JP2020070917A - Wheel type pipe detection robot - Google Patents

Abstract

To disclose a wheel type pipe detection robot.SOLUTION: A wheel type pipe detection robot includes a material spraying base fixed to a wheel type traveling body and a support base fixed to the wheel type traveling body, a magazine is provided within a tip surface of the material spraying base, a storage cavity is provided within a tip surface of the magazine, an L-type material spraying pipe is provided while communicating with a right sidewall of the storage cavity, the L-type material spraying pipe is rotatably mounted within a right end face of the material spraying base, a material spraying mechanism is mounted to an end of the L-type material spraying pipe, a cavity is provided in the material spraying base in an outer periphery of the L-type material spraying pipe, a follower gear is fixed to an outer periphery of the L-type material spraying pie located within the cavity, a stirring main shaft is rotatably fitted and placed inside the magazine, and three sets of material stirring blades are fixed to an outer periphery of the stirring main shaft.SELECTED DRAWING: Figure 1

Description

The present invention takes up the technical field of robots and is specifically a wheel type pipe detection robot.

A pipe robot can automatically walk inside or outside a thin pipe, carry one or more types of sensors and operating machines, and carry out a series of piping work by staff's remote control operation or computer automatic control, electric appliances, It is an integrated system of meters, and there are many types of pipe robots. Among them, wheel type pipe robots are widely used, and many business robots are of this type. When the pipe is detected and repair is required, the pipe is usually repaired by doing work outside the fixed amount, so it is necessary to consume a large amount of human power outside the fixed amount. A wheel-type pipe detection robot that detects and repairs is required.

Chinese Patent Application Publication No. 102913715

It is an object of the present invention to provide a wheel type pipe detection robot and solve the above-mentioned drawbacks of the prior art.

A wheel-type pipe detection robot of the present invention includes a material dispersion base fixed to a wheel-type traveling vehicle body and a support base fixed to the wheel-type traveling vehicle body, and a magazine is provided in a tip end surface of the material-dispersion base. A storage cavity is provided in the front end surface of the magazine, an L-shaped material spray pipe is provided in communication with the right side wall of the storage cavity, and the L-shaped material spray pipe is provided in the right end surface of the material spray base. A material spraying pipe is rotatably mounted, a material spraying mechanism is mounted on the end of the L-shaped material spraying pipe, and a cavity is provided in the material spraying base on the outer periphery of the L-shaped material spraying pipe. A driven gear is fixedly installed on the outer periphery of the L-shaped material spray pipe in the cavity, and a stirring device is installed in the magazine so that the stirring spindle can rotate. Three sets of material stirring blades are fixedly installed on the outer circumference of the stirring main shaft, a transmission slide cavity is provided in the material dispersion base at the bottom end of the magazine, and the stirring main shaft is connected to the transmission slide cavity. A driven bevel gear is fixedly installed in the bottom end end of the stirring main shaft, a first slider is slidably mounted in the transmission slide cavity, and a drive motor is provided in a right end surface of the first slider. Is fixed, a rotary shaft is engaged with and attached to the right end of the drive motor by power, and a main driving bevel gear for meshing with the driven bevel gear is fixedly mounted on the outer periphery of the rotary shaft. A slide frame is slidably mounted in the transmission slide cavity on the right side of the gear, and the rotary shaft is inserted into the slide frame and slides with the slide frame. And a male spline shaft is fixedly installed at the right end of the rotary shaft, and the transfer cylinder is rotatably engaged and connected between the transmission slide cavity and the cavity. A female spline cavity for engaging and connecting with the male spline shaft is provided therein, and a main drive gear meshing with the driven gear is fixedly provided on the right end surface of the transfer cylinder, and a bottom wall of the transmission slide cavity is provided. A regulation slide cavity is provided in the control slide cavity, a second slider fixedly connected to the first slider is slidably mounted in the regulation slide cavity, and a screw rod is screwed in the second slider. The left end of the screw rod is rotatably engaged with the left side wall of the restriction slide cavity, and the restriction motor is driven by the right end of the screw rod. And the regulation motor is fixedly installed in the right side wall of the regulation slide cavity.

