CN216112796U - Travelling wheel support for pipeline transportation and installation robot - Google Patents
Travelling wheel support for pipeline transportation and installation robot Download PDFInfo
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- CN216112796U CN216112796U CN202122341503.3U CN202122341503U CN216112796U CN 216112796 U CN216112796 U CN 216112796U CN 202122341503 U CN202122341503 U CN 202122341503U CN 216112796 U CN216112796 U CN 216112796U
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Abstract
The utility model discloses a walking wheel support for a pipeline transportation and installation robot, wherein an inner side fixed support is arranged in an outer side movable support and is connected with the outer side movable support through a slide block guide rail mechanism, two ends of the inner side fixed support are respectively provided with a group of adjustable walking wheel mechanisms, two walking wheels are arranged below each group of adjustable walking wheel mechanisms, a driving mechanism is arranged above the outer side movable support, the driving mechanism drives a transmission mechanism arranged in the inner side fixed support and the outer side movable support to horizontally move, and the outer side movable support is connected with the robot. The walking wheel support effectively solves the problems that the walking wheel angle of the pipeline transportation and installation robot cannot be adjusted, the walking wheel support cannot adapt to various pipeline inner diameters and cannot adjust the horizontal position of a pipeline during butt joint of the pipeline, the labor intensity of operators is reduced, the installation efficiency is improved, and meanwhile, safety guarantee is provided for installation of a lining pipe in the pipeline.
Description
Technical Field
The utility model belongs to the technical field of pipeline trenchless repair equipment, and particularly relates to a walking wheel support 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 road surfaces, replace pipelines, backfill working surfaces, repair roads and the like, the cost is huge, the urban traffic and enterprise production are directly influenced, and meanwhile, noise pollution and potential safety hazards exist. At present, the trenchless pipeline repairing technology is gradually popularized and used in China and is emphasized. Due to the narrow space of the pipeline, construction personnel are limited in the construction of the pipeline, so that various pipeline robots are put into use in a large amount.
Novel pipeline transportation installation robot belongs to heavy robot, can realize the function of quick transport pipeline, quick installation pipeline. The robot has a complex overall structure and high manufacturing cost, and the diameters of pipelines repaired by engineering are various, so that the walking wheels with adjustable angles are needed, the walking of the pipeline transportation and installation robot in pipelines to be repaired with different diameters can be met, and the functional requirement for adjusting the horizontal position of the pipeline in the pipeline installation process can be met. In conclusion, it is necessary to design a new road wheel bracket.
SUMMERY OF THE UTILITY MODEL
The utility model provides a walking wheel bracket for a pipeline transportation and installation robot, which provides a function of adjusting walking wheel angles for a novel pipeline transportation and installation robot, enables the walking wheel bracket to adapt to pipelines with different diameters, and realizes a function of adjusting the horizontal position of the pipeline when the pipeline is in butt joint installation.
The technical scheme adopted by the utility model for solving the technical problems is as follows: a walking wheel support for a pipeline transportation and installation robot comprises an inner side fixed support, an outer side movable support, an adjustable walking wheel mechanism, a sliding block guide rail mechanism, a limiting block, a driving mechanism and a transmission mechanism, wherein the outer side movable support is connected to the inner side fixed support through the sliding block guide rail mechanism; the inner fixed support is a hollow square columnar structure formed by welding steel plates, the outer movable support is a hollow square columnar structure formed by welding steel plates, a guide rail in the sliding block guide rail mechanism is connected to the upper surface of the inner fixed support through a bolt, a sliding block in the sliding block guide rail mechanism is connected to the inner side of the outer movable support through a bolt, the sliding block is arranged in the guide rail, the outer movable support is connected to the inner fixed support, the outer movable support is nested outside the inner fixed support, and the limiting blocks are connected to the two sides of the guide rail through bolts; the outer movable bracket can be connected with other parts of the pipeline transportation and installation robot in a welding or bolt connection mode; the adjustable travelling wheel mechanisms are arranged on two sides of the inner fixed bracket; the driving mechanism is arranged above the outer movable bracket; the transmission mechanism is arranged inside the inner fixed bracket and connected to the driving mechanism.
