CN219954669U - Novel pipeline robot's clamping structure - Google Patents

Abstract

The utility model relates to the technical field of pipeline robots, in particular to a novel clamping structure of a pipeline robot, which comprises a frame for fixing the pipeline robot, wherein a servo motor for outputting power is arranged on the frame; when the pipeline robot is maintained and checked in the pipeline and needs to be stopped to be fixed in the pipeline, the servo motor works so as to drive the branch bracket and the flexible clamping bracket to move to one side of the inner wall of the pipeline, and when the branch bracket and the flexible clamping bracket are clamped with the inner wall of the pipeline, the servo motor is closed so as to fix the body of the pipeline robot in the pipeline, and the stable fixation of the pipeline robot in the pipeline is realized.

Description

Novel pipeline robot's clamping structure

Technical Field

The utility model relates to the technical field of pipeline robots, in particular to a novel clamping structure of a pipeline robot.

Background

The pipeline robot is one integrated system with one or several sensors and operation machine capable of walking automatically inside or outside small pipeline and with remote control or automatic computer control.

The existing pipeline robot mostly adopts a four-wheel grounding structure to explore the pipeline, however, the four-wheel robot has the following defects: for small-sized pipes, the driving wheels of the existing four-wheel robots are difficult to stably fix inside the pipe at the position where stopping is required.

The above information disclosed in the background section is only for enhancement of understanding of the background of the disclosure and therefore it may include information that does not form the prior art that is already known to a person of ordinary skill in the art.

Disclosure of Invention

The utility model aims to design a clamping structure arranged at the front end and the rear end of a pipeline robot, and the pipeline robot is stably fixed on the inner wall of a pipeline so as to solve the defects in the technology.

In order to achieve the above object, the present utility model provides the following technical solutions: the utility model provides a novel pipeline robot's clamping structure, includes the frame of fixed pipeline robot, installs the servo motor of output power on the frame, frame one side fixedly connected with positioning disk, positioning disk keeps away from frame one side center fixedly connected with spacing dish, the bearing is kept away from positioning disk one side to spacing dish, the bearing outer lane is kept away from spacing dish one side fixedly connected with gear wheel, gear wheel outer lane meshing has the pinion, servo motor output shaft top and pinion fixed connection, gear wheel outer lane is equipped with a plurality of flexible centre gripping supports, be equipped with the power component that control flexible centre gripping support is close to and keeps away from the bearing between gear wheel and the positioning disk.

Preferably, the power component comprises a plurality of limiting rods, wherein the limiting rods are fixedly connected with the outer peripheral surface of the limiting disc and have the same number as the flexible clamping supports, T-shaped grooves are formed in the limiting rods, sliding rods are connected inside the T-shaped grooves in a sliding mode, one ends of the sliding rods, far away from the limiting discs, of the limiting rods are fixedly connected with the flexible clamping supports, a plurality of arc-shaped notches, the number of the arc-shaped notches are the same as the number of the flexible clamping supports, sliding columns are connected inside the arc-shaped notches in a sliding mode, and the sliding columns penetrate through the T-shaped grooves and are fixedly connected with the sliding rods.

Preferably, the plurality of arc-shaped notches, the limiting rods and the sliding rods are distributed in an annular array around the central axis of the bearing.

Preferably, the sliding rod is connected with a small air cylinder in a rotating way on two sides close to the flexible clamping support, the top end of an output shaft of the small air cylinder is connected with a branch support in a rotating way, and the branch support is connected with an adjacent flexible clamping support in a rotating way.

Preferably, the side of the branch support and the side of the flexible clamping support, which are far away from the bearing, are both arranged in a circular arc shape.

In the technical scheme, the utility model has the technical effects and advantages that:

1. when the pipeline robot is maintained and checked in the pipeline and needs to be stopped to be fixed in the pipeline, the servo motor works so as to drive the branch bracket and the flexible clamping bracket to move to one side of the inner wall of the pipeline, and when the branch bracket and the flexible clamping bracket are clamped with the inner wall of the pipeline, the servo motor is closed so as to fix the body of the pipeline robot in the pipeline and realize the stable fixation of the pipeline robot in the pipeline;

2. the clamping structure is simple in structure, the servo motor can rotate to finish work, clamping is reliable and stable, and the pipeline robot can be ensured to be stably fixed in a pipeline.

