CN218747749U - Intelligent threading robot that adaptability is high - Google Patents
Intelligent threading robot that adaptability is high Download PDFInfo
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- CN218747749U CN218747749U CN202222031926.XU CN202222031926U CN218747749U CN 218747749 U CN218747749 U CN 218747749U CN 202222031926 U CN202222031926 U CN 202222031926U CN 218747749 U CN218747749 U CN 218747749U
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Abstract
The utility model discloses an intelligent threading robot that adaptability is high, include: the frame, the leg is propped in self-adaptation subassembly and drive, the supplementary leg that props, the one end fixed mounting of frame has the towing hook, the quantity of self-adaptation subassembly is two sets of and is symmetrical arrangement in the surface of frame, the self-adaptation subassembly includes the fixing base, the motion guide seat and be fixed in the elastic piston rod on fixing base surface, the frame includes fixed end plate and is fixed in the guide hack lever at fixed end plate both ends, the fixing base is fixed for cup jointing in the surface of fixed end plate, the motion guide seat slides and cup joints in the surface of fixed end plate, the periphery of fixing base is equipped with a plurality of hinge ears. The utility model discloses in, utilize to distribute in the drive at frame both ends and prop the leg and assist and prop the leg and prop the removal of propping up to duct pipe inner wall to cooperation self-adaptation subassembly elasticity changes the drive and props the leg and assist the expansion angle that props the leg, but deposit in the pipeline pipe diameter change or pipeline silt stifled thing surface self-adaptation change prop the leg angle and go on passing through, improve this threading robot's application scope.
Description
Technical Field
The utility model relates to a pipeline robot technical field specifically is an intelligent threading robot that adaptability is high.
Background
Along with the increasing demand of people on long-distance energy transmission, the energy transmission of crossing rivers, lakes and even oceans is increased successively, and the underwater culvert and underwater pipeline threading technology is a necessary technology for cross-water-area energy transmission. The existing culvert threading technology can be divided into two types, one type is diver threading technology, and divers take cables to dive through culverts to carry out manual threading. The other is a robot threading technology, the existing underwater threading robots are generally divided into two types, one is a bottom-sitting type robot, the underwater robot is driven by a track or a wheel to walk at the bottom of a culvert and penetrate through the culvert to finish threading; the other type is that the horizontal propeller and the vertical propeller are matched to drive to penetrate through the culvert to complete the threading.
However, the environment inside the culvert is complex and closed, and the diver threading technology can cause fatal threats to the personal safety of divers if special conditions occur in the working process. A great amount of silt exists in the culvert, particularly a great amount of sediment is attached to the bottom of the culvert, the change of the silt in the pipeline or the pipe diameter of the pipeline is driven by a sitting-bottom crawler, a wheel type driving and a simple propeller in the existing underwater robot threading technology, and the driving structure is easy to block due to various higher obstacles and has higher requirements on the advancing route.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem that exists among the prior art or the correlation technique.
Therefore, the utility model discloses the technical scheme who adopts does: an intelligent threading robot that adaptability is high includes: frame, self-adaptation subassembly and drive prop leg, supplementary leg, the one end fixed mounting of frame has the towing hook, the quantity of self-adaptation subassembly is two sets of and is the symmetrical arrangement on the surface of frame, the self-adaptation subassembly includes fixing base, motion guide seat and is fixed in the elastic piston rod on fixing base surface, the frame includes fixed end plate and is fixed in the guide frame pole at fixed end plate both ends, the fixing base is fixed for cup jointing in the surface of fixed end plate, the motion guide seat slides and cup joints in the surface of fixed end plate, the periphery of fixing base is equipped with a plurality of hinge ears, the drive props the one end of leg and supplementary leg and is connected with the surface rotation of hinge ear, and the periphery swing joint of motion guide seat has a plurality of deflection connecting rods, the drive props the surface of leg and supplementary leg and is equipped with the fixed ear that is connected with the deflection connecting rod.
