CN220483449U - Walking structure of pipeline inspection robot - Google Patents
Walking structure of pipeline inspection robot Download PDFInfo
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- CN220483449U CN220483449U CN202322269110.5U CN202322269110U CN220483449U CN 220483449 U CN220483449 U CN 220483449U CN 202322269110 U CN202322269110 U CN 202322269110U CN 220483449 U CN220483449 U CN 220483449U
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- arm assembly
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- 238000007689 inspection Methods 0.000 title claims abstract description 29
- 230000000712 assembly Effects 0.000 claims description 14
- 238000000429 assembly Methods 0.000 claims description 14
- 230000000903 blocking effect Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000012212 insulator Substances 0.000 description 4
- 239000004020 conductor Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005191 phase separation Methods 0.000 description 1
- 230000020347 spindle assembly Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of pipeline inspection robots, in particular to a walking structure of a pipeline inspection robot, which comprises a flexible arm assembly and a torsion spring rotating member; the first end of the flexible arm assembly is provided with a top wheel driving device, the second end of the flexible arm assembly is provided with a rotating shaft assembly, and the flexible arm assembly is rotationally connected with the side wall of the robot body through the rotating shaft assembly; the torsional spring rotating piece comprises a torsional spring, a rotating piece body, a rotating arm and a rotating motor, wherein the rotating piece body is sleeved at the tail end of the rotating shaft assembly, one side supporting leg of the torsional spring is connected with the flexible arm assembly, the other side of the torsional spring is connected with the first end of the rotating piece body, one end of the rotating arm is connected with the second end of the rotating piece body, and the other end of the rotating arm is connected to the output end of the rotating motor. The utility model realizes the change along with the change of the gap of the pipeline by the way of deformation of the walking structure, is suitable for the purpose of walking under different pipe diameters, and provides enough friction force to support the robot to advance between the inner wall of the outer pipe and the outer wall of the inner pipe.
Description
Technical Field
The utility model relates to the technical field of pipeline inspection robots, in particular to a walking structure of a pipeline inspection robot.
Background
Along with the increasing demand of people for electric power, the number and the installed capacity of hydropower stations in China are improved year by year, and the inspection demands for hydropower stations are also expanding continuously. In the daily inspection process of a hydropower station, maintenance and overhaul of the isolated phase enclosed bus pipeline of the generator set are always important points and difficulties in the inspection process. The isolated phase enclosed bus pipeline is used as a circular through pipeline, and has a unique double pipeline and pipe sleeve structure, so that workers cannot directly observe the internal environment of the pipeline visually, and the traditional manual disassembly overhaul mode has the defects of large equipment injury, long time consumption, high labor cost and the like.
In the prior art, the isolated phase enclosed bus pipeline has a complex double-pipeline structure with a large pipe sleeve and a small pipe. The outer tube is used as an insulating shell and plays a role in protecting and insulating the isolated phase enclosed bus. The insulating housing is an aluminium tube of diameter 1.45m, typically 6-10 mm thick. The diameter of the conductor was 0.9m. An insulator is present between the insulating housing and the conductor as a support for the inner conductor. Each group of insulators is spaced about 2.6m apart along the length of the tube, and is arranged in groups of three at 120 ° angles to each other.
The gap height of the pipeline gap (robot inspection space) of the phase separation closed bus pipeline is in the range of 22-28 cm, and the opening size of the insulator is a circular opening of 19 cm.
In addition, the pipeline of the isolated phase enclosed bus pipeline meanders, and has a straight channel section, a turning section and a climbing section, so that the pipeline is required to be rotated by a robot, not only is good movement in the straight channel section ensured, but also the robot can turn in the pipeline (enter the curve from the straight channel) and climb (self gravity is required to be overcome).
In such a pipe, the overall height of the robot when the legs are fully upright during walking is greater than 28cm (i.e. greater than the maximum dimension of the pipe gap), and in addition, the length is not required to exceed 50cm (since in some cases the pipe length does not exceed 50cm, for example some turning positions), and in such a height, the existing robot cannot carry suitable equipment and control elements at all for inspection.