Drawings

For a clearer description of embodiments of the present utility model or technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described, and it is obvious that the drawings in the following description are only some embodiments described in the present utility model, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a perspective view of the present utility model;

FIG. 3 is a schematic diagram of a power assembly and puck connection of the present utility model;

FIG. 4 is a schematic view of a partial structure of a power assembly according to the present utility model;

fig. 5 is a diagram of the present utility model.

Reference numerals illustrate:

1. a frame; 2. a positioning plate; 3. a bearing; 4. a large gear; 5. a pinion gear; 6. a flexible clamping bracket; 7. a power assembly; 7.1, a limiting disc; 7.2, a limiting rod; 7.3, T-shaped grooves; 7.4, sliding bars; 7.5, arc notch; 7.6, a sliding column; 8. a small inflator; 9. a branch stent.

Detailed Description

In order to enable those skilled in the art to better understand the technical solutions of the present utility model, the technical solutions of the embodiments of the present utility model will be clearly and completely described below, and it is obvious that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

Examples:

1-5, including the frame 1 of fixed pipeline robot, install the servo motor of output power on the frame 1, frame 1 one side fixedly connected with positioning disk 2, positioning disk 2 keeps away from frame 1 one side center fixedly connected with spacing dish 7.1, spacing dish 7.1 is kept away from positioning disk 2 one side and is installed bearing 3, the bearing 3 outer lane is kept away from spacing dish 7.1 one side fixedly connected with gear wheel 4, gear wheel 4 outer lane meshing has pinion 5, servo motor output shaft top and pinion 5 fixed connection, gear wheel 4 outer lane is equipped with a plurality of flexible centre gripping supports 6, be equipped with between gear wheel 4 and the positioning disk 2 and control flexible centre gripping support 6 and be close to and keep away from the power component 7 of bearing 3;

as shown in fig. 4, the pinion 5 is driven to rotate by the servo motor, the pinion 5 drives the large gear 4 to rotate clockwise, the large rack drives the power assembly 7, the power assembly 7 drives the flexible clamping support 6 to be far away from the bearing 3, and when the flexible clamping support 6 is contacted with the inner wall of the pipeline, the flexible clamping support is clamped on the inner wall of the pipeline.

Preferably, the power assembly 7 comprises a plurality of limiting rods 7.2, the number of which is the same as that of the flexible clamping brackets 6, fixedly connected with the outer peripheral surface of the limiting disc 7.1, T-shaped grooves 7.3 are formed in the limiting rods 7.2, sliding rods 7.4 are slidably connected in the T-shaped grooves 7.3, one ends, far away from the limiting disc 7.1, of the sliding rods 7.4 are fixedly connected with the flexible clamping brackets 6, a plurality of arc-shaped notches 7.5, the number of which is the same as that of the flexible clamping brackets 6, are formed in the large gears 4, sliding columns 7.6 are slidably connected in the arc-shaped notches 7.5, and the sliding columns 7.6 penetrate through the T-shaped grooves 7.3 and are fixedly connected with the sliding rods 7.4;

when the large gear 4 rotates clockwise, the sliding column 7.6 is driven by the shape of the arc-shaped notch 7.5, the sliding column 7.6 is far away from the bearing 3 in the arc-shaped notch 7.5, at the moment, the sliding column 7.6 drives the sliding rod 7.4 to slide in the T-shaped groove 7.3, the sliding column 7.6 drives the flexible clamping support 6 to move, the outer wall of the moving flexible clamping support 6 is tightly attached to the inner wall of a pipeline and generates pressure, then the servo motor stops rotating no longer, and the pinion 5 cannot rotate reversely, so that the pipeline robot can be fixed on the inner wall of the pipeline.

Preferably, the plurality of arc-shaped notches 7.5, the limiting rod 7.2 and the sliding rod 7.4 are distributed in an annular array around the central axis of the bearing 3;

the flexible clamping support 6 is uniformly distributed in the pipeline through the arc-shaped notches 7.5, the limiting rods 7.2 and the sliding rods 7.4 which are distributed in an annular array.

Preferably, both sides of the sliding rod 7.4, which are close to the flexible clamping support 6, are rotationally connected with a small air cylinder 8, the top end of an output shaft of the small air cylinder 8 is rotationally connected with a branch support 9, and the branch support 9 is rotationally connected with the adjacent flexible clamping support 6;

when the flexible clamping support 6 drives the branch support 9 to contact the inner wall of the pipeline, the inner wall of the pipeline can generate a reaction force to the small air cylinder 8, and the gas is compressed to generate the reaction force to the inner wall of the pipeline due to the gas in the small air cylinder 8, so that the flexible clamping support is further clamped on the inner wall of the pipeline.

