CN215432231U

CN215432231U - Bidirectional winding displacement structure and pipeline robot

Info

Publication number: CN215432231U
Application number: CN202121326144.8U
Authority: CN
Inventors: 冯消冰; 魏然; 潘百蛙; 陈永
Original assignee: Beijing Bo Tsing Technology Co Ltd
Current assignee: Beijing Bo Tsing Technology Co Ltd
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2022-01-07
Anticipated expiration: 2031-06-15

Abstract

The utility model relates to the technical field of robots and discloses a bidirectional cable arrangement structure and a pipeline robot. This two-way winding displacement structure sets up two current collection subassemblies through the advancing direction interval along car main part, and two sets of equipment assembly link to each other with the current collection subassembly that corresponds through interconnecting link respectively, and the cable that links to each other with current collection subassembly is collected in the opposite side of car main part to the realization is at the two-way wiring of car main part, and the wiring mode is more reasonable, makes the operation of car main part more steady.

Description

Bidirectional winding displacement structure and pipeline robot

Technical Field

The utility model relates to the technical field of robots, in particular to a bidirectional cable arranging structure and a pipeline robot.

Background

The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer.

Generally, be provided with the removal module in pipeline robot's the car main part, the tip of removal module is provided with two sets of laser assembly, be provided with a current collection subassembly in the car main part, in order to dodge the removal module, current collection subassembly sets up the front end or the rear end in the car main part usually, the power supply line or the signal line of the consumer in two sets of laser assembly and the car main part all link to each other with current collection subassembly, this wiring mode makes arranging of circuit unreasonable, it is inhomogeneous to cause pipeline robot atress easily, it is not steady to operate in the operation process.

Therefore, it is desirable to design a cable routing structure and a pipeline robot, which can solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a bidirectional wire arranging structure and a pipeline robot, so that the pipeline robot is reasonable in wiring, uniform in stress and stable in operation.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a bidirectional cable arrangement structure which comprises two current collection assemblies arranged at intervals along the advancing direction of a vehicle main body, wherein two sets of equipment assemblies are arranged on one side of the vehicle main body and arranged at intervals along the advancing direction of the vehicle main body, the two sets of equipment assemblies are respectively connected with the corresponding current collection assemblies through connecting circuits, the current collection assemblies are connected with cables, and the cables connected with the two current collection assemblies are collected on the other side of the vehicle main body.

This two-way winding displacement structure sets up two current collection subassemblies through the advancing direction interval along car main part, and one side of car main part sets up two sets of equipment assembly, and two sets of equipment assembly set up along the advancing direction interval of car main part, and two sets of equipment assembly link to each other with the current collection subassembly that corresponds through interconnecting link respectively, and the cable that links to each other with current collection subassembly is collected in the opposite side of car main part to realize the two-way wiring in the car main part, the wiring mode is more reasonable, makes the operation of car main part more steady.

As a preferable scheme of the above bidirectional cable arrangement structure, a support pipeline is arranged between the device assembly and the current collecting assembly, the support pipeline is movably arranged on the vehicle main body, and the connection line is arranged in the support pipeline in a penetrating manner and connected with the current collecting assembly and the device assembly.

Be provided with the support pipeline between equipment component and the current collection subassembly, the support pipeline is used for playing the supporting role to equipment component, wears to locate in the support pipeline with the interconnecting link that current collection subassembly and equipment component link to each other moreover, avoids interconnecting link to leak outward, and the outward appearance is pleasing to the eye.

As a preferable mode of the above-described bidirectional flat cable structure, the two current collecting assemblies are symmetrically arranged with respect to a center line perpendicular to a traveling direction of the vehicle main body.

Two current collection subassemblies are around the central line symmetry setting of the advancing direction of perpendicular to car main part to make the circuit at the front and back both ends of car main part arrange evenly, increase the stationarity of car main part.

As a preferable mode of the above bidirectional cable arrangement structure, the cable is detachably connected to the collector assembly.

The cable can be dismantled with the current collection subassembly and be connected to the cable dismouting of being convenient for.

As a preferable scheme of the above bidirectional cable arrangement structure, the current collecting assembly is provided with a plug socket, the cable is provided with a plug connector, and the plug connector is in plug-in fit with the plug socket.

