CN215826857U - Climbing mechanism for pipeline transportation and installation robot - Google Patents
Climbing mechanism for pipeline transportation and installation robot Download PDFInfo
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- CN215826857U CN215826857U CN202122341630.3U CN202122341630U CN215826857U CN 215826857 U CN215826857 U CN 215826857U CN 202122341630 U CN202122341630 U CN 202122341630U CN 215826857 U CN215826857 U CN 215826857U
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- pipeline transportation
- square pipe
- connecting rod
- installation robot
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Abstract
The utility model discloses a climbing mechanism for a pipeline transportation and installation robot, which comprises a fixed support, a connecting rod frame, a pin shaft, a hydraulic oil cylinder, a structure reinforcing web plate, a rib plate, a walking wheel installation plate and a walking wheel. The climbing mechanism for the pipeline transportation and installation robot has the advantages of reasonable structure, convenience in use, strong practicability, time and labor conservation, safety, reliability and the like, and effectively solves the problems that the existing pipeline transportation and installation robot for trenchless repair of pipelines has no climbing capability, cannot directly advance and transition different pipe diameters, has low efficiency of entering and exiting pipelines, cannot walk in pipelines with different diameters, has poor universality and the like. The comprehensive performance of the pipeline transportation and installation robot is improved.
Description
Technical Field
The utility model belongs to the technical field of pipeline trenchless repair equipment, and particularly relates to a climbing mechanism of a pipeline transportation and installation robot.
Background
The updating and repairing of the underground pipe network are key and difficult points of the current municipal infrastructure construction, the urban underground pipe network is generally buried underground deeply, the traditional repairing mode needs to block traffic, dig a road surface, replace pipelines, backfill a working surface, repair the road and the like, the cost is huge, the urban traffic and the enterprise production are directly influenced, and meanwhile, the problems of noise pollution, potential safety hazards and the like exist, and the current non-excavation repairing technology is gradually popularized and used in China. Due to the fact that construction personnel are limited in construction due to the fact that the pipeline space is narrow, various pipeline robots are put into use in a large amount.
Pipeline transportation installation robot can be with heavy-calibre pipeline rapid transport to the restoration position, and is harmless to interior pipeline to can accomplish the pipeline butt joint installation fast and dismantle, current pipeline transportation installation robot does not have climbing mechanism, and pipeline butt joint and dismantlement process need scramble the pipeline step, and it is long consuming time to scramble through the cushion mode, and is inefficient, and can't realize walking at the pipeline of multiple different diameters, so it is very necessary to study a climbing mechanism for pipeline transportation installation robot.
SUMMERY OF THE UTILITY MODEL
The utility model overcomes the defects of the prior art and provides a novel climbing mechanism; the problem of the non-excavation of present pipeline repair pipeline transport installation robot that uses not climbing ability, can't directly advance transition different pipe diameters, get into and withdraw from the pipeline inefficiency, can't realize walking at the pipeline of multiple different diameters, the commonality is poor is solved.
The technical scheme adopted by the utility model for solving the technical problems is as follows: a climbing mechanism for a pipeline transportation and installation robot comprises a fixed support, a first connecting rod frame, a pin shaft, a hydraulic oil cylinder, a second connecting rod frame, a walking wheel installation plate, walking wheels and a connecting rod; the fixed support, the first connecting rod frame, the hydraulic oil cylinder, the second connecting rod frame and the connecting rod are connected through a pin shaft; the walking wheel mounting plate is connected with the walking wheel through a bolt.
Furthermore, the fixed support comprises a first reinforcing rib, a first square pipe, a second square pipe, a bottom plate, a supporting square tube, a first connecting lug and a second connecting lug, and the first reinforcing rib, the first square pipe, the second square pipe, the bottom plate, the supporting square tube, the first connecting lug and the second connecting lug are formed by welding the parts; the fixed support can be connected with other components of the pipeline transportation and installation robot in a welding or bolt connection mode.
Furthermore, first link frame include third engaging lug, fourth engaging lug, fifth engaging lug, oblique abdomen side pipe, first reinforcing plate, third side's venturi tube, the square pipe of fourth, by these spare part welding forms.