Disclosure of Invention
The utility model aims to provide a walking structure of a pipeline inspection robot, which achieves the purpose of changing along with the change of a pipeline clearance in a mode of deformation of the walking structure, and provides enough friction force with the inner wall of an outer pipe and the outer wall of the inner pipe to support the robot carrying the walking structure so as to solve the problems pointed out in the background art.
The embodiment of the utility model is realized by the following technical scheme: the utility model provides a pipeline inspection robot walking structure, is applicable to the pipeline inspection robot body, includes two at least pairs of flexible arm components, torsional spring rotating member, top wheel and top wheel drive arrangement;
the top wheel driving device is arranged at a first end of the flexible arm assembly, the top wheel is connected with an output end of the top wheel driving device, a rotating shaft assembly is arranged at a second end of the flexible arm assembly, and the flexible arm assembly is rotationally connected with the side wall of the robot body through the rotating shaft assembly;
the torsional spring rotating piece comprises a torsional spring, a rotating piece body, a rotating arm and a rotating motor, wherein the rotating piece body, the rotating arm and the rotating motor are all arranged on the outer side of the robot body, the rotating piece body is sleeved at the tail end of a rotating shaft assembly penetrating through the side wall of the robot body and in clearance fit with the tail end, one side supporting leg of the torsional spring is connected with a flexible arm assembly, the other side supporting leg of the torsional spring is connected with the first end of the rotating piece body, the first end of the rotating arm is connected with the second end of the rotating piece body, and the second end of the rotating arm is connected with the output end of the rotating motor.
According to a preferred embodiment, the flexible arm assembly is comprised of a back plate, a first flexible arm side plate and a second flexible arm side plate, which together define a clamping area for mounting the top wheel drive and the spindle assembly.
According to a preferred embodiment, the top wheel driving device is detachably connected to the inner side of the clamping area, and output ends on two sides of the top wheel driving device penetrate through the first flexible arm side plate and the second flexible arm side plate respectively and are connected with a top wheel.
According to a preferred embodiment, the torsion spring support leg connected to the first end of the rotating member body is disposed on the outer side of the flexible arm assembly, and the first flexible arm side plate and the second flexible arm side plate of the flexible arm assembly are provided with openings corresponding to the torsion spring support leg.
According to a preferred embodiment, the torsion spring rotating member has a blocking state that prevents the flexible arm assembly from continuing to move in the first direction when the flexible arm assembly is deformed by being pressed to move in the first direction to the first position, and a rotating state that can drive the flexible arm assembly to exceed the first position when the flexible arm assembly is deformed by being pressed to move in the first direction.
According to a preferred embodiment, in the state in which the torsion spring rotating member is caught, the torsion spring has a pre-tensioned state in which the two pairs of flexible arm assemblies are forced to move backward and an elastic restoring force opposite to the moving direction is generated, and a released state in which the elastic restoring force is released when the two pairs of flexible arm assemblies move toward each other.
According to a preferred embodiment, the motor fixing seat is coated on the outer side of the rotating motor, and the rotating motor is detachably connected with the side wall of the robot body through the motor fixing seat.
According to a preferred embodiment, the side wall of the robot body is provided with a bearing, and the rotating shaft assembly is in interference fit with the bearing.
According to a preferred embodiment, the top wheel is a Mecanum wheel.
The technical scheme of the walking structure of the pipeline inspection robot at least has the following advantages and beneficial effects: the robot with the walking structure can realize the purpose of changing along with the change of the pipeline gap by the way of deformation of the walking structure in the process of changing the pipeline gap of the inner wall of the outer pipe and the outer wall of the inner pipe, so that the robot with the walking structure can walk under different pipe diameters, and the robot with the walking structure can be supported by having enough friction force between the robot and the inner wall of the outer pipe and the outer wall of the inner pipe, and the robot cannot advance due to insufficient friction force after deformation.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a walking structure according to embodiment 1 of the present utility model;
fig. 2 is a bottom view of the walking structure according to embodiment 1 of the present utility model;
fig. 3 is a top view of a walking structure provided in embodiment 1 of the present utility model;
fig. 4 is a side view of the walking structure provided in embodiment 1 of the present utility model;
FIG. 5 is a schematic view of a flexible arm assembly according to embodiment 1 of the present utility model;
FIG. 6 is a schematic view of a torsion spring rotating member according to embodiment 1 of the present utility model;
icon: the device comprises a 1-flexible arm assembly, a 101-first flexible arm side plate, a 102-back plate, a 103-second flexible arm side plate, a 2-torsion spring rotating piece, a 201-rotating piece body, 202-spring pins, 203-rotating motors, 204-rotating arms, 205-motor fixing seats, 3-Mecanum wheels, a 4-top wheel driving device, a 5-rotating shaft assembly and 6-torsion springs.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Example 1
The embodiment of the utility model provides a walking structure of a pipeline inspection robot, which is suitable for a pipeline inspection robot body; referring to fig. 1, fig. 1 is a schematic diagram of an overall structure of a walking structure according to an embodiment of the present utility model.
