CN216460635U - A variable-direction feeding mechanism for a self-balancing adaptive robot for underground pipe cleaning - Google Patents

Abstract

The variable-direction feeding mechanism used for the self-balancing adaptive robot for underground pipeline cleaning includes a direction-changing mechanism and a feeding mechanism; the direction-changing mechanism includes a rotating base, and the rotating base is provided with a circular hole for the transmission shaft to pass through, and a turning motor Symmetrically distributed on the rotating base, the first ends of the two cross couplings are fixedly connected to the output shaft of the turning motor, the transmission shaft is rotatably connected to the rotating base through bearings, and the two ends of the transmission shaft are respectively fixed to the cross coupling, and the rotating joint is connected to the rotating base. The transmission shaft is fixedly connected; the feeding mechanism is fixedly connected with the rotating joint, and the feeding mechanism can perform telescopic reciprocating motion to drive the working part of the robot to work.

Description

A variable-direction feeding mechanism for a self-balancing adaptive robot for underground pipe cleaning

technical field

The utility model belongs to the technical field of pipeline cleaning equipment, in particular to a variable-direction feeding mechanism for a self-balancing self-adaptive robot for cleaning underground pipelines.

Background technique

Underground pipelines are complex and changeable, and the types of pipelines are various. Pipelines in different areas and uses vary greatly in their layout and density, resulting in frequent bends in pipelines. At the same time, after long-term use, the pipeline environment will continue to deteriorate. All these will bring difficulties to the pipe cleaning work.

For the current underground pipeline cleaning robot, in terms of the changing direction and feeding method in the pipeline, the subsections of the peristaltic pipeline robot are connected flexibly and have strong adaptability to curved pipelines. But its shortcomings are many segments, complex structure, low movement speed, high energy consumption and so on. The spiral pipeline robot can rotate spirally in the pipeline, so that a large friction force is generated between the pipeline robot and the inner wall of the pipeline, so as to push the robot to move in the pipeline. But its shortcomings are that its driving efficiency is not high, the generated feeding force is small, and its maneuverability is poor. Therefore, the traditional pipeline robot has certain limitations in the way of changing the direction of the pipe and the way of feeding, and can only clean a certain type of underground pipeline, which is less universal. Faced with the increasingly complex underground pipeline cleaning work, it is urgent to innovate in the way of changing the direction and feeding method of the pipeline robot.

In order to solve the above problems, a variable-direction feeding mechanism for a self-balancing adaptive robot for underground pipeline cleaning is designed. Designed for in-pipe turning action. When clearing obstacles, it can drive the repairing mechanism to rotate as a whole, and at the same time provide a continuous and stable feeding force for the repairing mechanism, increase the scope of a single pipeline cleaning, and improve the cleaning efficiency.

Utility model content

The utility model proposes a variable-direction feeding mechanism for a self-balancing self-adaptive robot for cleaning underground pipes. Its specific structure and connection are as follows:

The variable-direction feeding mechanism used for the self-balancing adaptive robot for underground pipeline cleaning includes a direction-changing mechanism and a feeding mechanism;

The direction changing mechanism includes a rotating base, the rotating base is provided with a circular hole for the transmission shaft to pass through, the turning motor is symmetrically distributed on the rotating base, the head ends of the two cross couplings are fixedly connected with the output shaft of the turning motor, and the transmission shaft The bearing is rotatably connected with the rotating base, the two ends of the transmission shaft are respectively fixed with the cross coupling, and the rotating joint is fixedly connected with the transmission shaft;

The feeding mechanism is fixedly connected with the rotating joint, and the feeding mechanism can perform telescopic reciprocating motion, which is used to drive the working part of the robot to work.

Furthermore, the feeding mechanism includes a feeding end cover, the feeding end cover is fixedly connected with the rotating joint of the direction changing mechanism, the feeding end cover is fixedly connected with the feeding base, and the second gear is arranged on the feeder by the feeder. In the cavity formed by the end cover and the feeding base, the feeding motor is fixedly connected to the feeding base, and the output shaft of the feeding motor passes through the circular hole of the feeding base and then is fixedly connected with the second gear, and the head end of the trapezoidal lead screw passes through the cavity. After passing through the circular hole of the feeding base, it is meshed with the second gear, the end of the trapezoidal lead screw is fixedly connected with the lead screw guide block, the feeding motor drives the second gear and then drives the trapezoidal lead screw to rotate, and the lead screw nut is threaded with the trapezoidal lead screw. The sleeve is fixedly connected with the lead screw nut, the lead screw guide block is coaxially matched with the sleeve, and the lead screw guide block can rotate in the sleeve.

Furthermore, the feeding mechanism also includes a push rod outer cylinder, the push rod outer cylinder is fixedly connected with the feed base, the telescopic rod guide block and the push rod outer cylinder are fixedly connected, the feed base, the lead screw nut, The three parts of the telescopic rod guide block are all machined with grooves that can install the guide rail. The two ends of the guide rail are respectively connected in the grooves of the feed base and the telescopic rod guide block. Driven by the trapezoidal lead screw, the lead screw nut will only move in the direction of the guide rail, but will not rotate.