Further, the adjustable walking wheel mechanism comprises a worm wheel, a worm, a bearing for the worm, a first motor, a walking wheel mounting plate, a walking wheel mounting shaft and a bearing for the walking wheel mounting shaft, one end of the worm is fixed on a mounting hole of the inner side fixing type support, the other end of the worm is installed in the bearing for the worm and is installed on the mounting hole of the inner side fixing type support through a bolt, the first motor is fixed above the worm, a power supply and a control system of the first motor are installed in other mechanisms of the pipeline transportation installation robot, the bearing for the walking wheel mounting shaft is connected with two sides of one end of the inner side fixing type support through bolts, the walking wheel mounting shaft passes through the bearing for the walking wheel mounting shaft, the worm wheel and the bearing for the walking wheel mounting shaft and is then fixed on the inner side fixing type support, and the walking wheel mounting plate is a structure with a boss above a flat plate, there is a round hole that runs through the boss in the boss, and the round hole on the walking wheel mounting panel penetrates walking wheel installation axle, and fixed mounting is in walking wheel installation axle both sides, the walking wheel pass through bolted connection on the walking wheel mounting panel.
Further, drive mechanism include rack, gear shaft, bearing for the gear shaft, bearing mounting panel, speed reducer connecting axle, the rack pass through the inside of bolted connection at inboard fixed type support, the gear fix on the gear shaft, bearing for the gear shaft pass through bolted connection on the bearing mounting panel, the bearing mounting panel pass through bolted connection on outside portable type support, the gear shaft connect on the bearing for the gear shaft, the speed reducer connecting axle fix the top at the gear shaft.
Further, actuating mechanism include worm gear speed reducer machine, second motor, mounting panel for worm gear speed reducer machine, the mounting panel for worm gear speed reducer machine pass through bolted connection on the bearing mounting panel, worm gear speed reducer machine pass through bolted connection on the mounting panel for worm gear speed reducer machine, the second motor fix on the input shaft of worm gear speed reducer machine, the power and the control system of second motor install in other mechanisms of pipeline transportation installation robot.
The utility model has the beneficial effects that:
(1) according to the walking wheel support provided by the utility model, the function of randomly adjusting the angle of the walking wheel is realized through the adjustable walking wheel mechanisms arranged at the two ends of the inner side fixed support. The adjustable walking wheels are vertical when walking on flat ground, and the adjustable walking wheels are vertical to the inner wall of the pipeline when walking in pipelines with different diameters. The mechanism adopts worm and gear transmission, has good self-locking function, the angle of the walking wheel cannot be changed by external force after the angle is adjusted, and has high safety, thus not only solving the problem that the vertically installed walking wheel is easy to damage when walking in a pipeline, but also greatly improving the universality of the walking wheel bracket;
(2) according to the walking wheel support provided by the utility model, the function of horizontal translation adjustment of the pipeline transportation and installation robot is realized through the interaction of the driving mechanism, the transmission mechanism and the slide block guide rail mechanism, the horizontal position of a pipeline can be adjusted by adjusting the horizontal position of the robot when the pipeline is in butt joint, and the pipeline installation efficiency is improved;
(3) according to the walking wheel support provided by the utility model, the adjustable walking wheel mechanism and the driving mechanism are driven by the motor, and the walking wheel mechanism and the driving mechanism are matched with other accessories on the pipeline transportation and installation robot, so that the functions of remotely operating and adjusting the angle of the walking wheel and the horizontal position of the pipeline can be realized, the labor intensity of operators is reduced, the installation efficiency is improved, and meanwhile, the safety guarantee is provided for the installation of the lining pipe in the pipeline.
