cam 16 rotates for one circle, and when the piston plate 13 moves downwards, the air is pumped by the pneumatic cylinder 4 through the air suction pipe 6 under the action of the limiting action of the one-way valve 7; when the piston plate 13 rises, the air is exhausted by the pneumatic cylinder 4 through the air outlet pipe 5 by the limiting action of the one-way valve 7. The discharged gas is transmitted to each air blowing nozzle 12 through the air supply hose 10, and finally the gas is blown to the wheel 1 through the air blowing nozzles 12 to blow sundries and water on the wheel 1, and the cam 16 is driven to rotate continuously along with the continuous rotation of the wheel 1, so that the pneumatic cylinder 4 can be driven to perform reciprocating air suction and exhaust to perform reciprocating air blowing work on the wheel 1; meanwhile, when the wheel 1 passes through the cleaning brush 11, the cleaning brush 11 can clean the wheel 1, so that sundries and water on the wheel 1 can be further removed, the friction coefficient on the wheel 1 is prevented from being reduced and slipping is prevented, the pipeline inspection robot can be ensured to be normally used, the difficulty in field inspection due to the slipping of the wheel 1 is avoided, and the higher working efficiency is ensured.
Example 2
The present embodiment is different from embodiment 1 in that:
in the present embodiment, as shown in fig. 4, the outer side of the driving chain 20 is fixed with ground contact plates 22 at equal intervals along the length direction thereof, and the lower end of the ground contact plate 22 at the bottom of the driving chain 20 is flush with the bottom of the wheel 1. In the walking process of the pipeline detection robot, the lower end of the grounding plate 22 positioned at the bottom of the transmission chain 20 can also abut against the ground, so that the friction force between the pipeline detection robot and the road surface can be increased, and the anti-slip capacity of the device can be enhanced.
In this embodiment, as shown in fig. 5, a vibrator 23 for driving the cleaning brush 11 to vibrate is fixed on one side of the protection arc-shaped plate 2, and an installation groove 24 for the cleaning brush 11 to be embedded and vibrate is opened on the inner arc side of the protection arc-shaped plate 2. The vibrator 23 can drive the cleaning brush 11 to vibrate, and the vibrating cleaning brush 11 can achieve a better cleaning effect on the wheel 1; the mounting slot 24 may accommodate mounting and vibration requirements of the sweeper brush 11.
Otherwise, the same procedure as in example 1 was repeated.
According to the above, the utility model discloses debris and water on the wheel can in time be got rid of, there is sufficient frictional force between guarantee pipeline inspection robot and the road surface, prevent that the wheel from skidding because of coefficient of friction reduces, and then be favorable to ensureing that pipeline inspection robot can normal use, avoid causing the difficulty for on-the-spot detection achievement because of the wheel skids, guarantee higher work efficiency.
It will be appreciated by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as limitations of the present invention, and that changes and modifications to the above described embodiments will fall within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (6)
1. A walking device of a pipeline detection robot comprises a wheel shaft (14) and wheels (1) arranged on the wheel shaft (14); the device is characterized in that a protection arc plate (2) which is coaxial with the wheel (1) is arranged above the wheel (1), the protection arc plate (2) is arc-shaped with a downward opening, an air blowing nozzle (12) and a cleaning brush (11) are arranged on the inner arc side of the protection arc plate (2), a pneumatic cylinder (4) is arranged on the pipeline detection robot, a piston plate (13) with a circumference completely attached to the inner side wall of the pneumatic cylinder (4) is arranged in the pneumatic cylinder (4), a piston rod (9) extending to the outer side of the pneumatic cylinder (4) is fixed at the center of one end face of the piston plate (13), a driving mechanism (3) is connected to the outer end side of the piston rod (9), the input end of the pneumatic cylinder (4) is connected with an air suction pipe (6), the output end of the pneumatic cylinder (4) is connected with an air outlet pipe (5), check valves (7) are arranged on the air suction pipe (6) and the air outlet pipe (5), an air supply hose (10) is connected between the air blowing nozzle (12) and the air outlet pipe (5), and the output port of the air blowing nozzle (12) faces the wheel (1); the cleaning brush (11) is in contact with the upper part of the wheel (1).
