CN216460635U - Direction-variable feeding mechanism for self-balancing self-adaptive robot for cleaning underground pipeline - Google Patents
Direction-variable feeding mechanism for self-balancing self-adaptive robot for cleaning underground pipeline Download PDFInfo
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- CN216460635U CN216460635U CN202220069924.7U CN202220069924U CN216460635U CN 216460635 U CN216460635 U CN 216460635U CN 202220069924 U CN202220069924 U CN 202220069924U CN 216460635 U CN216460635 U CN 216460635U
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Abstract
The direction-variable feeding mechanism for the self-balancing self-adaptive robot for cleaning the underground pipeline comprises a direction-changing mechanism and a feeding mechanism; the turning mechanism comprises a rotating base, round holes for a transmission shaft to pass through are formed in the rotating base, turning motors are symmetrically distributed on the rotating base, the head ends of two cross-shaped couplings are fixedly connected with an output shaft of the turning motor, the transmission shaft is rotatably connected with the rotating base through bearings, two ends of the transmission shaft are fixedly connected with the cross-shaped couplings respectively, and a rotating joint is fixedly connected with the transmission shaft; the feeding mechanism is fixedly connected with the rotating joint and can do telescopic reciprocating motion for driving the working part of the robot to work.
Description
Technical Field
The utility model belongs to the technical field of the pipeline cleaning equipment, concretely relates to but diversion feed mechanism for self-balancing self-adaptation robot is cleared up to underground piping.
Background
Underground pipelines are complex and changeable, and the pipeline types are complicated. The different areas and different applications of the pipeline have great diversity in the arrangement mode and the arrangement density, so that the bent pipe sections in the pipeline can be frequently generated. Meanwhile, the pipeline environment is continuously deteriorated after long-term use. These all cause difficulties in the pipe cleaning work.
For the current underground pipeline cleaning robot, as for the direction changing mode and the feeding mode in the pipeline, the sections of the peristaltic pipeline robot are flexibly connected, and the adaptability to the bent pipeline is strong. But has the disadvantages of more sections, complex structure, low movement speed, large energy consumption and the like. 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, and the robot is pushed to walk in the pipeline. But has the disadvantages of low driving efficiency, small generated feeding force, poor maneuverability and the like. Therefore, the traditional pipeline robot has certain limitations in the aspects of a direction changing mode and a feeding mode in the pipeline, can only clean a certain type of underground pipeline, and is poor in universality. In the face of increasingly complex underground pipeline cleaning work, innovations in the aspects of a direction changing mode and a feeding mode in a pipeline robot pipe are urgently needed.
In order to solve the problems, the reversible feeding mechanism for the self-balancing self-adaptive robot for cleaning the underground pipeline is designed. Aiming at realizing the turning action in the pipeline. When clearance barrier, can drive the repair body and wholly rotate, provide the feed force of lasting stable for repair body simultaneously, increase the scope of single pipeline clearance, promote cleaning efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model provides a but diversion feed mechanism that is used for self-balancing self-adaptation robot of underground piping clearance. The specific structural form and the connection mode are as follows:
the variable-direction feeding mechanism for the self-balancing self-adaptive robot for cleaning the underground pipeline comprises a direction changing mechanism and a feeding mechanism;
the turning mechanism comprises a rotating base, round holes for a transmission shaft to pass through are formed in the rotating base, turning motors are symmetrically distributed on the rotating base, the head ends of two cross-shaped couplings are fixedly connected with an output shaft of the turning motor, the transmission shaft is rotatably connected with the rotating base through bearings, two ends of the transmission shaft are fixedly connected with the cross-shaped couplings respectively, and a rotating joint is fixedly connected with the transmission shaft;
the feeding mechanism is fixedly connected with the rotating joint and can do telescopic reciprocating motion for driving the working part of the robot to work.
Furthermore, the feeding mechanism comprises a feeding end cover, the feeding end cover is fixedly connected with a rotating joint of the direction changing mechanism, the feeding end cover is fixedly connected with the feeding base, a second gear is arranged in a cavity formed by the feeding end cover and the feeding base, a feeding motor is fixedly connected to the feeding base, an output shaft of the feeding motor penetrates through a round hole of the feeding base and then is fixedly connected with the second gear, the head end of a trapezoidal lead screw penetrates through a round hole of the feeding base and then is connected with the second gear in a meshed mode, the tail end of the trapezoidal lead screw is fixedly connected with a lead screw guide block, the feeding motor drives the second gear to further drive the trapezoidal lead screw to rotate, the lead screw nut is in threaded connection 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 further comprises a push rod outer barrel, the push rod outer barrel is fixedly connected with the feeding base, the telescopic rod guide block is fixedly connected with the push rod outer barrel, grooves capable of installing guide rails are formed in three parts of the feeding base, the lead screw nut and the telescopic rod guide block, two ends of each guide rail are respectively connected into the grooves of the feeding base and the corresponding telescopic rod guide block, the middle of each guide rail is connected with the groove in the lead screw nut, and the lead screw nut is driven by the trapezoidal lead screw to only move along the guide rail direction without rotating.