Further, the second connecting rod frame include sixth engaging lug, seventh engaging lug, eighth engaging lug, second reinforcing plate, fifth square pipe, sixth square pipe, second strengthening rib, walking wheel mounting panel, form by these spare part welding.
The utility model has the beneficial effects on the trenchless pipeline repairing industry that:
(1) according to the climbing mechanism provided by the utility model, the included angle between the traveling wheel and the vertical plane is 16 degrees, when the pipeline transportation and installation robot travels in the horizontal plane and pipelines with different pipe diameters, the included angle between the second connecting rod frame and the horizontal plane is 86.6-90 degrees, the traveling wheel and the cambered surface of the pipeline are close to be vertical, and the climbing mechanism has good movement performance. The walking function of pipelines with different radii on the flat ground is realized, and the trenchless repairing universality is strong.
(2) The bearing capacity of the climbing mechanism provided by the utility model reaches 4 tons, and the advancing conversion function of various working conditions such as climbing into a pipe from the flat ground, climbing from the pipe to the flat ground, entering into a large pipe from a small pipe, entering into the small pipe from the large pipe and the like can be realized. The climbing mechanism with mechanical operation effectively improves the pipe feeding and discharging efficiency, has good universality and improves the comprehensive performance of the pipeline transportation and installation robot.
Drawings
The utility model is described in further detail below with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a mounting bracket of the present invention;
FIG. 3 is a schematic view of a first linkage mount of the present invention;
FIG. 4 is a schematic view of a second link holder of the present invention;
FIG. 5 is a schematic view of the climbing step of the present invention;
FIG. 6 is a schematic view of the climbing step of the present invention;
FIG. 7 is a schematic view of the climbing step of the present invention;
fig. 8 is a schematic view of the inventive downstep process.
In the figure, 1, a fixed support, 2, a first connecting rod frame, 3, a pin shaft, 4, a hydraulic oil cylinder, 5, a second connecting rod frame, 6, a walking wheel mounting plate, 7, a walking wheel, 8, a connecting rod, 9, a pipeline transportation and mounting robot, 10, a walking wheel, 11, a step, 12, a flat ground, 1-1, a first reinforcing rib, 1-2-1, a first square pipe, 1-2-2, a second square pipe, 1-3, a bottom plate, 1-4, a supporting square tube, 1-5-1, a first connecting lug, 1-5-2, a second connecting lug, 2-1-1, a third connecting lug, 2-1-2, a fourth connecting lug, 2-1-3, a fifth connecting lug, 2-2, an inclined square pipe and 2-3, a first reinforcing plate, 2-4-1 parts of a third square pipe, 2-4-2 parts of a fourth square pipe, 5-1-1 parts of a sixth connecting lug, 5-1-2 parts of a seventh connecting lug, 5-1-3 parts of an eighth connecting lug, 5-2 parts of a second reinforcing plate, 5-3-1 parts of a fifth square pipe, 5-3-2 parts of a sixth square pipe and 5-4 parts of a second reinforcing rib.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer, the present invention is described in further detail with reference to the embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model. The technical solution of the present invention is described in detail below with reference to the examples and the accompanying drawings, but the scope of protection is not limited thereto.
Fig. 1 to 8 show a climbing mechanism for a pipeline transportation mounting robot 9, which includes a fixed bracket 1, a first link frame 2, a pin shaft 3, a hydraulic cylinder 4, a second link frame 5, a walking wheel mounting plate 6, a walking wheel 7 and a link 8.
The fixed support 1 is formed by welding a first reinforcing rib 1-1, a first square pipe 1-2-1, a second square pipe 1-2-2, a bottom plate 1-3, a supporting square tube 1-4, a first connecting lug 1-5-1 and a second connecting lug 1-5-2, and the fixed support 1 can be connected with other components of the pipeline transportation and installation robot in a welding or bolt connection mode. The first connecting rod frame 2 is formed by welding a third connecting lug 2-1-1, a fourth connecting lug 2-1-2, a fifth connecting lug 2-1-3, an oblique abdomen square pipe 2-2, a first reinforcing plate 2-3, a third square pipe 2-4-1 and a fourth square pipe 2-4-2. The second connecting rod frame 5 is formed by welding a sixth connecting lug 5-1-1, a seventh connecting lug 5-1-2, an eighth connecting lug 5-1-3, a second reinforcing plate 5-2, a fifth square pipe 5-3-1, a sixth square pipe 5-3-2, a second reinforcing rib 5-4 and a walking wheel mounting plate 6, and the walking wheel 7 is connected to the walking wheel mounting plate 6 through bolts.
