CN214947349U - Robot for walking on inner wall of pipeline - Google Patents
Robot for walking on inner wall of pipeline Download PDFInfo
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- CN214947349U CN214947349U CN202120708992.9U CN202120708992U CN214947349U CN 214947349 U CN214947349 U CN 214947349U CN 202120708992 U CN202120708992 U CN 202120708992U CN 214947349 U CN214947349 U CN 214947349U
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- 238000005452 bending Methods 0.000 description 2
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- 238000012423 maintenance Methods 0.000 description 2
- 239000007789 gas Substances 0.000 description 1
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Abstract
A pipeline inner wall walking robot comprises a front support walking component, a rear support walking component and a walking drive executing component; the front/rear supporting and walking assembly comprises a base frame, supporting legs, rollers, a supporting and adjusting steering engine and a triangular cam; the support adjusting steering engine is fixedly arranged on the base frame, and the triangular cam is coaxially and fixedly arranged on a driving shaft of the steering engine; the three support legs are uniformly distributed along the circumferential direction of the triangular cam; the supporting leg comprises an outer support rod and an inner support rod, a guide sleeve is sleeved on the outer support rod, and the guide sleeve is fixedly connected with the base frame; the inner end of the outer supporting rod is in abutting contact with the triangular cam, a spring is sleeved on the outer supporting rod, and two ends of the spring are respectively connected with the guide sleeve and the outer supporting rod; the rod body of the inner strut part is inserted in the hollow outer strut, and a positioning locking screw is arranged between the inner strut and the outer strut; the outer surface of the inner support rod is provided with scale marks; the outermost end of the inner support rod is provided with a roller; the walking driving executing assembly comprises a front/rear walking executing steering engine and a front/rear swinging rod, and driving shafts of the front/rear walking executing steering engine are in transmission connection through the front/rear swinging rod which is hinged.
Description
Technical Field
The utility model belongs to the technical field of pipeline robot, especially, relate to a pipeline inner wall walking robot.
Background
Along with the rapid development of the society, the application of various pipelines in production and life is also more and more extensive, and when the pipeline is put into use, some faults can inevitably appear, in the past, the pipeline is mostly detected and maintained by maintainers, so that the efficiency is low, and some gases harmful to human bodies are usually generated in the pipeline, and the maintainers work in the pipeline for a long time, and inevitably can bring certain harm to the health.
For this reason, more and more robots capable of replacing manual work in pipelines have been developed, but in view of the whole, these developed robots have more or less some limitations, for example, some robots have a complicated structure and are difficult to maintain although they have perfect functions, some robots are of a special type although they can be used in pipelines, and each robot can only be used for pipelines with one pipe diameter, and in addition, these developed robots can only be used for horizontal and gently inclined pipelines generally, and cannot be used for steep pipelines and vertical pipelines.
SUMMERY OF THE UTILITY MODEL
Problem to prior art existence, the utility model provides a pipeline inner wall walking robot, simple structure and easy maintenance can adapt to the pipeline of different pipe diameters to can use in steep pipe and perpendicular pipeline.
In order to achieve the above purpose, the utility model adopts the following technical scheme: a pipeline inner wall walking robot comprises a front supporting walking assembly, a rear supporting walking assembly and a walking driving execution assembly; the front supporting walking assembly and the rear supporting walking assembly have the same structure and respectively comprise a base frame, supporting legs, rollers, a supporting and adjusting steering engine and a triangular cam; the support adjusting steering engine is fixedly arranged on the base frame, and the triangular cam is coaxially and fixedly arranged on a driving shaft of the support adjusting steering engine; the number of the supporting legs is three, and the three supporting legs are uniformly distributed along the circumferential direction of the triangular cam; the supporting legs adopt a two-stage telescopic structure and comprise outer supporting rods and inner supporting rods, guide sleeves are sleeved on the outer supporting rods, the outer supporting rods have axial movement freedom degrees relative to the guide sleeves, and the guide sleeves are fixedly connected to the base frame; the inner end of the outer supporting rod is of a spherical structure, the inner end of the outer supporting rod is in abutting contact fit with the triangular cam, a spring is sleeved on the outer supporting rod between the triangular cam and the guide sleeve, one end of the spring is fixedly connected to the guide sleeve, and the other end of the spring is fixedly connected to the outer supporting rod; the outer supporting rod adopts a hollow structure, part of rod bodies of the inner supporting rod are inserted into a central hole of the outer supporting rod, and a positioning locking screw is arranged between the inner supporting rod and the outer supporting rod; scale marks are arranged on the outer surface of the rod body of the inner support rod; the roller is arranged at the outermost end of the inner support rod; the walking driving executing assembly is positioned between the base frame of the front supporting walking assembly and the base frame of the rear supporting walking assembly.
