CN215596729U - Opening and closing rotating mechanism and pipeline maintenance robot - Google Patents
Opening and closing rotating mechanism and pipeline maintenance robot Download PDFInfo
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- CN215596729U CN215596729U CN202122152460.4U CN202122152460U CN215596729U CN 215596729 U CN215596729 U CN 215596729U CN 202122152460 U CN202122152460 U CN 202122152460U CN 215596729 U CN215596729 U CN 215596729U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 50
- 238000012423 maintenance Methods 0.000 title claims abstract description 19
- 238000005498 polishing Methods 0.000 claims abstract description 20
- 239000000463 material Substances 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000010422 painting Methods 0.000 description 9
- 230000008439 repair process Effects 0.000 description 8
- 239000011248 coating agent Substances 0.000 description 4
- 238000000576 coating method Methods 0.000 description 4
- 239000003292 glue Substances 0.000 description 3
- 239000003973 paint Substances 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
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Abstract
The utility model discloses an opening and closing rotating mechanism and a pipeline maintenance robot, wherein the opening and closing rotating mechanism can be automatically converted into a rotating state from an extension state after contacting a pipe wall, and the pipeline maintenance robot applying the opening and closing rotating mechanism can be applied to monitoring, polishing and smearing operations.
Description
Technical Field
The utility model relates to the field of pipeline maintenance, in particular to an opening and closing rotating mechanism and a pipeline maintenance robot.
Background
Both above ground and below ground pipelines require regular maintenance and repair. If each inspection, maintenance or repair of the pipeline requires excavation of the road or removal of the pipeline, this is undoubtedly inconvenient, uneconomical or even impossible in many cases. The technical personnel in the field can solve the problem how to carry out operations such as maintenance and the like on the pipeline under the conditions of not excavating a road surface and not disassembling the pipeline.
Accordingly, it would be desirable to provide a pipe maintenance robot that travels within a pipe and that includes at least one mechanism that is capable of opening and closing and rotating to perform a desired treatment on the pipe.
SUMMERY OF THE UTILITY MODEL
In order to achieve the above object, the present invention provides a folding and rotating mechanism, including a rotating shaft, a folding driving seat, a folding connecting rod, a rotating driving seat, a folding arm, a rotating sleeve and a one-way mechanism; wherein,
the opening and closing driving seat is arranged to rotate along with the rotating shaft; the opening and closing connecting rod is pivotally arranged on the rotating driving seat and is connected with the opening and closing arm; the opening and closing arm is pivotally arranged on the rotary driving seat; the rotation driving seat is arranged on the rotation sleeve; the rotating sleeve is coaxially arranged outside the rotating shaft and can only rotate in a first direction under the action of the one-way mechanism;
the opening and closing rotating mechanism is arranged in such a way that when the opening and closing driving seat rotates along with the rotating shaft in the first direction, the opening and closing connecting rod is driven firstly to open the folded opening and closing arm, and the rotating sleeve and the opening and closing arm are driven by the rotating shaft to rotate together in the first direction until the opening and closing arm is blocked and can not be opened any more; when the opening and closing driving seat rotates along with the rotating shaft in the second direction, the rotating sleeve is static, and the opening and closing arm opened on the rotating sleeve is folded.
Furthermore, an auxiliary spring is arranged on the opening and closing connecting rod, and the auxiliary spring is set to enable the folded opening and closing arm to have the tendency of opening.
Furthermore, the one-way mechanism is a one-way wheel matched with the rotating sleeve.
Furthermore, the rod body of the opening and closing connecting rod is pivoted on the opening and closing driving seat through a movable strip-shaped notch.
Furthermore, the end of the opening and closing arm is provided with a smearing head.
Further, the end of the opening and closing arm is provided with a polishing head and a fan.
Furthermore, a supporting roller with adjustable height is arranged at the end part of the opening and closing arm.
Further, the support rollers include two sets of rollers.
The utility model also provides a pipeline maintenance robot, which comprises the opening and closing rotating mechanism, a vehicle body and a lifting support arranged on the vehicle body; the opening and closing rotating mechanism is integrally arranged above the lifting bracket.
Further, a rotary joint for conveying the repairing material to the smearing head is arranged on the rotary shaft.
Further, the rotating shaft is provided with an electrically conductive rotating joint for supplying power to the fan.
Further, the vehicle body comprises a chassis and road wheels; two walking motors are arranged on the chassis; the walking motor drives two front walking wheels through bevel gears respectively and drives two rear walking wheels through a synchronous transmission belt, a lifting support is further arranged on the chassis, and the lifting support is driven by a lifting motor arranged on the chassis to lift.