As a further technical plan, the material spraying mechanism includes an L-shaped material spraying cavity installed in an L-shaped material spraying pipe, and a sealing slide pad is slidably mounted in the L-shaped material spraying cavity. A material spraying port is provided in the sealing slide pad, a material spraying adjustment pipe is fixedly provided on the bottom end surface of the sealing slide pad, and the material spraying port communicates with the material spraying port in the material spraying adjusting pipe. A material spraying space is provided, a high pressure nozzle is fixed to the bottom end of the material spraying adjustment pipe, a support block is fixed to the L-shaped material spraying pipe, and a stabilizer is slidably mounted in the support block. , The bottom end of the stabilizer is fixedly connected to the high-pressure nozzle, and a stopper is fixedly installed at the tip end of the stabilizer and fixed to the L-shaped material spray pipe. A lock is fixed, a pneumatic cylinder is fixed on the bottom end face of the L-shaped material spray pipe, a link is fixedly connected to a piston rod at the bottom end of the pneumatic cylinder, and the bottom end of the link is fixed to the high pressure nozzle. Connecting.

As a further technical plan, an electronic control valve is fixedly installed in the left end of the L-shaped material spraying cavity, a current-carrying cavity is provided on the right end surface of the regulation slide cavity, and a right side of the second slider is provided. The energizing block is engaged and mounted in the end face by inserting the energizing cavity into the energizing cavity, and the energizing cavity is electrically connected to the control terminal.

As a further technical plan, a seal ring is installed in the bottom wall of the storage cavity on the outer circumference of the stirring spindle.

As a further technical plan, a universal adjustment mechanism is attached to the right end surface of the support base, a monitoring probe is attached to the universal adjustment mechanism, and a searchlight is attached to the right end of the support base.

As a further technical plan, an interlocking shaft is rotatably mounted on the left end surface of the support base, and the interlocking shaft is fixedly connected to the L-shaped material spray pipe.

As a further technical plan, an opening / closing cavity is provided at the tip of the material spraying base in communication with the storage cavity, and an opening / closing door panel is hingedly mounted in the opening / closing cavity via a pin joint shaft. A handle is attached to the opening / closing door panel.

The beneficial effects of the present invention are: the construction of the present invention is simple and convenient to operate, and by opening the opening / closing door panel, additives such as cement, sand, and water are put into the storage cavity to open the opening / closing door panel. Close it, start the drive motor, and the drive motor works with the material mixing blade to stir and mix the additives such as cement, sand, and water with the cement slurry, and walk the device into the pipe to search. When the light is turned on and this device detects the inside of the pipe through the monitoring probe and detects a crack or notch in the pipe, the regulation motor is activated and the regulation motor causes the second slider to interlock. Slide the energization block to the right until it is completely inserted in the energization cavity, and the energization block is electrically connected to the electronically controlled valve. At this time, the electronic control valve automatically opens, and when the second slider slides to the right, the first slider is interlocked to slide to the right, and the male spline shaft is completely inserted into the female spline cavity, and When the driving bevel gear disengages from the driven bevel gear and the drive motor is driven at this time, the L-shaped material spray pipe is rotationally driven to align the high pressure nozzle with the crack or notch and activate the pneumatic cylinder. By interlocking the telescopic adjustment of the high-pressure nozzle, that is, adjusting the distance between the high-pressure nozzle and the crack or notch, and then opening the high-pressure nozzle, it is possible to spray the cement slurry into the crack or notch, thereby The inside can be detected effectively, and cracks or notches inside the pipe can be evenly distributed and filled. In addition, there is no need for the staff to automatically mix and stir the cement slurry to repair cracks or notches, effectively reduce the load of pipe repair, and improve the work efficiency of pipe detection. It is worth raising it effectively and spreading it.

FIG. 1 is a schematic diagram of the entire internal configuration of a wheel-type pipe detection robot of the present invention. FIG. 2 is a schematic diagram of the internal structure of the material spraying base in the present invention.

The present invention will be described in detail below with reference to FIGS. For the sake of convenience, we now specify the directions shown in the following sentence as follows. The up, down, left, right, front, and rear directions appearing in the later sentence correspond to the up, down, left, and right directions of the projection relationship of the main body of FIG.