The beneficial effects of the present utility model:

The design of the direction changing mechanism makes the robot as a whole in a split chain link structure, the flexibility of the body is increased, and the 360° circumferential rotation in the pipeline can be realized. At the same time, a 180° swing can also be realized, and the swing plane is perpendicular to the annular rotation plane and passes through the center of the annular rotation plane. The combination of the above two direction-changing motions can realize the turning action in the pipeline, and has good adaptability to the curved pipeline; the design of the feeding mechanism can provide feeding force for the robot when cleaning the pipeline, so that the robot can continuously maintain stable working condition. At the same time, the feeding mechanism increases the range of single cleaning of the robot and improves the cleaning efficiency. To sum up, the variable-direction feeding mechanism can make the robot have good adaptability to the cleaning of elbows, and its cleaning efficiency is stable and continuous.

Description of drawings

FIG. 1 is a schematic structural diagram of the utility model connected to a robot.

Figure 2 is a schematic diagram of the overall structure of the utility model.

FIG. 3 is a three-dimensional schematic view of the direction changing mechanism of the present invention.

FIG. 4 is a schematic perspective view of the feeding mechanism of the present invention.

Fig. 5 is a perspective view showing that the outer cylinder of the push rod is not connected to the feeding mechanism.

6 is a cross-sectional view of the feeding mechanism of the present invention.

Detailed ways

Please refer to Fig. 1 to Fig. 6, the variable-direction feeding mechanism used for the self-balancing adaptive robot for underground pipeline cleaning, including the direction-changing mechanism 3 and the feeding mechanism 4;

The direction changing mechanism 3 includes a rotating base 301, two turning motors 302, two Oldham couplings 303, a transmission shaft 304 and a rotating joint 305;

The rotating base 301 is fixedly connected with the motor drive shaft 111 in the traveling mechanism 1, the rotating base 301 is provided with a circular hole for the transmission shaft 304 to pass through, the turning motor 302 is symmetrically distributed on the rotating base 301, and two cross couplings are provided. The head end of 303 is fixedly connected with the output shaft of the turning motor 302, the transmission shaft 304 is rotatably connected with the rotating base 301 through bearings, and the two ends of the transmission shaft 304 are respectively fixed with the cross coupling 303, and the transmission shaft 304 can turn the motor 302 on both sides. The rotating joint 305 is fixedly connected with the transmission shaft 304, and the two are in a coaxial matching relationship; the rotation of the transmission shaft 304 can drive the rotating joint 305 to rotate;

The feeding mechanism 4 includes a feeding end cover 401, a feeding base 402, a feeding motor 403, a second gear 404, a trapezoidal lead screw 405, a lead screw nut 406, a sleeve 407, a lead screw guide block 408, a guide rail 409, a telescopic Rod guide block 410, push rod outer cylinder 411;

The feed end cover 401 is fixedly connected with the rotary joint 305 of the direction changing mechanism 3 by screws, the feed end cover 401 and the feed base 402 are fixedly connected by screws, and the second gear 404 is arranged between the feed end cover 401 and the feed base. In the cavity formed by 402, the feeding base 402 is provided with a circular hole that can pass through the trapezoidal screw 405 and the output shaft of the feeding motor 403, and the feeding motor 403 is fixedly connected to the feeding base 402 and the feeding motor 403 outputs The shaft passes through the circular hole of the feeding base 402 and is fixedly connected with the second gear 404. The feeding motor 403 can drive the second gear 404 to rotate. The two gears 404 are meshed and connected, the end of the lead screw 405 is fixedly connected with the lead screw guide block 408, the feed motor 403 drives the gear and then drives the lead screw 405 to rotate, the lead screw nut 406 is threadedly connected to the lead screw 405, and the sleeve 407 is connected to the lead screw 405. The lead screw nut 406 is fixedly connected, the lead screw guide block 408 is coaxially matched with the sleeve 407, and the lead screw guide block 408 can be rotated in the sleeve 407, the push rod outer cylinder 411 is fixedly connected with the feed base 402 by thread, and the telescopic The rod guide block 410 and the push rod outer cylinder 411 are fixedly connected by screws. The three components of the feed base 402, the lead screw nut 406, and the telescopic rod guide block 410 are all machined with grooves for installing the guide rails 409. The two ends of the guide rails 409 are respectively Connected in the groove of the feed base 402 and the telescopic rod guide block 410, the middle of the guide rail 409 is connected with the groove on the lead screw nut 406 to ensure that the lead screw nut 406 will only follow the guide rail under the drive of the trapezoidal lead screw 405. 409 moves in the direction without turning.