Preferably, the side of the branch bracket 9 and the flexible clamping bracket 6 far away from the bearing 3 are both arranged in a circular arc shape;

the side, far away from the bearing 3, of the branch support 9 and the flexible clamping support 6 is arc-shaped, so that the branch support 9 and the flexible clamping support 6 are easily attached to the inner wall of a pipeline, and the contact area is increased.

The implementation mode specifically comprises the following steps: when the pipeline robot is maintained and checked in the pipeline and needs to be stopped to be fixed in the pipeline, the servo motor works so as to drive the branch bracket 9 and the flexible clamping bracket 6 to move to one side of the inner wall of the pipeline, and when the branch bracket 9 and the flexible clamping bracket 6 are clamped with the inner wall of the pipeline, the servo motor is closed so as to fix the body of the pipeline robot in the pipeline.

While certain exemplary embodiments of the present utility model have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the utility model. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the utility model, which is defined by the appended claims.

The last points to be described are: first, in the description of the present utility model, it should be noted that, unless otherwise specified and defined, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be mechanical or electrical, or may be a direct connection between two elements, and "upper," "lower," "left," "right," etc. are merely used to indicate relative positional relationships, which may be changed when the absolute position of the object being described is changed;

secondly: in the drawings of the disclosed embodiments, only the structures related to the embodiments of the present disclosure are referred to, and other structures can refer to the common design, so that the same embodiment and different embodiments of the present disclosure can be combined with each other under the condition of no conflict;

the previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model.

Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein;

finally: the foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the utility model are intended to be included within the scope of the utility model.

Claims (5)

1. The utility model provides a novel pipeline robot's clamping structure, includes fixed pipeline robot's frame (1), installs the servo motor of output power on frame (1), its characterized in that: frame (1) one side fixedly connected with positioning disk (2), positioning disk (2) are kept away from frame (1) one side center fixedly connected with limiting disk (7.1), bearing (3) are installed in limiting disk (7.1) one side of keeping away from positioning disk (2), bearing (3) outer lane is kept away from limiting disk (7.1) one side fixedly connected with gear wheel (4), gear wheel (4) outer lane meshing has pinion (5), servo motor output shaft top and pinion (5) fixed connection, gear wheel (4) outer lane is equipped with a plurality of flexible centre gripping supports (6), be equipped with between gear wheel (4) and positioning disk (2) and control flexible centre gripping support (6) and be close to and keep away from power component (7) of bearing (3).

2. The clamping structure of a novel pipeline robot according to claim 1, wherein: the power assembly (7) comprises a plurality of limiting rods (7.2) which are fixedly connected with the outer peripheral surface of a limiting disc (7.1) and have the same number as that of flexible clamping brackets (6), T-shaped grooves (7.3) are formed in the limiting rods (7.2), sliding rods (7.4) are connected with the T-shaped grooves (7.3) in a sliding mode, one ends of the limiting discs (7.1) are far away from the sliding rods (7.4) and are fixedly connected with the flexible clamping brackets (6), a plurality of arc-shaped notches (7.5) which are the same in number as that of the flexible clamping brackets (6) are formed in the large gears (4), sliding columns (7.6) are connected with sliding columns (7.6) in the arc-shaped notches (7.5) in a sliding mode, and the sliding columns (7.6) penetrate through the T-shaped grooves (7.3) and are fixedly connected with the sliding rods (7.4).

3. The clamping structure of a novel pipeline robot according to claim 2, wherein: the arc-shaped notches (7.5), the limiting rods (7.2) and the sliding rods (7.4) are distributed in an annular array around the central axis of the bearing (3).

4. The clamping structure of a novel pipeline robot according to claim 2, wherein: the two sides of the sliding rod (7.4) close to the flexible clamping support (6) are respectively and rotatably connected with a small air cylinder (8), the top end of an output shaft of the small air cylinder (8) is rotatably connected with a branch support (9), and the branch support (9) is rotatably connected with the adjacent flexible clamping support (6).

5. The clamping structure of a novel pipeline robot according to claim 4, wherein: the side, far away from the bearing (3), of the branch support (9) and the flexible clamping support (6) is arc-shaped.