Drawings
The utility model is described in further detail below with reference to the accompanying drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the inboard fixed mount, drive mechanism, slider guide mechanism of the present invention;
FIG. 3 is a schematic view of an adjustable travel wheel mechanism of the present invention;
FIG. 4 is a schematic view of the present invention walking on a flat bottom;
FIG. 5 is a schematic view of the present invention walking in a circular arc pipe;
FIG. 6 is a schematic view of the present invention adjusting the horizontal traversing function.
In the figure, 1, an inner fixed support, 2, an outer movable support, 3, an adjustable travelling wheel mechanism, 4, a sliding block guide rail mechanism, 5, a limiting block, 6, a driving mechanism, 7, a transmission mechanism, 31, a worm wheel, 32, a worm, 33, a bearing for the worm, 34, a first motor, 35, a travelling wheel, 36, a travelling wheel mounting plate, 37, a travelling wheel mounting shaft, 38, a bearing for the travelling wheel mounting shaft, 41, a guide rail, 42, a sliding block, 61, a worm gear reducer, 62, a second motor, 63, a mounting plate for the worm gear reducer, 71, a rack, 72, a gear, 73, a gear shaft, 74, a bearing for the gear shaft, 75, a bearing mounting plate and 76 are connected with a reducer.
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 further described in detail with reference to the embodiment 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 embodiments and the drawings, but the scope of protection is not limited thereto.
As shown in fig. 1 to 6, the walking wheel support for the pipeline transportation and installation robot comprises an inner side fixing type support 1, an outer side movable type support 2, an adjustable walking wheel mechanism 3, a sliding block guide rail mechanism 4, a limiting block 5, a driving mechanism 6 and a transmission mechanism 7, wherein the outer side movable type support 2 is connected to the inner side fixing type support 1 through the sliding block guide rail mechanism 4.
The fixed type support 1 of inboard be by the hollow square column structure that the steel sheet welding formed, outside activity type support 2 be by the hollow square column structure that the steel sheet welding formed, guide rail 41 among the slider guide rail mechanism 4 passes through bolted connection at the upper surface of the fixed type support 1 of inboard, slider 42 among the slider guide rail mechanism 4 passes through bolted connection in the inboard of outside activity type support 2, packs slider 42 into guide rail 41, makes outside activity type support 2 connect on the fixed type support 1 of inboard, outside activity type support 2 nestification outside the fixed type support 1 of inboard, stopper 5 pass through bolted connection in the both sides of guide rail 41.
The outer movable bracket 2 can be connected with other parts of the pipeline transportation and installation robot in a welding or bolt connection mode.
The adjustable walking wheel mechanisms 3 are two groups in total and are arranged on two sides of the inner side fixing type support 1. The adjustable walking wheel mechanism 3 comprises a worm wheel 31, a worm 32, a bearing 33 for the worm, a first motor 34, a walking wheel 35, a walking wheel mounting plate 36, a walking wheel mounting shaft 37 and a bearing 38 for the walking wheel mounting shaft, one end of the worm 32 is fixed on a mounting hole of the inner side fixing type bracket 1, the other end of the worm 32 is installed in the bearing 33 for the worm and is installed on the mounting hole of the inner side fixing type bracket 1 through a bolt, the first motor 34 is fixed above the worm 32, a power supply and a control system of the first motor 34 are installed in other mechanisms of the pipeline transportation and installation robot, the bearing 38 for the walking wheel mounting shaft is connected with two sides of one end of the inner side fixing type bracket 1 through a bolt, the walking wheel mounting shaft 37 passes through the worm wheel 31 of the bearing 38 for the walking wheel mounting shaft and the bearing 38 for another walking wheel and is fixed on the inner side fixing type bracket 1, the walking wheel mounting panel 36 is a structure that a boss is arranged above a flat plate, a round hole penetrating through the boss is arranged in the boss, the round hole in the walking wheel mounting panel 36 penetrates into a walking wheel mounting shaft 37, the round hole is fixedly mounted on two sides of the walking wheel mounting shaft 37, and the walking wheel 35 is connected onto the walking wheel mounting panel 36 through a bolt.