Change of direction

The rotating base 301 in the direction changing mechanism 3 is fixedly connected with the motor driving shaft 111 in the traveling mechanism 1, and the motor driving shaft 111 is fixedly connected with the rotary driving motor 110. Based on the connection relationship of the above mechanisms, the rotary driving motor 110 changes the driving direction. The mechanism 3, the feeding mechanism 4, the repairing body 5, the grinding mechanism and the cutting mechanism 7 rotate 360° on the same circumferential plane; at the same time, the turning motor 302 will drive the feeding mechanism 4, the repairing body 5, the grinding mechanism and the cutting mechanism 7. Swing 180° on the same circumferential plane; the combination of the above two motion modes can realize the turning action of the device in the pipeline.

Feeding method

The trapezoidal lead screw 405 in the feeding mechanism 4 rotates under the drive of the feeding motor 403, and then drives the lead screw nut 406 and the sleeve 407 to move. Based on the connection relationship of the above mechanisms, the body 5, the grinding mechanism and the cutting The mechanism 7 will be pushed forward or backward by the sleeve 407 .

When the urban underground pipeline cleaning self-balancing self-adaptive robot is working, firstly the walking mechanism 1 drives the reducing mechanism to move to the designated position, and the rotating drive motor of the walking mechanism 1 drives the direction changing mechanism 3 to rotate through the motor drive shaft, and then drives the feeding mechanism. 4. The repairing body 5, the grinding mechanism and the cutting mechanism 7 rotate 360°. At this time, the sleeve 407 of the feeding mechanism 4 extends out, which drives the repairing body 5, the grinding mechanism and the cutting mechanism 7 to move forward to repair the body. 5. The grinding mechanism 6 and the cutting mechanism 7 perform rotary motion and linear displacement motion at the same time. After the sleeve 407 is stretched out in place, the rotary drive motor of the walking mechanism 1 no longer drives the direction changing mechanism 3 to rotate. When the sleeve 407 shrinks, after the sleeve 407 shrinks in place, the wheel drive motor of the reducing unit 2 drives the traveling wheel to move a certain distance in the pipe wall, and repeat the above steps again.

Claims (3)

1. a variable-direction feeding mechanism for an underground pipeline cleaning self-balancing self-adaptive robot, characterized in that: it comprises a direction-changing mechanism (3) and a feeding mechanism (4); The direction changing mechanism (3) includes a rotating base (301), the rotating base (301) is provided with a circular hole through which the transmission shaft (304) can pass, and the turning motors (302) are symmetrically distributed on the rotating base (301), and two The head ends of each of the Oldham couplings (303) are fixedly connected to the output shaft of the turning motor (302), the transmission shaft (304) is rotatably connected to the rotating base (301) through bearings, and the two ends of the transmission shaft (304) are respectively connected to the Oldham coupling. The device (303) is fixedly connected, and the rotary joint (305) is fixedly connected with the transmission shaft (304); The feeding mechanism (4) is fixedly connected with the rotating joint (305), and the feeding mechanism (4) can perform telescopic and reciprocating motions for driving the working part of the robot to work. 2. The variable-direction feeding mechanism for an underground pipeline cleaning self-balancing self-adaptive robot according to claim 1, wherein the feeding mechanism (4) comprises a feeding end cover (401), The feed end cover (401) is fixedly connected with the rotary joint (305) of the direction changing mechanism (3), the feed end cover (401) is fixedly connected with the feed base (402), and the second gear (404) is arranged on the feeder base (402). In the cavity formed by the end cover (401) and the feeding base (402), the feeding motor (403) is fixedly connected to the feeding base (402) and the output shaft of the feeding motor (403) passes through the feeding base (402). ) is fixedly connected with the second gear (404), the head end of the trapezoidal screw (405) passes through the circular hole of the feed base (402) and is meshed with the second gear (404), the trapezoidal screw (405) The end of 405) is fixedly connected with the lead screw guide block (408), the feeding motor (403) drives the second gear (404) and then drives the lead screw (405) to rotate, and the lead screw nut (406) and the lead screw (405) Threaded connection, the sleeve (407) is fixedly connected with the screw nut (406), the screw guide block (408) is coaxially matched with the sleeve (407), and the screw guide block (408) can be in the sleeve (407) ) to rotate. 3. The variable-direction feeding mechanism for an underground pipeline cleaning self-balancing self-adaptive robot according to claim 1, wherein the feeding mechanism (4) further comprises a push rod outer cylinder (411), The push rod outer cylinder (411) is fixedly connected with the feed base (402), the telescopic rod guide block (410) is fixedly connected with the push rod outer cylinder (411), the feed base (402), the lead screw nut (406), The three parts of the telescopic rod guide block (410) are all machined with grooves for installing the guide rails (409), and both ends of the guide rails (409) are respectively connected to the feed base (402) and the grooves of the telescopic rod guide block (410). Inside, the middle of the guide rail (409) is connected with the groove on the lead screw nut (406) to ensure that the lead screw nut (406) will only move along the guide rail (409) direction when driven by the trapezoidal lead screw (405), while No rotation will occur.

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