The opening and closing rotating mechanism can automatically convert the extension state into the rotating state after contacting the pipe wall, and the pipeline maintenance robot applying the opening and closing rotating mechanism can be applied to monitoring, polishing and smearing operations.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic drawing of a plurality of different pipeline maintenance robots in a preferred embodiment of the present invention;
FIG. 2 is a partially disassembled schematic view of a universal vehicle body of the pipe maintenance robot in a preferred embodiment of the present invention;
FIG. 3 is a perspective view of the application robot in a preferred embodiment of the present invention;
FIG. 4 is a perspective view of a grinding robot in a preferred embodiment of the present invention;
FIG. 5 is a perspective view of a universal opening and closing arm mechanism in a preferred embodiment of the present invention;
FIG. 6 is a side view of a universal opening and closing arm mechanism in a preferred embodiment of the utility model;
FIG. 7 is an elevation view of a universal opening and closing arm mechanism in a preferred embodiment of the utility model;
FIG. 8 is a cross-sectional view of a universal opening and closing arm mechanism in a preferred embodiment of the utility model;
FIG. 9 is an expanded view of the universal opening and closing arm mechanism in accordance with a preferred embodiment of the present invention;
FIG. 10 is a perspective view of the paint applicator in accordance with a preferred embodiment of the present invention;
FIG. 11 is a partial cross-sectional view of the paint applicator in accordance with a preferred embodiment of the present invention;
FIG. 12 is a front view of the paint applicator in a preferred embodiment of the utility model;
FIG. 13 is a perspective view of the applicator head in a preferred embodiment of the utility model;
FIG. 14 is a perspective view of a sanding actuator in accordance with a preferred embodiment of the present invention;
figure 15 is a front view of a sanding actuator in accordance with a preferred embodiment of the present invention;
figure 16 is a cross-sectional view of a sanding actuator in accordance with a preferred embodiment of the present invention;
fig. 17 is a perspective view of a sanding head in a preferred embodiment of the present invention.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the utility model is not limited to the embodiments set forth herein.
As shown in fig. 1, in a preferred embodiment according to the present invention, a plurality of pipe rehabilitation robots having different functions are connected by means of a towing hitch and can cooperate with each other to perform specific tasks, including a painting robot 100, a rehabilitation material carrying cart 200, a grinding robot 300, and a towing cable 400.
As shown in fig. 2, each robot includes a common vehicle body 10 for traveling in a pipeline. The vehicle body 10 includes a chassis 1 and road wheels 2. Two walking motors 3 are arranged on the chassis 1. The walking motor 3 respectively drives two front walking wheels through bevel gears 4 and drives two rear walking wheels through a synchronous transmission belt 5, so that the walking wheels 2 can realize differential turning. The chassis 1 is also provided with lifting brackets 6, and with reference to fig. 3 and 4, the application actuator 101 of the application robot 100 and the grinding actuator 301 of the grinding robot 300 are both arranged on respective adjustable lifting brackets 6 in order to maintain their alignment with respect to the pipe. The lifting bracket 6 is driven by a lifting motor 7 arranged on the chassis 1 to lift and lower a worm gear 8.
As shown in fig. 3 and 4, the application actuator 101 of the application robot 100 and the polishing actuator 301 of the polishing robot 300 each include a common opening and closing arm mechanism. The smearing function and the polishing function of the smearing execution device 101 and the polishing execution device 301 are further realized on the universal opening and closing arm mechanism. Therefore, the general opening and closing arm mechanism will be described first, and then the application actuator 101 of the application robot 100 and the polishing actuator 301 of the polishing robot 300 will be further described.
Fig. 5-9 illustrate one embodiment of a universal opening and closing arm mechanism 20 according to the present invention. The driving motor 30 fixed on the lifting bracket 6 drives the rotating shaft 33 to rotate through the driving belt 31 and the belt wheel 32. Two opening/closing driving seats 34 are provided on the outer end surface of the rotating shaft 33. The shafts of the two opening and closing connecting rods 35 are respectively connected to the two opening and closing driving seats 34 in a pivoting manner. A fixed sleeve 36 and a rotating sleeve 37 are provided outside the rotating shaft 33, and the fixed sleeve 36 and the rotating sleeve 37 are rotatably engaged by a bearing 38. The rotating sleeve 37 is provided with two opposite rotation driving seats 39. The rotary driving seat 39 is pivotally connected with an opening and closing arm 40, and the opening and closing arm 40 can move in a first folded state and a second unfolded state. One end of the open-close connecting rod 35 is connected to the arm body of the open-close arm 40, the other end is tensioned to a fixed point on the outer end face of the rotating shaft 33 through an auxiliary spring 41, and the tension of the auxiliary spring 41 drives the open-close connecting rod 35 to drive the open-close arm 40 to move towards the open second state. A one-way wheel 42 matched with the rotating sleeve 37 is arranged outside the rotating sleeve. The one-way wheel 42 enables the rotating sleeve 37 to rotate only in one direction. In a further embodiment, the shaft of the opening and closing connecting rod 35 is pivoted to the opening and closing driving seat 34 through a movable bar-shaped notch 43, so that when the pipeline is out of round, or the center of the painting head or the polishing head is not coincident with the center of the pipeline, the opening angles of the two opening and closing arms 40 can be different to adapt to the out-of-round pipeline.