The walking driving executing assembly comprises a front walking executing steering engine, a rear walking executing steering engine, a front swing rod and a rear swing rod; the front walking execution steering engine is fixedly arranged on a base frame of the front supporting walking component; the rear walking execution steering engine is fixedly arranged on a base frame of the rear support walking assembly; the front end of the rod body of the front swing rod is fixedly connected with a driving shaft of the front walking execution steering engine, the rear end of the rod body of the front swing rod is hinged with the front end of the rod body of the rear swing rod, and the rear end of the rod body of the rear swing rod is fixedly connected with the driving shaft of the rear walking execution steering engine.
The utility model has the advantages that:
the utility model discloses a pipeline inner wall walking robot, simple structure and easy maintenance can adapt to the pipeline of different pipe diameters to can use in steep pipe and perpendicular pipeline.
Drawings
Fig. 1 is a perspective view of a robot for walking on the inner wall of a pipeline according to the present invention;
fig. 2 is a front view of a robot for walking on the inner wall of a pipeline according to the present invention;
fig. 3 is a top view of the robot for walking on the inner wall of the pipeline according to the present invention;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 2;
in the figure, the walking mechanism comprises a base frame 1, a support leg 2, an outer support rod 21, an inner support rod 22, a guide sleeve 23, a spring 24, a positioning locking screw 25, a scale mark 26, a scale mark 3, a roller 4, a supporting and adjusting steering engine, a triangular cam 5, a front walking executing steering engine 6, a rear walking executing steering engine 7, a front swing rod 8 and a rear swing rod 9.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 4, a robot for walking on the inner wall of a pipeline comprises a front supporting walking assembly, a rear supporting walking assembly and a walking driving execution assembly; the front supporting walking assembly and the rear supporting walking assembly are identical in structure and respectively comprise a base frame 1, supporting legs 2, rollers 3, a supporting and adjusting steering engine 4 and a triangular cam 5; the support adjusting steering engine 4 is fixedly arranged on the base frame 1, and the triangular cam 5 is coaxially and fixedly arranged on a driving shaft of the support adjusting steering engine 4; the number of the supporting legs 2 is three, and the three supporting legs 2 are uniformly distributed along the circumferential direction of the triangular cam 5; the supporting legs 2 adopt a two-stage telescopic structure and comprise outer supporting rods 21 and inner supporting rods 22, guide sleeves 23 are sleeved on the outer supporting rods 21, the outer supporting rods 21 have axial movement freedom degrees relative to the guide sleeves 23, and the guide sleeves 23 are fixedly connected to the base frame 1; the inner end of the outer supporting rod 21 is of a spherical structure, the inner end of the outer supporting rod 21 is in abutting contact fit with the triangular cam 5, a spring 24 is sleeved on the outer supporting rod 21 between the triangular cam 5 and the guide sleeve 23, one end of the spring 24 is fixedly connected to the guide sleeve 23, and the other end of the spring 24 is fixedly connected to the outer supporting rod 21; the outer supporting rod 21 adopts a hollow structure, part of rod bodies of the inner supporting rod 22 are inserted into a central hole of the outer supporting rod 21, and a positioning locking screw 25 is arranged between the inner supporting rod 22 and the outer supporting rod 21; the outer surface of the rod body of the inner support rod 2 is provided with scale marks 26; the roller 3 is arranged at the outermost end of the inner support rod 22; the walking driving executing assembly is positioned between the base frame 1 of the front supporting walking assembly and the base frame 1 of the rear supporting walking assembly.