The present invention in a preferred embodiment can be further configured to: the elastic piston rod comprises a piston cylinder sleeve, a piston rod and a spring which is positioned in the piston cylinder sleeve and is mutually abutted against one end of the piston rod, one end of the piston rod is slidably mounted on the inner side of the piston cylinder sleeve, and the other end of the piston rod is fixedly connected with the surface of the motion guide seat.
The present invention in a preferred embodiment can be further configured to: and two ends of the deflection connecting rod are respectively connected with the surface of the motion guide seat and the fixed lug on the surface of the driving supporting leg or the auxiliary supporting leg in a rotating way.
The present invention may be further configured in a preferred embodiment as: the drive props the leg and includes first vaulting pole, drive wheel and driving motor, the drive wheel rotates and installs in the one end of first vaulting pole, the other end of first vaulting pole and the surperficial swing joint of hinge ear, driving motor fixed mounting has the transmission box in the surface of first vaulting pole and one end fixed mounting, one side fixed mounting of drive wheel has the transmission shaft, driving motor's output fixedly connected with output axostylus axostyle, transmission shaft and output axostylus axostyle are located the inside and the one end transmission meshing of transmission box.
The present invention may be further configured in a preferred embodiment as: the auxiliary supporting leg comprises a second supporting rod and an auxiliary wheel, the auxiliary wheel is rotatably installed at one end of the second supporting rod, and the other end of the second supporting rod is movably connected with the surface of the hinge lug.
The present invention may be further configured in a preferred embodiment as: the second support rod and the first support rod are the same in structure size, and the driving wheel and the auxiliary wheel are the same in structure size.
The present invention may be further configured in a preferred embodiment as: the quantity of drive brace leg is a plurality of, the drive brace leg is circumferencial direction evenly distributed in the periphery of fixing base with supplementary brace leg.
The utility model discloses the beneficial effect who gains does:
1. the utility model discloses in, through adopting the multiunit to independently prop the leg structure, utilize to distribute in the drive at frame both ends and prop the leg with supplementary the leg and prop the removal of propping to duct pipe inner wall to cooperation self-adaptation subassembly elasticity changes the drive and props the leg and the supplementary angle of expansion that props the leg, but deposit in the pipeline pipe diameter change or pipeline silt stifled thing surface self-adaptation change prop the leg angle go on through, be applicable to the motion of various different pipe diameters sizes and various complicated pipeline topography, improve this threading robot's application scope.
2. The utility model discloses in, through adopting many drive structures, utilize multiunit drive to prop the leg and carry out independent drive and still can get rid of poverty automatically in the unexpected circumstances such as single or part drive props the leg and skids to the exposed installation of cooperation drive wheel increases its proximity angle, passes through the angle and leaves thereby the improvement to the trafficability characteristic in complicated route.
Drawings
Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention;
fig. 2 is a schematic view of a mounting structure of the frame and the adaptive assembly according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a driving leg support according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an adaptive module according to an embodiment of the present invention;
fig. 5 is a schematic structural view of an auxiliary leg brace according to an embodiment of the present invention.
Reference numerals are as follows:
100. a frame; 110. a towing hook; 101. fixing the end plate; 102. a guide frame rod;
200. an adaptation component; 210. a fixed seat; 220. a motion guide seat; 230. an elastic piston rod; 211. hinging a lug; 221. a deflection link;
300. driving the supporting legs; 310. a first stay bar; 320. a drive wheel; 330. a drive motor; 321. a drive shaft; 331. a transmission box; 332. an output shaft lever;
400. auxiliary leg supporting; 410. a second stay bar; 420. an auxiliary wheel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
The following describes an intelligent threading robot with high adaptability according to some embodiments of the present invention.