The current collection assembly is provided with a plug socket, the cable is provided with a plug connector, and the plug connector is in plug fit with the plug socket and is convenient to detach.

As a preferable scheme of the above bidirectional cable arrangement structure, each of the current collecting assemblies is provided with a plurality of the sockets.

All be provided with a plurality of sockets on every current collection subassembly for all can connect many cables on every current collection subassembly, in order to satisfy operation requirement.

As a preferable aspect of the above-mentioned bidirectional flat cable structure, the bidirectional flat cable structure further includes:

and the cable clamp is arranged on the other side of the vehicle main body, and the cable clamp connected with the two current collecting assemblies is arranged on the cable clamp.

The cable clamp is located to the cable clamp that sets up that the cable pressed from both sides can link to each other with two current collection subassemblies, avoids rocking of cable to lead to the cable to break away from current collection subassembly.

the support frame, the support frame set up in the opposite side of car main part, the cable presss from both sides to be set up in on the support frame.

The support frame is used for supporting the cable clamp, and the cable clamp is convenient to mount.

As a preferable solution of the above bidirectional cable arrangement structure, the cable clamp includes at least two clamping spaces stacked from top to bottom, and the cable can be correspondingly clamped in the clamping spaces.

The cable clamp comprises at least two clamping spaces which are overlapped from top to bottom, and the cable can be correspondingly clamped in the clamping spaces so as to be clamped conveniently; and can select suitable centre gripping space to carry out the centre gripping according to the position of arranging of cable.

The utility model also provides a pipeline robot, which comprises a frame and two groups of equipment components arranged on one side of the frame, wherein the two groups of equipment components are arranged at intervals along the advancing direction of the vehicle main body, and the pipeline robot also comprises a bidirectional cable arrangement structure arranged on the vehicle main body.

The pipeline robot has the advantages that the wire arrangement is reasonable through the bidirectional wire arrangement structure, and the operation stability of the pipeline robot is enhanced; and the appearance is beautiful.

The utility model has the beneficial effects that:

according to the bidirectional cable arrangement structure, the two current collecting assemblies are arranged at intervals along the advancing direction of the vehicle main body, the two sets of equipment assemblies are arranged on one side of the vehicle main body and arranged at intervals along the advancing direction of the vehicle main body, the two sets of equipment assemblies are respectively connected with the corresponding current collecting assemblies through the connecting circuits, and cables connected with the current collecting assemblies are collected on the other side of the vehicle main body, so that bidirectional wiring on the vehicle main body is realized, the wiring mode is more reasonable, and the operation of the vehicle main body is more stable.

According to the pipeline robot provided by the utility model, the wire arrangement is reasonable through the bidirectional wire arrangement structure, and the operation stability of the pipeline robot is enhanced; and the appearance is beautiful.

Drawings

FIG. 1 is a schematic diagram of a pipeline robot provided by the present invention;

FIG. 2 is a schematic structural diagram II of the pipeline robot provided by the present invention;

FIG. 3 is a schematic diagram III of the structure of the pipeline robot provided by the present invention;

FIG. 4 is a first schematic structural view of a cable clamp according to the present invention;

fig. 5 is a schematic structural diagram of a cable clamp according to the present invention.

In the figure:

100. a vehicle main body; 200. a bidirectional cable arrangement structure; 300. an equipment component; 400. a clamping assembly; 500. a carrying handle;

1. a current collecting assembly;

2. a cable; 21. a plug-in connector;

3. supporting the pipeline; 31. a first pipe section; 32. a second pipe section; 33. a third pipe section;

4. a cable clamp; 41. a first wire clamp; 42. a second wire clamp; 421. a first card slot; 43. a first clamping space; 44. a first locking member; 441. a lock lever; 442. a lock head; 45. a third wire clamp; 451. a second card slot; 46. a second clamping space; 47. a second locking member;