The walking driving executing assembly comprises a front walking executing steering engine 6, a rear walking executing steering engine 7, a front swing rod 8 and a rear swing rod 9; the front walking execution steering engine 6 is fixedly arranged on the base frame 1 of the front supporting walking component; the rear walking execution steering engine 7 is fixedly arranged on the base frame 1 of the rear support walking component; the front end of the front swing rod 8 is fixedly connected with the driving shaft of the front walking execution steering engine 6, the rear end of the front swing rod 8 is hinged with the front end of the rear swing rod 9, and the rear end of the rear swing rod 9 is fixedly connected with the driving shaft of the rear walking execution steering engine 7.
The utility model is described with the following drawings in the process of one-time use:
firstly, the lengths of all the supporting legs 2 are adjusted according to the actual pipe diameter of the pipeline, firstly, the positioning locking screws 25 are loosened, the limit between the inner support rod 22 and the outer support rod 21 is released, then, the elongation of the inner support rod 22 is adjusted according to the scale graduation lines 26, the lengths of the supporting legs 2 are matched with the pipe diameter of the pipeline, and finally, the positioning locking screws 25 are screwed, and the limit between the inner support rod 22 and the outer support rod 21 is recovered.
The robot is sent into a pipeline needing operation, a supporting adjusting steering engine 4 of the rear supporting walking assembly is started firstly, a triangular cam 5 of the rear supporting walking assembly is driven to rotate, the inner end of an outer supporting rod 21 slides to a peak top section of the triangular cam 5 from a peak valley section of the triangular cam 5 through the rotating motion of the triangular cam 5, three supporting legs 2 of the rear supporting walking assembly are driven to move towards the circumferential side along a guide sleeve 23 until rollers 3 at the outermost ends of the supporting legs 2 tightly support the inner wall of the pipeline, and the rear supporting walking assembly and the inner wall of the pipeline are clamped and fixed at the moment.
After back support running assembly and pipeline inner wall are in the chucking fixed state, support running assembly's support before starting and adjust steering wheel 4 to support running assembly's triangular cam 5 is rotatory before the drive, make outer branch 21 the inner by the crest section of triangular cam 5 cunning to the crest valley section of triangular cam 5, under the spring force effect of spring 24, three landing legs 2 that support running assembly before the drive move to the centre of a circle side along guide sleeve 23, three landing legs 2 that guarantee to support running assembly before do not produce the radial top supporting force to the pipeline inner wall.
After the supporting state of the current supporting walking assembly is adjusted, the steering engine 7 is executed after walking is started, the rear swing rod 9 is driven to rotate anticlockwise until a straight state is achieved between the rear swing rod 9 and the front swing rod 8, and the whole forward moving step of the front supporting walking assembly can be driven in the process of changing the rear swing rod 9 and the front swing rod 8 into the straight state.
After supporting walking assembly's a step of forward movement at present, support walking assembly's support before starting and adjust steering wheel 4, it is rotatory to support walking assembly's triangular cam 5 before the drive, through triangular cam 5's rotary motion, make outer branch 21 the inner peak valley section by triangular cam 5 to the peak top section of triangular cam 5, and then three landing legs 2 that support walking assembly before the drive move to the circumference along guide sleeve 23, 3 tight pipeline inner walls in top of the gyro wheel of 2 outermost ends of landing leg, it is fixed with the pipeline inner wall realization chucking of preceding walking assembly this moment.
Support running component at present with the pipeline inner wall be in the chucking fixed state after, support running component's support after the start and adjust steering wheel 4, it is rotatory to support running component's triangular cam 5 after the drive, make outer branch 21 the inner peak top section by triangular cam 5 slide to the peak valley section of triangular cam 5, under the spring force effect of spring 24, three landing legs 2 that support running component after the drive move to centre of a circle side along guide sleeve 23, support running component's three landing legs 2 no longer produce the radial top supporting force to the pipeline inner wall after until.