The driving mechanism 6 is arranged above the outer movable bracket 2. Actuating mechanism 6 includes worm gear speed reducer machine 61, second motor 62, mounting panel 63 for worm gear speed reducer machine pass through bolted connection on bearing mounting panel 75, worm gear speed reducer machine 61 pass through bolted connection on mounting panel 63 for worm gear speed reducer machine, second motor 62 fix on worm gear speed reducer machine 61's input shaft, second motor 62's power and control system install in other mechanisms of pipeline transportation installation robot.
The transmission mechanism 7 is arranged inside the inner fixed bracket 1 and is connected to the driving mechanism 6. Drive mechanism 7 includes rack 71, gear 72, gear shaft 73, bearing 74 for the gear shaft, bearing mounting panel 75, speed reducer connecting axle 76, rack 71 pass through bolted connection in the inside fixed type support 1, gear 72 fix on gear shaft 73, bearing 74 for the gear shaft pass through bolted connection on bearing mounting panel 75, bearing mounting panel 75 pass through bolted connection on outside movable type support 2, gear shaft 73 connect on bearing 74 for the gear shaft, speed reducer connecting axle 76 fix the top at gear shaft 73.
The working principle of the utility model is as follows:
as shown in fig. 4, the first motor 34 controlling both ends of the inside fixed bracket 1 rotates, the worm 32 rotates the worm wheel 31 after the first motor 34 rotates, the worm wheel 31 is fixed to the road wheel mounting shaft 37, the road wheel mounting plate 36 is also fixed to the road wheel mounting shaft 37, and the road wheel 35 starts to rotate. The traveling wheels 35 are adjusted to be in a vertical state in which the pipe transportation and installation robot can travel on the flat ground. Because the worm gear and worm transmission has self-locking function, the walking wheel mounting shaft 37 and the worm wheel 31 can not rotate freely and can only be driven by the worm 32, so the adjustable walking wheel mechanism 3 has good stability, and the walking of the walking wheel 35 can not deflect.
As shown in fig. 5, the first motors 34 at both ends of the inner fixing type bracket 1 are controlled to adjust the traveling wheels 35 to be perpendicular to the inner arc surface of the pipe on which the pipe transporting and installing robot can travel.
As shown in fig. 6, the second motor 62 is controlled to rotate, the worm gear reducer 61 drives the reducer connecting shaft 76 to rotate, and the gear 72 starts to rotate because the gear 72, the gear shaft 73 and the reducer connecting shaft 76 are fixedly connected. The gear 72 is engaged with the rack 71, the rack 71 is fixed inside the inner fixed bracket 1, the pinion shaft 73 is connected to the outer movable bracket 2 through a pinion shaft bearing 74 and a bearing mounting plate 75, and the outer movable bracket 2 is connected to the inner fixed bracket 1 through the slider rail mechanism 4. When the gear 72 starts to rotate, the gear 72 moves horizontally on the rack 71, thereby moving the outer movable bracket 2 horizontally on the inner fixed bracket 1. According to the characteristics of the worm gear reducer 61, the outer movable type carrier 2 cannot spontaneously move horizontally when the second motor 62 is not rotated, so that the structure has good stability. The outer movable bracket 2 is connected with other parts of the pipeline transportation and installation robot through welding, bolt connection and the like. When the pipelines are butted, if the horizontal positions of the two pipelines are not aligned, the movable bracket 2 at the outer side can be controlled to horizontally move left and right to adjust the horizontal position of a new pipeline.