The utility model has the advantages that:
the design of the turning mechanism enables the whole robot to be of a split chain link structure, the flexibility of the robot body is increased, and 360-degree annular rotation in a pipeline can be achieved. Meanwhile, the swing of 180 degrees can be realized, and the swing plane of the swing mechanism is vertical to the annular rotation plane and passes through the center of the annular rotation plane. The two turning movements are combined, so that the turning action in the pipeline can be realized, and the pipeline bending device has good adaptability to the bent pipeline; the feeding mechanism can be designed to provide feeding force for the robot when the robot cleans the pipeline, so that the robot can continuously maintain a stable working state. Meanwhile, the feeding mechanism enlarges the single cleaning range of the robot and improves the cleaning efficiency. In sum, the reversible feeding mechanism can enable the robot to have good adaptability to elbow cleaning, and the cleaning efficiency is stable and continuous.
Drawings
Fig. 1 is a schematic structural diagram of the robot of the present invention.
Fig. 2 is a schematic view of the overall structure of the present invention.
Fig. 3 is a schematic perspective 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 of the plunger outer barrel not connected to the feeding mechanism.
Fig. 6 is a cross-sectional view of the feeding mechanism of the present invention.
Detailed Description
Referring to fig. 1 to 6, the direction-variable feeding mechanism for the self-balancing self-adaptive robot for cleaning underground pipelines comprises a direction-variable mechanism 3 and a feeding mechanism 4;
the direction changing mechanism 3 comprises a rotating base 301, two turning motors 302, two cross couplings 303, a transmission shaft 304 and a rotating joint 305;
the rotating base 301 is fixedly connected with a motor driving shaft 111 in the traveling mechanism 1, a round hole through which a transmission shaft 304 can pass is formed in the rotating base 301, the turning motors 302 are symmetrically distributed on the rotating base 301, the head ends of the two cross-shaped couplings 303 are fixedly connected with an output shaft of the turning motor 302, the transmission shaft 304 is rotatably connected with the rotating base 301 through bearings, the two ends of the transmission shaft 304 are fixedly connected with the cross-shaped couplings 303 respectively, the transmission shaft 304 can be driven by the turning motors 302 on the two sides to rotate together, and the rotating joint 305 is fixedly connected with the transmission shaft 304 and is in a coaxial matching relation; the rotation of the transmission shaft 304 can drive the rotation joint 305 to rotate;
the feeding mechanism 4 comprises 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 and a push rod outer cylinder 411;
the feeding end cover 401 is fixedly connected with a rotating joint 305 of the direction changing mechanism 3 through threads, the feeding end cover 401 is fixedly connected with the feeding base 402 through screws, the second gear 404 is arranged in a cavity formed by the feeding end cover 401 and the feeding base 402, a round hole capable of penetrating through a trapezoidal lead screw 405 and an output shaft of the feeding motor 403 is arranged on the feeding base 402, the feeding motor 403 is fixedly connected on the feeding base 402, the output shaft of the feeding motor 403 penetrates through the round hole of the feeding base 402 and then is fixedly connected with the second gear 404, the feeding motor 403 can drive the second gear 404 to rotate, the head end of the trapezoidal lead screw 405 penetrates through the round hole of the feeding base 402 and is meshed with the second gear 404, the tail end of the trapezoidal lead screw 405 is fixedly connected with a lead screw guide block 408, the feeding motor 403 drives the gear to further drive the trapezoidal lead screw 405 to rotate, the lead screw nut 406 is in threaded connection with the trapezoidal lead screw 405, the sleeve 407 is fixedly connected with the lead screw nut 406, the screw guide block 408 is coaxially matched with the sleeve 407, the screw guide block 408 can rotate in the sleeve 407, the push rod outer cylinder 411 is fixedly connected with the feeding base 402 through threads, the telescopic rod guide block 410 is fixedly connected with the push rod outer cylinder 411 through screws, grooves for mounting the guide rail 409 are formed in three parts of the feeding base 402, the screw nut 406 and the telescopic rod guide block 410, two ends of the guide rail 409 are respectively connected into the grooves of the feeding base 402 and the telescopic rod guide block 410, the middle part of the guide rail 409 is connected with the grooves in the screw nut 406, and it is ensured that the screw nut 406 only moves along the direction of the guide rail 409 without rotating under the driving of the trapezoidal screw 405.
Direction changing mode
The rotating base 301 in the direction changing mechanism 3 is fixedly connected with the motor driving shaft 111 in the traveling mechanism 1, the motor driving shaft 111 is fixedly connected with the rotating driving motor 110, and based on the connection relationship of the mechanisms, the rotating driving motor 110 drives the direction changing mechanism 3, the feeding mechanism 4, the repairing machine body 5, the grinding mechanism and the cutting mechanism 7 to rotate 360 degrees on the same circumferential plane; meanwhile, the turning motor 302 drives the feeding mechanism 4, the repairing machine body 5, the grinding mechanism and the cutting mechanism 7 to swing for 180 degrees on the same circumferential plane; the two movement modes are combined, so that the turning action of the device in the pipeline can be realized.