Specifically, referring to fig. 2 to 6, the pipe inspection robot walking structure includes at least two pairs of flexible arm assemblies 1, torsion spring rotating members 2, top wheels, and a top wheel driving device 4. The top wheel driving device 4 is arranged at a first end of the flexible arm assembly 1, the top wheel is connected with an output end of the top wheel driving device 4, a rotating shaft assembly 5 is arranged at a second end of the flexible arm assembly 1, and the flexible arm assembly 1 is rotatably connected with the side wall of the robot body through the rotating shaft assembly 5.
In one implementation manner of this embodiment, the number of the flexible arm assemblies 1 is four, the side wall of the robot body is provided with a bearing, the rotating shaft assembly 5 is in interference fit with the bearing, wherein two flexible arm assemblies 1 are respectively connected with the first side plate of the robot body in a rotating way through the rotating shaft assembly 5, and the other two flexible arm assemblies 1 are respectively connected with the second side plate of the robot body in a rotating way through the rotating shaft assembly 5.
The number of torsion spring rotating members 2 is the same as that of the flexible arm assemblies 1, and one torsion spring rotating member 2 is provided on one rotation shaft assembly 5. Specifically, the torsion spring rotating member 2 includes torsion spring 6, rotating member body 201, rotating arm 204 and rotating motor 203 all locate the robot body outside, rotating member body 201 cover is established at the end that pivot subassembly 5 runs through the robot body lateral wall, and with terminal clearance fit, one side stabilizer blade of torsion spring 6 links to each other with flexible arm subassembly 1, and opposite side stabilizer blade is connected in the first end of rotating member body 201, the first end of rotating arm 204 links to each other with the second end of rotating member body 201, the second end of rotating arm 204 links to each other with the output of rotating motor 203. The torsion spring rotator 2 is used to provide a resilient force to the flexible arm assembly 1 against which it abuts.
Further, in one implementation manner of the embodiment, the top wheel adopts the mecanum wheels 3, the number of the mecanum wheels 3 is the same as that of the flexible arm assemblies 1, and one mecanum wheel 3 is arranged on one flexible arm assembly 1; the number of top wheel driving devices 4 is the same as the number of top wheels, and one top wheel driving device 4 is used for driving one top wheel to rotate.
Further, the flexible arm assembly 1 is composed of a back plate 102, a first flexible arm side plate 101 and a second flexible arm side plate 103, and the back plate 102, the first flexible arm side plate 101 and the second flexible arm side plate 103 together define a clamping area for installing the top wheel driving device 4 and the rotating shaft assembly 5. The top wheel driving device 4 is detachably connected to the inner side of the clamping area, and output ends at two sides of the top wheel driving device penetrate through the first flexible arm side plate 101 and the second flexible arm side plate 103 respectively and are connected with a top wheel. The torsion spring 6 support leg connected to the first end of the rotating member body 201 is disposed on the outer side of the flexible arm assembly 1, and the first flexible arm side plate 101 and the second flexible arm side plate 103 of the flexible arm assembly 1 are provided with openings corresponding to the torsion spring 6 support leg. The torsion spring rotating member 2 has a blocking state in which the flexible arm assembly 1 is prevented from continuing to move in the first direction when the flexible arm assembly 1 is deformed by being pressed to move in the first direction to the first position, and a rotating state in which the flexible arm assembly 1 can be driven to exceed the first position when the flexible arm assembly 1 is deformed by being pressed to move in the first direction. In the state in which the torsion spring rotating member 2 is in the stuck state, the torsion spring 6 has a pre-tensioned state in which it is forced when the two pairs of flexible arm assemblies 1 are moved back and an elastic restoring force opposite to the moving direction is generated, and a released state in which the elastic restoring force is released when the two pairs of flexible arm assemblies 1 are moved toward each other.