After the supporting state of the rear supporting walking assembly is adjusted, the front walking execution steering engine 6 is started to drive the front swing rod 8 to rotate anticlockwise, the bending state is recovered from the straight state between the front swing rod 8 and the rear swing rod 9, and the bending state is changed between the front swing rod 8 and the rear swing rod 9, so that the rear supporting walking assembly is driven to move forwards by one step distance.
The robot can continuously move in the pipeline by repeating the moving process, and because the front supporting walking assembly and the rear supporting walking assembly are always in the state of alternately jacking the inner wall of the pipeline in each stepping process, the robot can easily complete stepping movement even if facing the steep inclined pipeline and the vertical pipeline.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (2)
1. The utility model provides a pipeline inner wall walking robot which characterized in that: comprises a front supporting walking component, a rear supporting walking component and a walking driving executing component; the front supporting walking assembly and the rear supporting walking assembly have the same structure and respectively comprise a base frame, supporting legs, rollers, a supporting and adjusting steering engine and a triangular cam; the support adjusting steering engine is fixedly arranged on the base frame, and the triangular cam is coaxially and fixedly arranged on a driving shaft of the support adjusting steering engine; the number of the supporting legs is three, and the three supporting legs are uniformly distributed along the circumferential direction of the triangular cam; the supporting legs adopt a two-stage telescopic structure and comprise outer supporting rods and inner supporting rods, guide sleeves are sleeved on the outer supporting rods, the outer supporting rods have axial movement freedom degrees relative to the guide sleeves, and the guide sleeves are fixedly connected to the base frame; the inner end of the outer supporting rod is of a spherical structure, the inner end of the outer supporting rod is in abutting contact fit with the triangular cam, a spring is sleeved on the outer supporting rod between the triangular cam and the guide sleeve, one end of the spring is fixedly connected to the guide sleeve, and the other end of the spring is fixedly connected to the outer supporting rod; the outer supporting rod adopts a hollow structure, part of rod bodies of the inner supporting rod are inserted into a central hole of the outer supporting rod, and a positioning locking screw is arranged between the inner supporting rod and the outer supporting rod; scale marks are arranged on the outer surface of the rod body of the inner support rod; the roller is arranged at the outermost end of the inner support rod; the walking driving executing assembly is positioned between the base frame of the front supporting walking assembly and the base frame of the rear supporting walking assembly.
2. The pipeline inner wall walking robot according to claim 1, characterized in that: the walking driving executing assembly comprises a front walking executing steering engine, a rear walking executing steering engine, a front swing rod and a rear swing rod; the front walking execution steering engine is fixedly arranged on a base frame of the front supporting walking component; the rear walking execution steering engine is fixedly arranged on a base frame of the rear support walking assembly; the front end of the rod body of the front swing rod is fixedly connected with a driving shaft of the front walking execution steering engine, the rear end of the rod body of the front swing rod is hinged with the front end of the rod body of the rear swing rod, and the rear end of the rod body of the rear swing rod is fixedly connected with the driving shaft of the rear walking execution steering engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120708992.9U CN214947349U (en) | 2021-04-07 | 2021-04-07 | Robot for walking on inner wall of pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120708992.9U CN214947349U (en) | 2021-04-07 | 2021-04-07 | Robot for walking on inner wall of pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214947349U true CN214947349U (en) | 2021-11-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120708992.9U Expired - Fee Related CN214947349U (en) | 2021-04-07 | 2021-04-07 | Robot for walking on inner wall of pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214947349U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114484140A (en) * | 2022-01-24 | 2022-05-13 | 黄帅 | Shock attenuation resistance to compression type cement tubular column |
| CN115126962A (en) * | 2022-06-13 | 2022-09-30 | 燕山大学 | Bionic unpowered pipeline robot and control method |
-
2021
- 2021-04-07 CN CN202120708992.9U patent/CN214947349U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114484140A (en) * | 2022-01-24 | 2022-05-13 | 黄帅 | Shock attenuation resistance to compression type cement tubular column |
| CN115126962A (en) * | 2022-06-13 | 2022-09-30 | 燕山大学 | Bionic unpowered pipeline robot and control method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211130 |