The fixed support 1, the first connecting rod frame 2, the hydraulic oil cylinder 4, the second connecting rod frame 5, the walking wheel mounting plate 6 and the connecting rod 8 are connected through a pin shaft 3 to form the climbing mechanism.
The fixing support 1 comprises a first reinforcing rib 1-1, a first square pipe 1-2-1, a second square pipe 1-2-2, a bottom plate 1-3, a supporting square tube 1-4, a first connecting lug 1-5-1 and a second connecting lug 1-5-2, and is formed by welding the parts.
The first connecting rod frame 2 comprises a third connecting lug 2-1-1, a fourth connecting lug 2-1-2, a fifth connecting lug 2-1-3, an oblique abdomen square pipe 2-2, a first reinforcing plate 2-3, a third square pipe 2-4-1 and a fourth square pipe 2-4-2, and the first connecting rod frame is formed by welding the parts.
The second connecting rod frame 5 comprises a sixth connecting lug 5-1-1, a seventh connecting lug 5-1-2, an eighth connecting lug 5-1-3, a second reinforcing plate 5-2, a fifth square pipe 5-3-1, a sixth square pipe 5-3-2, a second reinforcing rib 5-4 and a travelling wheel mounting plate 6 which are welded together.
The working principle of the utility model is as follows:
the climbing mechanism provided by the utility model takes a hydraulic oil cylinder as a power source and controls the hydraulic oil cylinder to stretch and retract through a hydraulic loop. The hydraulic cylinder drives the hinged four-bar mechanism to move, translation of the hydraulic cylinder is converted into up-and-down movement of the four-bar mechanism, and up-and-down stroke amplification is achieved through displacement amplification of the hinged four-bar mechanism. The walking wheel and the vertical plane form an included angle of 16 degrees. When the pipeline transportation and installation robot walks in a horizontal plane and in pipelines with different pipe diameters, the included angle between the second connecting rod frame and the horizontal plane is 86.6-90 degrees, and the walking wheel and the cambered surface of the pipeline are close to a vertical state, so that the pipeline transportation and installation robot has good movement performance. The walking function of pipelines with different radii on the flat ground is realized, and the trenchless repairing universality is strong.
The climbing mechanism provided by the utility model takes a hydraulic oil cylinder as a power source and controls the hydraulic oil cylinder to stretch and retract through a hydraulic loop. The hydraulic cylinder drives the hinged four-bar mechanism to move, translation of the hydraulic cylinder is converted into up-and-down movement of the four-bar mechanism, and up-and-down stroke amplification is achieved through displacement amplification of the hinged four-bar mechanism. The load-bearing capacity of the climbing mechanism provided by the utility model reaches 4 tons, and the walking problems of various working conditions such as entering the pipe from the flat ground, walking back to the flat ground from the pipe, walking into the large pipe from the small pipe, walking into the small pipe from the large pipe and the like can be realized. The time consumption for advancing and retreating the pipe is short, the efficiency is high, and the universality is good.
As shown in fig. 5, before the pipeline transportation and installation robot 9 travels to a step 11, the cylinder rod of the hydraulic cylinder 4 is controlled to be retracted, so that the climbing mechanism is lifted upwards. Then the pipeline transportation and installation robot 9 continues to move forwards and stops after the walking wheels 7 of the climbing mechanism reach the upper part of the step 11.
As shown in fig. 6, the cylinder rod of the hydraulic cylinder 4 is controlled to extend outward, and the climbing mechanism is lowered. When the walking wheels 7 of the climbing mechanism contact the steps 11, one end of the pipeline transportation and installation robot 9 is lifted, and the operation of the hydraulic oil cylinder 4 is stopped after the walking wheels 10 of the pipeline transportation and installation robot 9 are lifted to exceed the height of the steps 11.