With reference to FIGS. 1 and 2, a wheel type pipe detection robot according to an embodiment of the present invention includes a material spraying base 17 fixed to a wheel type traveling vehicle body 10 and a support base 11 fixed to the wheel type traveling vehicle body 10. In addition, a magazine 65 is provided in the front end surface of the material spraying base 17, a storage cavity 64 is provided in the front end surface of the magazine 65, and is connected to the right side wall of the storage cavity 64 to form an L shape. A material spray pipe 51 is provided, the L-shaped material spray pipe 51 is rotatably mounted in the right end surface of the material spray base 17, and a material spray mechanism is mounted at the end of the L-shaped material spray pipe 51. A cavity 54 is provided in the material distribution base 17 on the outer periphery of the L-shaped material distribution pipe 51, and a driven gear 53 is provided on the outer periphery of the L-shaped material distribution pipe 51 in the cavity 54. Fixed A stirring main shaft 57 is rotatably fitted and mounted in the magazine 65, three sets of material stirring blades 58 are fixedly installed on the outer periphery of the stirring main shaft 57, and the material dispersion base 17 at the bottom end of the magazine 65 is fixed. Is provided with a transmission slide cavity 26, the stirring main shaft 57 is inserted into the transmission slide cavity 26, and a driven bevel gear 66 is fixedly installed at the bottom end of the stirring main shaft 57. A first slider 67 is slidably mounted in the cavity 26, a drive motor 68 is fixedly installed in the right end surface of the first slider 67, and a rotary shaft 28 is driven by power at the right end of the drive motor 68. The driving bevel gear 27 for engaging with the driven bevel gear 66 is fixedly mounted on the outer periphery of the rotating shaft 28, and the driving bevel gear 27 on the right side of the driving bevel gear 27 is in the transmission slide cavity 26. Sliding frame 29 is fitted by sliding The rotary shaft 28 is inserted into the slide frame 29 and is slidably connected to the slide frame 29, and a male spline shaft 31 is fixedly attached to the right end of the rotary shaft 28. A transfer tube 34 is rotatably engaged between the 26 and the cavity 54, and a female spline cavity 33 for engaging connection with the male spline shaft 31 is provided in a left end surface of the transfer tube 34. Is provided, a main driving gear 32 that meshes with the driven gear 53 is fixedly provided on the right end surface of the transfer cylinder 34, and a regulation slide cavity 23 is provided in the bottom wall of the transmission slide cavity 26. A second slider 21 fixedly connected to the first slider 67 is slidably mounted in the slide cavity 23, and a screw rod 69 is screwed and mounted in the second slider 21, and the left side of the screw rod 69 is End It is rotatably engaged and connected with the left side wall of the regulation slide cavity 23, the regulation motor 25 is engaged with the right end of the screw rod 69 by power, and the regulation motor 25 of the regulation slide cavity 23 is It is fixed in the right side wall.

As an informative and example, the material distribution mechanism includes an L-shaped material distribution cavity 52 installed in an L-shaped material distribution pipe 51, and a sealing slide in the L-shaped material distribution cavity 52. A pad 47 is slidably mounted, a material spraying port 46 is provided in the sealing slide pad 47, and a material spraying adjustment pipe 39 is fixedly mounted on the bottom end surface of the sealing slide pad 47. A material spraying space 42 is provided in the 39 in communication with the material spraying port 46, a high pressure nozzle 41 is fixed at the bottom end of the material spraying adjustment pipe 39, and a support block 43 is provided on the L-shaped material spraying pipe 51. Is fixed, the stabilizer 44 is slidably mounted in the support block 43, the bottom end of the stabilizer 44 is fixedly connected to the high-pressure nozzle 41, and the stopper 45 is fixed to the tip end of the stabilizer 44. A fixed block 37 is fixed to the L-shaped material spray pipe 51, a pneumatic cylinder 36 is fixed to the bottom end surface of the L-shaped material spray pipe 51, and a link 38 is attached to the piston rod 35 at the bottom end of the pneumatic cylinder 36. Fixed connection, the bottom end of the link 38 is fixedly connected to the high pressure nozzle 41, thereby automatically controlling the telescopic adjustment of the high pressure nozzle 41 to further increase the uniformity of spraying the cement slurry and pipe. Increase the efficiency of filling.

As an advantageous and example, an electronic control valve 55 is fixedly installed in the left end of the L-shaped material distribution cavity 52, and a current-carrying cavity 24 is provided on the right end surface of the regulation slide cavity 23. The energization block 24 is inserted and fitted in the right end surface of the second slider 21 and the energization block 22 is engaged and mounted, the energization cavity 24 is electrically connected to a control terminal, and the energization block 22 is It is electrically connected to the electronic control valve 55, thereby automatically controlling the opening of the electronic control valve 55.

As an advantageous and example, a seal ring 56 is mounted in the bottom wall of the storage cavity 64 on the outer circumference of the stirring spindle 57, thereby preventing the cement slurry from leaking.

As a useful and example, a free adjustment mechanism 12 is attached to the right end surface of the support base 11, a monitoring probe 13 is attached to the free adjustment mechanism 12, and a searchlight 15 is attached to the right end of the support base 11. It is mounted, thereby providing convenience for sensing inside the pipe.