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. The utility model provides a walking wheel support for pipeline transportation installation robot, characterized by: the adjustable walking wheel mechanism comprises an inner side fixed type support (1), an outer side movable type support (2), an adjustable walking wheel mechanism (3), a sliding block guide rail mechanism (4), a limiting block (5), a driving mechanism (6) and a transmission mechanism (7), wherein the outer side movable type support (2) is connected to the inner side fixed type support (1) through the sliding block guide rail mechanism (4);
the inner fixed support (1) is a hollow square columnar structure formed by welding steel plates, the outer movable support (2) is a hollow square columnar structure formed by welding steel plates, a guide rail (41) in a slide rail mechanism (4) is connected to the upper surface of the inner fixed support (1) through a bolt, a slide block (42) in the slide rail mechanism (4) is connected to the inner side of the outer movable support (2) through a bolt, the slide block (42) is installed in the guide rail (41), the outer movable support (2) is connected to the inner fixed support (1), the outer movable support (2) is embedded outside the inner fixed support (1), and the limiting blocks (5) are connected to two sides of the guide rail (41) through bolts;
the outer movable bracket (2) can be connected with other parts of the pipeline transportation and installation robot in a welding or bolt connection mode;
the two adjustable traveling wheel mechanisms (3) are arranged on two sides of the inner fixed bracket (1);
the driving mechanism (6) is arranged above the outer movable bracket (2);
the transmission mechanism (7) is arranged in the inner fixed bracket (1) and is connected to the driving mechanism (6).
2. The road wheel bracket for the pipeline transportation and installation robot as claimed in claim 1, wherein: adjustable running wheel mechanism (3) include worm wheel (31), worm (32), bearing (33) for the worm, first motor (34), walking wheel (35), walking wheel mounting panel (36), walking wheel installation axle (37), bearing (38) for the walking wheel installation axle, worm (32) one end fix on the mounting hole of inboard fixed type support (1), the other end is packed into bearing (33) for the worm and is installed on the mounting hole of inboard fixed type support (1) through the bolt, first motor (34) fix in worm (32) top, power and the control system of first motor (34) install in other mechanisms of pipeline transportation installation robot, walking wheel installation axle bearing (38) pass through bolted connection in the both sides of inboard fixed type support (1) one end, walking wheel installation axle (37) pass a worm wheel (31) of walking wheel installation axle bearing (38) and another line Walk wheel installation axle and use bearing (38) after-fixing on inboard fixed type support (1), walking wheel mounting panel (36) be a structure that dull and stereotyped top has the boss, have a round hole that runs through the boss in the boss, round hole on walking wheel mounting panel (36) penetrates walking wheel installation axle (37), fixed mounting is in walking wheel installation axle (37) both sides, walking wheel (35) pass through bolted connection on walking wheel mounting panel (36).
3. The road wheel bracket for the pipeline transportation and installation robot as claimed in claim 1, wherein: drive mechanism (7) including rack (71), gear (72), gear shaft (73), bearing (74), bearing mounting panel (75), speed reducer connecting axle (76) for the gear shaft, rack (71) pass through the inside of bolted connection at inboard fixed type support (1), gear (72) fix on gear shaft (73), bearing (74) for the gear shaft pass through bolted connection on bearing mounting panel (75), bearing mounting panel (75) pass through bolted connection on outside activity type support (2), gear shaft (73) connect on bearing (74) for the gear shaft, speed reducer connecting axle (76) fix the top at gear shaft (73).
4. The road wheel bracket for the pipeline transportation and installation robot as claimed in claim 1, wherein: actuating mechanism (6) include worm gear speed reducer machine (61), second motor (62), mounting panel (63) for worm gear speed reducer machine pass through bolted connection on bearing mounting panel (75), worm gear speed reducer machine (61) pass through bolted connection on mounting panel (63) for worm gear speed reducer machine, second motor (62) fix on the input shaft of worm gear speed reducer machine (61), the power and the control system of second motor (62) install in other mechanisms of pipeline transportation installation robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122341503.3U CN216112796U (en) | 2021-09-27 | 2021-09-27 | Travelling wheel support for pipeline transportation and installation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122341503.3U CN216112796U (en) | 2021-09-27 | 2021-09-27 | Travelling wheel support for pipeline transportation and installation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216112796U true CN216112796U (en) | 2022-03-22 |
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ID=80689120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122341503.3U Active CN216112796U (en) | 2021-09-27 | 2021-09-27 | Travelling wheel support for pipeline transportation and installation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216112796U (en) |
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2021
- 2021-09-27 CN CN202122341503.3U patent/CN216112796U/en active Active
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