As shown in fig. 7, the pipeline transportation and installation robot 9 continues to move forward, when the walking wheels 10 completely enter the steps 11, the hydraulic oil cylinder 4 is controlled to lift the climbing mechanism upwards, and when the walking wheels 10 of the pipeline transportation and installation robot 9 descend to contact the steps 11, the hydraulic oil cylinder 4 stops being operated, so that the climbing action is completed.
As shown in fig. 8, when the pipeline transportation and installation robot 9 needs to go down the steps, the cylinder rod of the hydraulic cylinder 4 is operated to extend out, so that the climbing mechanism descends to contact the ground 12, and then the pipeline transportation and installation robot 9 continues to move forward to walk down the steps 11.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.
Claims (4)
1. A climbing mechanism for a pipeline transportation and installation robot is characterized in that: comprises a fixed bracket (1), a first connecting rod frame (2), a pin shaft (3), a hydraulic oil cylinder (4), a second connecting rod frame (5), a walking wheel mounting plate (6), a walking wheel (7) and a connecting rod (8);
the fixed support (1) is formed by welding a first reinforcing rib (1-1), a first square pipe (1-2-1), a second square pipe (1-2-2), a bottom plate (1-3), a supporting square tube (1-4), a first connecting lug (1-5-1) and a second connecting lug (1-5-2), the first connecting rod frame (2) is formed by welding a third connecting lug (2-1-1), a fourth connecting lug (2-1-2), a fifth connecting lug (2-1-3), an inclined belly square pipe (2-2), a first reinforcing plate (2-3), a third square pipe (2-4-1) and a fourth square pipe (2-4-2), and the second connecting rod frame (5) is formed by welding a sixth connecting lug (5-1-1), The traveling wheel is formed by welding a seventh connecting lug (5-1-2), an eighth connecting lug (5-1-3), a second reinforcing plate (5-2), a fifth square pipe (5-3-1), a sixth square pipe (5-3-2), a second reinforcing rib (5-4) and a traveling wheel mounting plate (6), and the traveling wheel (7) is connected to the traveling wheel mounting plate (6) through a bolt;
the climbing mechanism is formed by connecting a fixed support (1), a first connecting rod frame (2), a hydraulic oil cylinder (4), a second connecting rod frame (5), a walking wheel mounting plate (6) and a connecting rod (8) through a pin shaft (3).
2. The climbing mechanism for a pipeline transportation and installation robot as claimed in claim 1, wherein: the fixing support (1) comprises a first reinforcing rib (1-1), a first square pipe (1-2-1), a second square pipe (1-2-2), a bottom plate (1-3), a supporting square tube (1-4), a first connecting lug (1-5-1) and a second connecting lug (1-5-2), and the fixing support is formed by welding the parts; the fixed support (1) can be connected with other components of the pipeline transportation and installation robot in a welding or bolt connection mode.
3. The climbing mechanism for a pipeline transportation and installation robot as claimed in claim 1, wherein: the first connecting rod frame (2) comprises a third connecting lug (2-1-1), a fourth connecting lug (2-1-2), a fifth connecting lug (2-1-3), an oblique-web square tube (2-2), a first reinforcing plate (2-3), a third square tube (2-4-1) and a fourth square tube (2-4-2), and the first connecting rod frame is formed by welding the parts.
4. The climbing mechanism for a pipeline transportation and installation robot as claimed in claim 1, wherein: the wheel is characterized in that the wheel comprises a sixth connecting lug (5-1-1), a seventh connecting lug (5-1-2), an eighth connecting lug (5-1-3), a second reinforcing plate (5-2), a fifth square pipe (5-3-1), a sixth square pipe (5-3-2), a second reinforcing rib (5-4) and a traveling wheel mounting plate (6), which are welded together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122341630.3U CN215826857U (en) | 2021-09-27 | 2021-09-27 | Climbing mechanism for pipeline transportation and installation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122341630.3U CN215826857U (en) | 2021-09-27 | 2021-09-27 | Climbing mechanism for pipeline transportation and installation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215826857U true CN215826857U (en) | 2022-02-15 |
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ID=80201403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122341630.3U Active CN215826857U (en) | 2021-09-27 | 2021-09-27 | Climbing mechanism for pipeline transportation and installation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215826857U (en) |
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2021
- 2021-09-27 CN CN202122341630.3U patent/CN215826857U/en active Active
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