With reference to fig. 1-5, the utility model provides an intelligent threading robot that adaptability is high, include: the cable threading device comprises a frame 100, adaptive assemblies 200, driving support legs 300 and auxiliary support legs 400, wherein a towing hook 110 is fixedly mounted at one end of the frame 100, cables to be threaded are bound and fixed at the end part of the towing hook 110 for carrying out towing threading, the number of the adaptive assemblies 200 is two, the adaptive assemblies 200 are symmetrically arranged on the surface of the frame 100, each adaptive assembly 200 comprises a fixed seat 210, a moving guide seat 220 and an elastic piston rod 230 fixed on the surface of the fixed seat 210, each frame 100 comprises a fixed end plate 101 and guide frame rods 102 fixed at two ends of the fixed end plate 101, the fixed seats 210 are fixed on the surface of the fixed end plate 101 in a sleeved mode, the moving guide seats 220 are slidably sleeved on the surface of the fixed end plate 101, a plurality of hinge lugs 211 are arranged on the periphery of the fixed seat 210, one ends of the driving support legs 300 and the auxiliary support legs 400 are rotatably connected with the surfaces of the hinge lugs 211, a plurality of deflection connecting rods 221 are movably connected with the periphery of the moving guide seats 220, and fixing lugs 221 are movably connected with the surfaces of the driving support legs 300 and the auxiliary support legs 400.
In this embodiment, the elastic piston rod 230 includes a piston cylinder casing, a piston rod, and a spring located inside the piston cylinder casing and abutting against one end of the piston rod, one end of the piston rod is slidably mounted inside the piston cylinder casing, and the other end of the piston rod is fixedly connected to the surface of the motion guide 220.
Specifically, in the case that the driving leg 300 and the auxiliary leg 400 are blocked by an object, the driving leg 300 and the auxiliary leg 400 automatically deflect to drive the motion guide 220 to retract and compress the elastic piston rod 230 under the traction driving action of the auxiliary leg 400, and automatically and elastically recover after passing the blocking.
In this embodiment, both ends of the deflection link 221 are rotatably coupled to the surface of the motion guide 220 and the fixing lugs of the surface of the driving leg 300 or the auxiliary leg 400, respectively.
In this embodiment, the driving leg 300 includes a first supporting rod 310, a driving wheel 320 and a driving motor 330, the driving wheel 320 is rotatably mounted at one end of the first supporting rod 310, the other end of the first supporting rod 310 is movably connected to the surface of the hinge lug 211, the driving motor 330 is fixedly mounted on the surface of the first supporting rod 310, and a transmission box 331 is fixedly mounted at one end of the driving wheel 330, a transmission shaft 321 is fixedly mounted at one side of the driving wheel 320, an output end of the driving motor 330 is fixedly connected to an output shaft 332, the transmission shaft 321 and the output shaft 332 are located inside the transmission box 331, and one end of the transmission shaft is in transmission engagement.
Specifically, the driving leg 300 is used as a driving leg structure of the entire robot, and is moved by the driving of the driving motor 330.
In this embodiment, the auxiliary supporting leg 400 comprises a second supporting rod 410 and an auxiliary wheel 420, wherein the auxiliary wheel 420 is rotatably mounted at one end of the second supporting rod 410, and the other end of the second supporting rod 410 is movably connected with the surface of the hinge lug 211.
Specifically, the auxiliary supporting legs 400 are utilized to be matched with the driving supporting legs 300 to carry out motion supporting, the driving supporting legs 300 and the auxiliary supporting legs 400 distributed at the two ends of the frame 100 support the inner wall of the ducted pipeline to move, and the support device is suitable for motion of various pipe diameters and various complex pipeline terrains.
In this embodiment, the second brace 410 and the first brace 310 have the same structural size, the driving wheel 320 and the auxiliary wheel 420 have the same structural size, the number of the driving support legs 300 is several, the driving support legs 300 and the auxiliary support legs 400 are uniformly distributed on the periphery of the fixing base 210 in the circumferential direction, and the multiple groups of driving support legs 300 are utilized to independently drive so as to be capable of automatically escaping from the situation in which the single or partial driving support legs 300 slip.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.