When one or more of the respective flexible arm assemblies 1 is pressed by one of the inner wall of the outer tube or the outer wall of the inner tube in contact therewith, the torsion spring rotating member 2 contacted by the pressed flexible arm assembly 1 is compressed, so that the pressed flexible arm assembly 1 moves against the elastic force of the torsion spring rotating member 2.
Specifically, the first side plate and the second side plate of the robot body are provided with side plate pin holes, the rotating member body 201 is provided with side plate pin holes and torsion spring 6 supporting leg fixing holes, and one side supporting leg of the torsion spring 6 connected with one end of the rotating member body 201 is arranged in the torsion spring 6 supporting leg fixing holes; the spring pin 202 is arranged in the pin hole of the side plate, and the spring pin 202 comprises a telescopic end for fixing the torsion spring rotating member 2 at a preset position so that the torsion spring 6 can work normally; when the spring pin 202 is positioned in the pin hole of the side plate on the first side plate, the torsion spring rotating member 2 is positioned in a blocking state; when the spring pin 202 is not located in the side plate pin hole on the first side plate, the torsion spring rotator 2 is in a rotated state. In this embodiment, the rotating member body 201 is connected to the first side plate through the rotating shaft assembly 5, and the pretightening force of the torsion spring 6 is adjusted by rotating the rotating member body 201. When the torsion spring rotating member 2 is twisted to a preset position, the spring pin 202 is inserted into the pin hole of the side plate of the first side plate, so that the torsion spring 6 has a certain pretightening force, and at the moment, the flexible arm assembly 1 is kept vertical under the action of no external force, and the unfolding angle can be adjusted according to the stress on the top wheel. When the pull ring on the spring pin 202 is pulled, the torsion spring rotating member 2 returns to the original position, the pretightening force of the torsion spring 6 disappears, and the flexible arm assembly 1 is kept in a loose state. Through the design, operators can easily and quickly adjust the overall height of the robot carrying the walking structure in the inspection process, and the robot is smoothly placed into the isolated closed bus pipeline. It can be understood that the structures of the other torsion spring 6 rotating members are all the structures of the torsion spring 6 rotating members, and are not described herein.
Through the above-mentioned design of this application, when putting into the robot that has carried this application running structure from the insulator opening, let flexible arm assembly 1 keep the relaxation state, after getting into the annular duct inside, adjust running structure and go up spring pin 202 position, make torsion spring rotor 2 be located the card and hinder the state can.
Further, the output end of the rotating motor 203 can drive the rotating arm 204 to rotate, so that the rotating arm 204 drives the rotating body to move, and the torsion spring rotating member 2 is switched from the rotating state to the blocking state. By adopting the design, after the robot carrying the walking structure is put into the annular pipeline, the robot does not need to be switched from a rotating state to a blocking state by hands, and only the motor 203 is required to be rotated by remote control. It will be appreciated that in the embodiment, the other rotation members of the torsion spring 6 have the same structure as the rotation member of the torsion spring 6, and will not be described herein.
Further, the outer side of the rotating motor 203 is coated with a motor fixing seat 205, the rotating motor 203 is detachably connected with the side wall of the robot body through the motor fixing seat 205, and the motor fixing seat 205 is used for fixing the rotating motor 203 on the side wall of the robot body.
In summary, in the process of changing the pipe gap between the inner wall of the outer pipe and the outer wall of the inner pipe, the robot with the walking structure can achieve the purpose of changing along with the pipe gap change by deforming the walking structure, so that the robot with the walking structure can walk under different pipe diameters, and the robot with the walking structure can be supported by having enough friction force between the robot and the inner wall of the outer pipe and the outer wall of the inner pipe, and the robot cannot advance due to insufficient friction force after deformation.