Feeding mode
The trapezoidal screw 405 in the feeding mechanism 4 is driven by the feeding motor 403 to rotate, and further drives the screw nut 406 and the sleeve 407 to move, and based on the connection relationship of the above mechanisms, the repairing machine body 5, the grinding mechanism and the cutting mechanism 7 will move forward or backward under the pushing of the sleeve 407.
When the self-balancing self-adaptive robot for cleaning urban underground pipelines works, firstly, a travelling mechanism 1 drives a reducing mechanism to move to a specified position, a rotary driving motor of the travelling mechanism 1 drives a direction changing mechanism 3 to rotate through a motor driving shaft, and further drives a feeding mechanism 4, a repairing machine body 5, a grinding mechanism and a cutting mechanism 7 to rotate for 360 degrees, at the moment, a sleeve 407 of the feeding mechanism 4 extends out to drive the repairing machine body 5, the grinding mechanism and the cutting mechanism 7 to move forwards, the repairing machine body 5, the grinding mechanism 6 and the cutting mechanism 7 work in the way of simultaneously performing rotary motion and linear displacement motion, after the sleeve 407 extends out in place, the rotary driving motor of the travelling mechanism 1 does not drive the direction changing mechanism 3 to rotate, at the moment, the sleeve 407 contracts, and after the sleeve 407 contracts in place, a wheel driving motor of a reducing unit 2 drives travelling wheels to move for a certain distance in a pipe wall, the above steps are repeated again.
Claims (3)
1. A but, diversion feeding mechanism for self-balancing self-adaptation robot is cleared up to underground pipeline, its characterized in that: comprises a direction changing mechanism (3) and a feeding mechanism (4);
the direction changing mechanism (3) comprises a rotating base (301), round holes capable of allowing a transmission shaft (304) to penetrate are formed in the rotating base (301), turning motors (302) are symmetrically distributed on the rotating base (301), the head ends of two cross-shaped couplers (303) are fixedly connected with an output shaft of the turning motor (302), the transmission shaft (304) is rotatably connected with the rotating base (301) through bearings, two ends of the transmission shaft (304) are fixedly connected with the cross-shaped couplers (303) respectively, and a rotating 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 do telescopic reciprocating motion and is used for driving the working part of the robot to work.
2. The reversible feed mechanism for self-balancing adaptive robot for underground pipe cleaning according to claim 1, characterized in that: the feeding mechanism (4) comprises a feeding end cover (401), the feeding end cover (401) is fixedly connected with a rotating joint (305) of the direction changing mechanism (3), the feeding end cover (401) is fixedly connected with a feeding base (402), a second gear (404) is arranged in a cavity formed by the feeding end cover (401) and the feeding base (402), a feeding motor (403) is fixedly connected on the feeding base (402), an output shaft of the feeding motor (403) penetrates through a round hole of the feeding base (402) and then is fixedly connected with the second gear (404), the head end of a trapezoidal lead screw (405) penetrates through a round hole of the feeding base (402) and then is meshed with the second gear (404), the tail end of the trapezoidal lead screw (405) is fixedly connected with a lead screw guide block (408), the feeding motor (403) drives the second gear (404) to drive the trapezoidal lead screw (405) to rotate, a lead screw nut (406) is in threaded connection with the trapezoidal lead screw (405), 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 rotate in the sleeve (407).
3. The reversible feed mechanism for self-balancing adaptive robot for underground pipe cleaning according to claim 1, characterized in that: the feeding mechanism (4) further comprises a push rod outer barrel (411), the push rod outer barrel (411) is fixedly connected with the feeding base (402), a telescopic rod guide block (410) is fixedly connected with the push rod outer barrel (411), grooves capable of installing guide rails (409) are formed in three parts of the feeding base (402), a lead screw nut (406) and the telescopic rod guide block (410), two ends of each guide rail (409) are respectively connected into the grooves of the feeding base (402) and the telescopic rod guide block (410), the middle part of each guide rail (409) is connected with the groove in the lead screw nut (406), and the lead screw nut (406) is driven by the trapezoidal lead screw (405) and only can move along the guide rails (409) without rotating.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220069924.7U CN216460635U (en) | 2022-01-12 | 2022-01-12 | Direction-variable feeding mechanism for self-balancing self-adaptive robot for cleaning underground pipeline |
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| CN202220069924.7U CN216460635U (en) | 2022-01-12 | 2022-01-12 | Direction-variable feeding mechanism for self-balancing self-adaptive robot for cleaning underground pipeline |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114192519A (en) * | 2022-01-12 | 2022-03-18 | 吉林大学 | Direction-variable feeding mechanism for self-balancing self-adaptive robot for cleaning underground pipeline |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114192519A (en) * | 2022-01-12 | 2022-03-18 | 吉林大学 | Direction-variable feeding mechanism for self-balancing self-adaptive robot for cleaning underground pipeline |
| CN114192519B (en) * | 2022-01-12 | 2024-09-13 | 吉林大学 | Direction-changeable feeding mechanism for self-balancing self-adaptive robot for cleaning underground pipeline |
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