5. a support frame.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1 to 3, the embodiment provides a pipeline robot, which includes a vehicle body 100, a moving module disposed on the vehicle body 100, and a welding gun holding assembly 400 and an equipment assembly 300 disposed at an output end of the moving module, wherein the welding gun holding assembly 400 and the equipment assembly 300 are disposed at one side of the vehicle body 100, and the moving module drives the welding gun holding assembly 400 and the equipment assembly 300 to move along a transverse direction of the vehicle body 100. The torch clamping assembly 400 is used to clamp a welding torch and the equipment assembly 300 is a laser tracking assembly used to track a weld. The laser tracking assemblies are arranged in two groups, the two groups of equipment assemblies 300 are arranged at intervals and symmetrically along the advancing direction of the vehicle body 100, the welding gun clamping assembly 400 is arranged between the two groups of laser tracking assemblies, and the two groups of laser tracking assemblies enable the pipeline robot to move forwards or backwards and can play a role in tracking a welding line.

Optionally, the bottom of the vehicle body 100 is provided with a wheel, preferably, the wheel is a magnetic wheel, and the wheel can be adsorbed on the surface to be welded through the magnetic wheel, so that the pipeline robot can weld the surface to be welded at different positions and at different angles.

Continuing to refer to fig. 1-3, the pipeline robot further includes a bidirectional winding displacement structure 200, the bidirectional winding displacement structure 200 is provided with two current collecting assemblies 1 at intervals along the advancing direction of the vehicle main body 100, in this embodiment, the two current collecting assemblies 1 are respectively arranged at the front end and the rear end of the vehicle main body 100, the two sets of equipment assemblies 300 are respectively connected with the corresponding current collecting assemblies 1 through connecting lines, the current collecting assemblies 1 are connected with cables 2, and the cables 2 connected with the two current collecting assemblies 1 are collected at the other side of the vehicle main body 100 to realize bidirectional wiring on the vehicle main body 100, the wiring mode is more reasonable, so that the operation of the vehicle main body 100 is more stable; and the appearance is beautiful. In this embodiment, the cables 2 connected to the two current collecting assemblies 1 are collected in the middle of the other side of the vehicle main body 100, so as to increase the running stability of the vehicle main body 100.

It should be noted that: the connection lines include power supply lines, communication lines, and the like. The cable 2 includes a power supply line, a communication line, and the like. The connection line in the vehicle main body 100 can be connected to the current collecting module 1.

Further, all be provided with support pipeline 3 between every group equipment component 300 and the current collection subassembly 1, support pipeline 3 and set up on car main part 1 through the removal module activity, two sets of support pipeline 3 symmetries set up, and interconnecting link wears to locate in supporting pipeline 3 to be connected with current collection subassembly 1 and equipment component 300. Support pipeline 3 is used for playing the supporting role to equipment component 300, supports the inside cavity structure that is of pipeline 3, wears to locate in supporting pipeline 3 with the interconnecting link that current collection subassembly 1 and equipment component 300 link to each other, avoids interconnecting link to leak outward, and the outward appearance is pleasing to the eye.

As shown in fig. 1, the supporting pipeline 3 includes a first pipeline section 31, a second pipeline section 32 and a third pipeline section 33 connected in sequence, the first pipeline section 31 and the third pipeline section 33 are arranged in parallel, the second pipeline section 32 is connected between the first pipeline section 31 and the third pipeline section 33, the second pipeline section 32 and the first pipeline section 31 and the third pipeline section 33 are arranged at an included angle, the first pipeline section 31 is connected with the moving module, the inside of the first pipeline section 31 is communicated with the inside of the current collecting assembly 1, the second pipeline section 32 extends towards a direction away from the central line of the vehicle main body 100 in a direction perpendicular to the traveling direction of the vehicle main body, and the laser tracking assembly is installed on the corresponding third pipeline section 33. The supporting pipeline 3 of this structure simple structure can play the supporting role to laser tracking subassembly, makes to have certain distance between laser tracking subassembly and the welder moreover, prevents to produce between laser tracking subassembly and the welder and interferes, and structural strength is stronger moreover.

Optionally, the current collecting assembly 1 may have a box-shaped structure, and not only can be connected to the cable 2, but also has a certain accommodating space, and can accommodate the connection circuit. Of course, the current collecting module 1 may have a connector structure to connect with the cable 12.