Claims (7)
1. The utility model provides an intelligent threading robot that adaptability is high, includes: frame (100), self-adaptation subassembly (200) and drive brace leg (300), supplementary brace leg (400), the one end fixed mounting of frame (100) has towing hook (110), the quantity of self-adaptation subassembly (200) is two sets of and is symmetrical arrangement in the surface of frame (100), self-adaptation subassembly (200) includes fixing base (210), motion guide seat (220) and is fixed in elastic piston rod (230) on fixing base (210) surface, frame (100) are including fixed end plate (101) and are fixed in guide frame pole (102) at fixed end plate (101) both ends, fixing base (210) are fixed for the surface of cup jointing in fixed end plate (101), motion guide seat (220) slip cup joints in the surface of fixed end plate (101), the periphery of fixing base (210) is equipped with a plurality of hinge ears (211), the one end of drive brace leg (300) and supplementary brace leg (400) is connected with the surface rotation of hinge ear (211), and the periphery activity of motion guide seat (220) is connected with a plurality of deflection connecting rods (221), drive brace leg (300) and supplementary brace leg (400) are equipped with the fixed lug (221) and deflect the connecting rod (221) and be connected.
2. The intelligent threading robot with high adaptability according to claim 1, characterized in that the elastic piston rod (230) comprises a piston cylinder sleeve, a piston rod and a spring which is positioned in the piston cylinder sleeve and is mutually abutted to one end of the piston rod, one end of the piston rod is slidably mounted on the inner side of the piston cylinder sleeve, and the other end of the piston rod is fixedly connected with the surface of the motion guide seat (220).
3. The intelligent threading robot with high adaptability as claimed in claim 1, characterized in that, both ends of the deflection connecting rod (221) are rotatably connected with the surface of the motion guide seat (220) and the fixed ear on the surface of the driving supporting leg (300) or the auxiliary supporting leg (400), respectively.
4. The high-adaptability intelligent threading robot of claim 1, wherein the driving support leg (300) comprises a first support rod (310), a driving wheel (320) and a driving motor (330), the driving wheel (320) is rotatably mounted at one end of the first support rod (310), the other end of the first support rod (310) is movably connected with the surface of the hinge lug (211), the driving motor (330) is fixedly mounted on the surface of the first support rod (310), a transmission box (331) is fixedly mounted at one end of the driving wheel (320), a transmission shaft (321) is fixedly mounted at one side of the driving wheel (320), an output shaft (332) is fixedly connected to an output end of the driving motor (330), and the transmission shaft (321) and the output shaft (332) are located inside the transmission box (331) and are in transmission engagement at one end of the transmission box (332).
5. The intelligent threading robot with high adaptability according to claim 1, characterized in that the auxiliary supporting leg (400) comprises a second supporting rod (410) and an auxiliary wheel (420), wherein the auxiliary wheel (420) is rotatably mounted at one end of the second supporting rod (410), and the other end of the second supporting rod (410) is movably connected with the surface of the hinge lug (211).
6. The intelligent threading robot with high adaptability according to claim 5, characterized in that the second stay (410) and the first stay (310) have the same structural size, and the auxiliary wheel (420) and the driving wheel (320) have the same structural size.
7. The high-adaptability intelligent threading robot as claimed in claim 1, wherein the number of the driving supporting legs (300) is several, and the driving supporting legs (300) and the auxiliary supporting legs (400) are uniformly distributed on the periphery of the fixing base (210) in the circumferential direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222031926.XU CN218747749U (en) | 2022-08-03 | 2022-08-03 | Intelligent threading robot that adaptability is high |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222031926.XU CN218747749U (en) | 2022-08-03 | 2022-08-03 | Intelligent threading robot that adaptability is high |
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| Publication Number | Publication Date |
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| CN218747749U true CN218747749U (en) | 2023-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222031926.XU Active CN218747749U (en) | 2022-08-03 | 2022-08-03 | Intelligent threading robot that adaptability is high |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118100034A (en) * | 2024-04-26 | 2024-05-28 | 黑龙江智云互联农业科技有限公司 | Building pipeline threading draw gear |
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2022
- 2022-08-03 CN CN202222031926.XU patent/CN218747749U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118100034A (en) * | 2024-04-26 | 2024-05-28 | 黑龙江智云互联农业科技有限公司 | Building pipeline threading draw gear |
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