In this embodiment, when the opening and closing arm mechanism is in the closed state as shown in fig. 5-8, for example, the driving motor 30 drives the rotating shaft 33 to rotate counterclockwise through the transmission belt 31 and the pulley 32, and at this time, since the rotating sleeve 37 is stationary with respect to the rotating shaft 33, the opening and closing arm 40 is moved from the closed state to the open state as shown in fig. 9 by the pushing force of the opening and closing link 35 and the pulling force of the auxiliary spring 41. When the opening and closing arm 40 is completely opened or the working part on the opening and closing arm 40 contacts the pipe wall of the pipeline, the rotating sleeve 37 cannot keep still because the opening and closing arm 40 cannot be opened any more, but the opening and closing arm 40 is driven by the opening and closing connecting rod 35 to rotate the driving seat 39 to drive the rotating sleeve 37 to rotate counterclockwise along with the rotating sleeve 37, so that the smearing or polishing working part arranged at the end of the opening and closing arm 40 can do rotating smearing or polishing operation. When the driving motor 30 drives the rotating shaft 33 to rotate clockwise through the transmission belt 31 and the belt pulley 32, the rotating sleeve 37 stops rotating because the one-way wheel 42 prevents the rotating sleeve 37 from moving clockwise, and the rotating shaft 33 moves again, at this time, the opening and closing arm 40 cannot rotate reversely, but can only be closed to the closed state shown in fig. 5-8 by pulling the opening and closing connecting rod 35.
The application robot 100 shown in fig. 3 based on the above-described common opening/closing arm mechanism 20 will be described below.
As shown in fig. 10 to 13, the main body of the application executing device 101 of the application robot 100 is the opening and closing arm mechanism 20. Since the coating robot 100 functions to perform the rotary coating of the repair material for the inner wall of the pipe, a rotary joint 103 for passing the repair material is added to the rotary shaft 33 of the opening and closing arm mechanism 20; an applicator head 104 is added to the opening arm 40 of the opening arm mechanism 20. The glue with two different components from the repair material carrying trolley 200 passes through the glue pipe 102, passes through the rotary joint 103, enters the glue mixing pipe 105 of the smearing head 104 through the material distributing joint 108, is mixed, passes through the scraping plate 106 and the brush 107, and is smeared on the inner wall of the pipeline along with the rotation of the opening and closing arm 40. The coating head 104 is also provided with an adjustable supporting roller 109, and the distance between the brush 107 and the scraper 106 and the pipe wall can be controlled by adjusting the height of the supporting roller 109, so that the thickness of the coating material can be controlled. The support rollers 109 comprise two sets of rollers which are in contact with the pipe wall at the same time, so that the stability of an included angle when the polishing and smearing head is in contact with the pipe is ensured.
The following describes a grinding robot 300 shown in fig. 4 based on the above-described common opening and closing arm mechanism 20.
As shown in fig. 14 to 16, the opening and closing arm mechanism 20 is a main body of the sanding actuator 301 of the sanding robot 300. Since the grinding robot 300 functions to grind the inner wall of the pipe, a conductive rotary joint 303 is added to the rotary shaft 33 of the opening and closing arm mechanism 20; a polishing head 304 is added on the opening and closing arm 40 of the opening and closing arm mechanism 20; a fan 305 is provided adjacent the sanding head 304 and an electrical cord 306 is connected to the fan 305 through the swivel joint 303 to provide power thereto. The fan 305 is used to blow away dust and debris during rotational sanding. An adjustable supporting roller 307 is further arranged beside the polishing head 304, and the distance between the polishing head 304 and the pipe wall can be controlled by adjusting the height of the supporting roller, so that the polishing force can be controlled. The support rollers 307 comprise two sets of rollers which are in contact with the pipe wall at the same time, so that the stability of the included angle is ensured when the polishing and smearing head is in contact with the pipe.