Preferably, the two current collecting assemblies 1 are symmetrically arranged about a center line perpendicular to the traveling direction of the vehicle main body 100, and in this embodiment, the two current collecting assemblies 1 are symmetrically arranged about the moving module, so that the lines at the front end and the rear end of the vehicle main body 100 are uniformly arranged, and the stability of the vehicle main body 100 is improved.

Optionally, cable 2 can be dismantled with current collection subassembly 1 and be connected to in the dismouting of cable 2, in this embodiment, be provided with the plug socket on the current collection subassembly 1, be provided with the spliced eye on the plug socket, be provided with bayonet joint 21 on the cable 2, the cooperation of pegging graft of bayonet joint 21 and the spliced eye of bayonet socket makes the dismantlement of cable 2 comparatively convenient. The connection method of the cable 2 and the current collecting module 1 is not limited to the insertion connection method, and may be welding, fixing connection, insertion connection, or the like as long as the connection of the cable 2 and the current collecting module 1 can be achieved.

In other embodiments, the cable 2 and the current collecting assembly 1 are clamped, for example: cable 2 is connected with two joint heads, and two joint heads are U type structure, and two joint heads set up relatively to from current collecting assembly 1's both sides joint in current collecting assembly 1, thereby when cable 2 received along its length direction's pulling force, joint head's U type structure had the backstop effect, makes joint head can not deviate from current collecting assembly 1 easily, connects more firmly.

Further, all be provided with a plurality of sockets on every current collection subassembly 1 for all can connect many cables 2 on every current collection subassembly 1, in order to satisfy operation requirement.

As shown in fig. 1 to 3, the bidirectional cable arranging structure 200 further includes a cable clamp 4, the cable clamp 4 is disposed on the other side of the vehicle main body 100, and the cable 2 connected to the two current collecting assemblies 1 is clamped in the cable clamp 4, so as to prevent the plug 21 of the cable 2 from coming off the socket of the current collecting assembly 1 due to the shaking of the cable 2.

In order to facilitate the installation and fixation of the cable clamp 4, the bidirectional cable arrangement structure 200 further includes a support frame 5, the support frame 5 is disposed on the other side of the vehicle main body 100, and the cable clamp 4 is disposed on the support frame 5. The support frame 5 is used for supporting the cable clamp 4, and the cable clamp 4 is convenient to mount. The specific structure of the support frame 5 is not particularly limited, as long as it can support the cable clamp 4 to facilitate the installation of the cable clamp 4.

Preferably, the cable clamp 4 comprises at least two clamping spaces stacked from top to bottom, and the cable 2 can be correspondingly clamped in the clamping spaces so as to clamp the cable 2; and an appropriate clamping space can be selected for clamping according to the arrangement position of the cable 2.

Specifically, as shown in fig. 4 and 5, the cable clamp 4 includes a first cable clamp 41 and a second cable clamp 42, a first groove is provided on the first cable clamp 41, a second groove is provided on the second cable clamp 42, the first cable clamp 41 is fixed on the support frame 5, one end of the first cable clamp 41 is hinged to one end of the second cable clamp 42, the first groove and the second groove are oppositely disposed, so that the first groove and the second groove enclose a first clamping space 43 for accommodating the cable 2, and the other ends of the first cable clamp 41 and the second cable clamp 42 are locked or unlocked by a first locking member 44.

Further, the first locking member 44 includes a locking rod 441 and a locking head 442, one end of the locking rod 441 is rotatably disposed at the other end of the first wire clamp 41, the other end of the locking rod 441 is in threaded connection with the locking head 442, the second wire clamp 42 is provided with a first locking groove 421, the locking rod 441 can be rotated to extend into the first locking groove 421 or be separated from the first locking groove 421, and when the locking rod 441 extends into the first locking groove 421, the locking head 442 can be abutted against the second wire clamp 42 by screwing, so that the first wire clamp 41 and the second wire clamp 42 are locked together; by unscrewing the locking head 442, the locking rod 441 rotates out of the first locking groove 421, so that the first wire clamp 41 and the second wire clamp 42 are unlocked; the tightness of the connection of the first clamp 41 and the second clamp 42, i.e., the size of the first clamping space 43, can be adjusted by screwing the locking head 442, so that the clamping of cables 2 of different diameters can be accommodated.