The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (9)
1. The walking structure of the pipeline inspection robot is suitable for a pipeline inspection robot body and is characterized by comprising at least two pairs of flexible arm assemblies (1), torsion spring rotating parts (2), top wheels and a top wheel driving device (4);
the top wheel driving device (4) is arranged at a first end of the flexible arm assembly (1), the top wheel is connected with an output end of the top wheel driving device (4), a rotating shaft assembly (5) is arranged at a second end of the flexible arm assembly (1), and the flexible arm assembly (1) is rotatably connected with the side wall of the robot body through the rotating shaft assembly (5);
the torsion spring rotating member (2) comprises a torsion spring (6), a rotating member body (201), a rotating arm (204) and a rotating motor (203), wherein the rotating member body (201), the rotating arm (204) and the rotating motor (203) are all arranged on the outer side of the robot body, the rotating member body (201) is sleeved at the tail end of a rotating shaft assembly (5) penetrating through the side wall of the robot body and in clearance fit with the tail end, one side supporting leg of the torsion spring (6) is connected with a flexible arm assembly (1), the other side supporting leg of the torsion spring is connected with the first end of the rotating member body (201), the first end of the rotating arm (204) is connected with the second end of the rotating member body (201), and the second end of the rotating arm (204) is connected with the output end of the rotating motor (203).
2. The walking structure of the pipe inspection robot according to claim 1, wherein the flexible arm assembly (1) is composed of a back plate (102), a first flexible arm side plate (101) and a second flexible arm side plate (103), and the back plate (102), the first flexible arm side plate (101) and the second flexible arm side plate (103) jointly define a clamping area for installing the top wheel driving device (4) and the rotating shaft assembly (5).
3. The walking structure of the pipeline inspection robot according to claim 2, wherein the top wheel driving device (4) is detachably connected to the inner side of the clamping area, and output ends on two sides of the top wheel driving device penetrate through the first flexible arm side plate (101) and the second flexible arm side plate (103) respectively and are connected with a top wheel.
4. The walking structure of the pipeline inspection robot according to claim 2, wherein a leg of a torsion spring (6) connected to the first end of the rotating member body (201) is disposed at an outer side of the flexible arm assembly (1), and a gap is formed between a first flexible arm side plate (101) and a second flexible arm side plate (103) of the flexible arm assembly (1) corresponding to the leg of the torsion spring (6).
5. The pipe inspection robot walking structure according to any one of claims 1 to 4, wherein the torsion spring rotating member (2) has a blocking state that prevents the flexible arm assembly (1) from continuing to move in the first direction when the flexible arm assembly (1) is deformed by pressing to move in the first direction to the first position, and a rotating state that can drive the flexible arm assembly (1) to exceed the first position when the flexible arm assembly (1) is deformed by pressing to move in the first direction.
6. The walking structure of the pipe inspection robot according to claim 5, wherein the torsion spring (6) has a pre-tensioned state in which the two pairs of flexible arm assemblies (1) are forced to move backward and an elastic restoring force opposite to the moving direction is generated and a released state in which the elastic restoring force is released when the two pairs of flexible arm assemblies (1) move toward each other in a state in which the torsion spring rotating member (2) is in a stuck state.
7. The walking structure of the pipeline inspection robot according to claim 1, wherein the outer side of the rotating motor (203) is coated with a motor fixing seat (205), and the rotating motor (203) is detachably connected with the side wall of the robot body through the motor fixing seat (205).
8. The walking structure of the pipeline inspection robot according to claim 1, wherein a bearing is arranged on the side wall of the robot body, and the rotating shaft assembly (5) is in interference fit with the bearing.
9. The walking structure of the pipeline inspection robot according to claim 1, characterized in that the top wheel adopts a Mecanum wheel (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322269110.5U CN220483449U (en) | 2023-08-22 | 2023-08-22 | Walking structure of pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322269110.5U CN220483449U (en) | 2023-08-22 | 2023-08-22 | Walking structure of pipeline inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN220483449U true CN220483449U (en) | 2024-02-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322269110.5U Active CN220483449U (en) | 2023-08-22 | 2023-08-22 | Walking structure of pipeline inspection robot |
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| Country | Link |
|---|---|
| CN (1) | CN220483449U (en) |
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2023
- 2023-08-22 CN CN202322269110.5U patent/CN220483449U/en active Active
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