2. The walking device of the pipeline inspection robot according to claim 1, wherein the driving mechanism (3) comprises a cam (16) located at one side of the outer end of the piston rod (9) facing away from the pneumatic cylinder (4), a rotating shaft (15) rotatably connected with the pipeline inspection robot through a bearing is fixed on one end surface of the cam (16), a chain transmission structure is connected between the rotating shaft (15) and the wheel shaft (14), a fixing plate (18) is fixed at the lower end of the piston rod (9), a spring (17) connected to the pneumatic cylinder (4) is fixed on the fixing plate (18), and the cam (16) always abuts against the outer end of the piston rod (9).
3. The walking device of the pipeline inspection robot as claimed in claim 2, wherein the piston rod (9) is vertically disposed, the lower end of the piston rod (9) penetrates through the bottom surface of the pneumatic cylinder (4), the cam (16) is disposed below the piston rod (9), the distance between the rotating shaft (15) and the two wheel axles (14) is equal, the chain transmission structure comprises a first chain wheel (21) fixedly sleeved on the wheel axles (14), a second chain wheel (19) fixedly sleeved on the rotating shaft (15), and a transmission chain (20) jointly encircling the first chain wheel (21) and the second chain wheel (19), the two wheel axles (14) are fixedly sleeved with the first chain wheel (21), and the transmission chain (20) is in a triangular structure.
4. The walking device of the pipeline inspection robot according to claim 3, wherein the inner arc side of the protection arc plate (2) is provided with two air blowing nozzles (12) respectively positioned at two sides of the wheel (1), and the cleaning brush (11) is positioned between the two air blowing nozzles (12); the utility model discloses a pneumatic tire, including pneumatic cylinder (1), breathing pipe (6), pneumatic cylinder (4) are connected in the upper end of pneumatic cylinder (4), the upper end of pneumatic cylinder (4) both sides towards wheel (1) all is connected with outlet duct (5), every outlet duct (5) all are connected with two and the blowing shower nozzle (12) one-to-one of corresponding side is connected feed air hose (10), and the output of outlet duct (5) is connected with coupling (8) of being connected with two feed air hose (10).
5. The walking device of the pipeline inspection robot as claimed in claim 3, wherein the outer side of the transmission chain (20) is fixed with a touch floor (22) at equal intervals along the length direction, and the lower end of the touch floor (22) at the bottom of the transmission chain (20) is flush with the bottom of the wheel (1).
6. The walking device of the pipeline inspection robot according to any one of claims 1 to 5, wherein a vibrator (23) for driving the cleaning brush (11) to vibrate is fixed on one side of the protection arc-shaped plate (2), and an installation groove (24) for the cleaning brush (11) to be embedded and vibrate is formed in the inner arc side of the protection arc-shaped plate (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120112319.9U CN214368570U (en) | 2021-01-15 | 2021-01-15 | Running gear of pipeline inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120112319.9U CN214368570U (en) | 2021-01-15 | 2021-01-15 | Running gear of pipeline inspection robot |
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| CN214368570U true CN214368570U (en) | 2021-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120112319.9U Active CN214368570U (en) | 2021-01-15 | 2021-01-15 | Running gear of pipeline inspection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115013635A (en) * | 2022-06-17 | 2022-09-06 | 浙江管迈环境科技有限公司 | Cleaning structure for pipeline detection robot and cleaning method thereof |
| CN117516478A (en) * | 2024-01-05 | 2024-02-06 | 山东省地质矿产勘查开发局第八地质大队(山东省第八地质矿产勘查院) | Road gradient measuring device for building engineering |
-
2021
- 2021-01-15 CN CN202120112319.9U patent/CN214368570U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115013635A (en) * | 2022-06-17 | 2022-09-06 | 浙江管迈环境科技有限公司 | Cleaning structure for pipeline detection robot and cleaning method thereof |
| CN117516478A (en) * | 2024-01-05 | 2024-02-06 | 山东省地质矿产勘查开发局第八地质大队(山东省第八地质矿产勘查院) | Road gradient measuring device for building engineering |
| CN117516478B (en) * | 2024-01-05 | 2024-04-02 | 山东省地质矿产勘查开发局第八地质大队(山东省第八地质矿产勘查院) | Road gradient measuring device for building engineering |
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