With continued reference to fig. 4 and 5, a third groove is formed in a side of the second wire clamp 42 away from the first wire clamp 41, the cable clamp 4 further includes a third wire clamp 45, a fourth groove is formed in the third wire clamp 45, the third groove and the fourth groove are oppositely arranged to form a second clamping space 46, one end of the third wire clamp 45 is hinged to the second wire clamp 42, the other end of the third wire clamp 45 is locked or unlocked with the second wire clamp 42 through a second locking member 47, the third wire clamp 45 is provided with a second clamping groove 451, and a locking or unlocking manner of the second locking member 47 is the same as a locking or unlocking manner of the first locking member 44, which is not repeated herein.

It should be noted that the third wire clamp 45 is rotatably connected to the end of the second wire clamp 42 that is not hinged to the first wire clamp 41, but the hinged position is away from the first locking member 44, and the notch of the second locking groove 451 is opposite to the notch of the first locking groove 421, so that the first locking member 44 and the second locking member 47 are located at the two ends of the cable 2 clamp, and interference can be prevented when opening and closing.

In other embodiments, the number of the clamping spaces is not limited to two, which are stacked one above the other, and more clamping spaces may be provided, which is not limited herein.

Alternatively, as shown in fig. 1 to 3, carrying handles 500 are provided at the front and rear ends of the vehicle body 100, the carrying handles 500 are located outside the current collecting assembly 1, and the position of the pipeline robot can be moved conveniently by the carrying handles 500, so that the pipeline robot can be carried conveniently; the arrangement of the carrying handles 500 also provides protection for the structure located between the two carrying handles 500.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the utility model. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a two-way winding displacement structure, its characterized in that includes two current collection subassembly (1) that set up along the advancing direction interval of car main part (100), one side of car main part (100) sets up two sets of equipment subassembly (300), and is two sets of equipment subassembly (300) are followed the advancing direction interval of car main part (100) sets up, and is two sets of equipment subassembly (300) respectively through interconnecting link with corresponding current collection subassembly (1) links to each other, current collection subassembly (1) is connected with cable (2), and with two current collection subassembly (1) link to each other cable (2) collection in the opposite side of car main part (100).

2. The bidirectional flat cable structure according to claim 1, wherein a support pipe (3) is disposed between the equipment assembly (300) and the collector assembly (1), the support pipe (3) is movably disposed on the vehicle body (100), and the connection line is inserted into the support pipe (3) and connected to the collector assembly (1) and the equipment assembly (300).

3. The bidirectional flat cable structure according to claim 1, wherein two of the current collecting assemblies (1) are symmetrically disposed about a center line perpendicular to a traveling direction of the vehicle main body (100).

4. The flat cable structure according to claim 1, wherein the cable (2) is detachably connected to the collector assembly (1).

5. The bidirectional flat cable structure according to claim 4, wherein the current collecting assembly (1) is provided with a socket, the cable (2) is provided with a plug (21), and the plug (21) is in plug fit with the socket.

6. The flat cable structure of claim 5, wherein a plurality of the sockets are disposed on each current collecting assembly (1).

7. The bi-directional cable routing structure of any one of claims 1-6, further comprising:

the cable clamp (4) is arranged on the other side of the vehicle main body (100), and the cables (2) connected with the two current collecting assemblies (1) are clamped on the cable clamp (4).

8. The bi-directional cable routing structure of claim 7, further comprising:

the cable clamp comprises a support frame (5), the support frame (5) is arranged on the other side of the vehicle main body (100), and the cable clamp (4) is arranged on the support frame (5).

9. The bidirectional flat cable structure according to claim 7, wherein the cable clamp (4) comprises at least two clamping spaces stacked from top to bottom, and the cable (2) can be correspondingly clamped in the clamping spaces.

10. A pipeline robot, comprising a vehicle body (100), two sets of equipment components (300) disposed on one side of the vehicle body (100), the two sets of equipment components (300) being disposed at intervals along a traveling direction of the vehicle body (100), the equipment components (300) being laser tracking components, the pipeline robot further comprising the bidirectional cable arrangement structure as set forth in any one of claims 1 to 9 disposed on the vehicle body (100).