When the robot according to the present invention performs a work, the painting robot 100 generally starts to advance toward the inside of the pipe to be maintained first, and the following repair material carrier cart 200 and the grinding robot 300 are simultaneously pulled by the connection shaft to advance in the pipe. When the painting robot 100 travels to a position to be worked of a pipe segment such as a broken pipe, the painting robot 100 may continue to travel until the following grinding robot 300 reaches the working position, and then the entire system starts traveling backward. In the reverse process, the pipeline wall is firstly pretreated and polished by the polishing robot 300 to remove floating dust and raised obstacles on the surface, and then the painting maintenance work is started by the painting robot 100. The repair material required for the grinding and painting robot is placed on the repair material carrying cart 200 connected between the painting robot 100 and the grinding robot 300. The robot is powered and controlled by a traction cable connected to the tail end of the grinding robot 300.
The foregoing detailed description of the preferred embodiments of the utility model has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning or limited experiments in the general technical fields according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (12)
1. An opening and closing rotating mechanism is characterized by comprising a rotating shaft, an opening and closing driving seat, an opening and closing connecting rod, a rotating driving seat, an opening and closing arm, a rotating sleeve and a one-way mechanism; wherein,
the opening and closing driving seat is arranged to rotate along with the rotating shaft; the opening and closing connecting rod is pivotally arranged on the rotating driving seat and is connected with the opening and closing arm; the opening and closing arm is pivotally arranged on the rotary driving seat; the rotation driving seat is arranged on the rotation sleeve; the rotating sleeve is coaxially arranged outside the rotating shaft and can only rotate in a first direction under the action of the one-way mechanism;
the opening and closing rotating mechanism is arranged in such a way that when the opening and closing driving seat rotates along with the rotating shaft in the first direction, the opening and closing connecting rod is driven firstly to open the folded opening and closing arm, and the rotating sleeve and the opening and closing arm are driven by the rotating shaft to rotate together in the first direction until the opening and closing arm is blocked and can not be opened any more; when the opening and closing driving seat rotates along with the rotating shaft in the second direction, the rotating sleeve is static, and the opening and closing arm opened on the rotating sleeve is folded.
2. The opening-closing rotation mechanism according to claim 1, wherein an auxiliary spring is provided on the opening-closing link, and the auxiliary spring is provided so that the folded opening-closing arms tend to open.
3. The mechanism of claim 1, wherein the unidirectional mechanism is a unidirectional wheel that engages the rotating sleeve.
4. The opening and closing rotation mechanism according to claim 1, wherein the shaft of the opening and closing connecting rod is pivoted on the opening and closing driving seat through a movable strip-shaped notch.
5. The mechanism of claim 1, wherein the ends of the arms are provided with applicator heads.
6. The opening and closing rotation mechanism according to claim 1, wherein the opening and closing arm is provided at an end thereof with a polishing head and a fan.
7. The folding and rotating mechanism according to claim 1, wherein a height-adjustable support roller is provided at an end of the folding arm.
8. The opening-closing rotation mechanism of claim 1, wherein the support rollers comprise two sets of rollers.
9. A pipeline maintenance robot, characterized by comprising the opening and closing rotating mechanism as claimed in any one of claims 1 to 8, and a vehicle body and a lifting bracket arranged above the vehicle body; the opening and closing rotating mechanism is integrally arranged above the lifting bracket.
10. The pipe maintenance robot according to claim 9, wherein when it comprises the opening and closing rotating mechanism according to claim 5, the rotating shaft is provided with a rotating joint for feeding the repairing material to the plastering head.
11. The pipe maintenance robot according to claim 9, wherein when it comprises the opening and closing rotating mechanism as claimed in claim 6, the rotating shaft is provided with an electrically conductive rotating joint for supplying power to the fan.
12. The pipe maintenance robot of claim 9, wherein the vehicle body includes a chassis and road wheels; two walking motors are arranged on the chassis; the walking motor drives two front walking wheels through bevel gears respectively and drives two rear walking wheels through a synchronous transmission belt, a lifting support is further arranged on the chassis, and the lifting support is driven by a lifting motor arranged on the chassis to lift.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122152460.4U CN215596729U (en) | 2021-09-07 | 2021-09-07 | Opening and closing rotating mechanism and pipeline maintenance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122152460.4U CN215596729U (en) | 2021-09-07 | 2021-09-07 | Opening and closing rotating mechanism and pipeline maintenance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215596729U true CN215596729U (en) | 2022-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122152460.4U Active CN215596729U (en) | 2021-09-07 | 2021-09-07 | Opening and closing rotating mechanism and pipeline maintenance robot |
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| Country | Link |
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| CN (1) | CN215596729U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7548522B1 (en) | 2022-11-04 | 2024-09-10 | 株式会社テムザック | In-pipe working device |
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2021
- 2021-09-07 CN CN202122152460.4U patent/CN215596729U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7548522B1 (en) | 2022-11-04 | 2024-09-10 | 株式会社テムザック | In-pipe working device |
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