As a useful and example, the interlocking shaft 16 is rotatably mounted on the left end surface of the support base 11, and the interlocking shaft 16 is fixedly connected to the L-shaped material distribution pipe 51, whereby the L-shaped material distribution pipe 51 is connected. The stability of the material spray pipe 51 is effectively increased, and rattling is prevented during rotation.

As an advantageous and example, an opening / closing cavity 61 is provided at the tip of the material spraying base 17 in communication with the storage cavity 64, and a pin joint shaft 63 is inserted into the opening / closing cavity 61. An opening / closing door panel 62 is attached by a hinge, and a handle 60 is attached to the opening / closing door panel 62, which is convenient for closing the storage cavity 64.

At the time of work, the opening / closing door panel 62 is opened to put additives such as cement, sand, and water in the storage cavity 64, the opening / closing door panel 62 is closed, and the drive motor 68 is started to drive the drive motor 68. Interlocks the material stirring blade 58 to stir and mix additives such as cement, sand, and water into the cement slurry, and walk this device into the pipe to turn on the searchlight 15, and When the inside of the pipe is detected through the monitoring probe 13 and a crack or a notch in the pipe is detected, the regulation motor 25 is activated, and the regulation motor 25 causes the second slider 21 to interlock with the energization block 22 to complete. Slide it to the right until it is inserted in the energization cavity 24, and the energization block 22 is electrically connected to the electronic control valve 55, so that the electronic control valve 55 automatically When the second slider 21 slides to the right, the first slider 67 is interlocked to slide to the right, and the male spline shaft 31 is completely inserted into the female spline cavity 33, and the driving bevel gear 27 and When the driven bevel gear 66 is disengaged and the drive motor 68 is driven at this time, the L-shaped material spray pipe 51 is rotationally driven to align the high pressure nozzle 41 with the crack or notch and activate the pneumatic cylinder 36. Thus, the telescopic adjustment of the high-pressure nozzle 41 is interlocked, that is, the distance between the high-pressure nozzle 41 and the crack or notch is adjusted, and when the high-pressure nozzle 41 is subsequently opened, the cement slurry can be sprayed on the crack or notch.

The beneficial effects of the present invention are: the construction of the present invention is simple and convenient to operate, and by opening the opening / closing door panel, additives such as cement, sand, and water are put into the storage cavity to open the opening / closing door panel. Close it, start the drive motor, and the drive motor works with the material mixing blade to stir and mix the additives such as cement, sand, and water with the cement slurry, and walk the device into the pipe to search. When the light is turned on and this device detects the inside of the pipe through the monitoring probe and detects a crack or notch in the pipe, the regulation motor is activated and the regulation motor causes the second slider to interlock. Slide the energization block to the right until it is completely inserted in the energization cavity, and the energization block is electrically connected to the electronically controlled valve. At this time, the electronic control valve automatically opens, and when the second slider slides to the right, the first slider is interlocked to slide to the right, and the male spline shaft is completely inserted into the female spline cavity, and When the driving bevel gear disengages from the driven bevel gear and the drive motor is driven at this time, the L-shaped material spray pipe is rotationally driven to align the high pressure nozzle with the crack or notch and activate the pneumatic cylinder. By interlocking the telescopic adjustment of the high-pressure nozzle, that is, adjusting the distance between the high-pressure nozzle and the crack or notch, and then opening the high-pressure nozzle, it is possible to spray the cement slurry into the crack or notch, thereby The inside can be detected effectively, and cracks or notches inside the pipe can be evenly distributed and filled. In addition, there is no need for the staff to automatically mix and stir the cement slurry to repair cracks or notches, effectively reduce the load of pipe repair, and improve the work efficiency of pipe detection. It is worth raising it effectively and spreading it.

It is clear to a person skilled in the art that the present invention can be modified in various ways without departing from the general spirit and idea of the present invention, and all the modifications are within the protection scope of the present invention. The protection plan of the present invention should be based on the claims of the present invention.

Claims (7)

A material dispersal base fixed to the wheel-type traveling vehicle body and a support base fixed to the wheel-type traveling vehicle body are provided, and a magazine is provided in the front end surface of the material dispersal base. A storage cavity is provided, an L-shaped material distribution pipe is provided in communication with the right side wall of the storage cavity, and the L-shaped material distribution pipe is rotatably mounted in the right end surface of the material distribution base. A material spraying mechanism is attached to the end of the L-shaped material spraying pipe, a cavity is provided in the material spraying base on the outer periphery of the L-shaped material spraying pipe, and the L-shape is located in the cavity. A driven gear is fixedly mounted on the outer circumference of the material spray pipe, and the stirring spindle is fitted and mounted in the magazine so that the stirring spindle can rotate. A mixing blade is fixedly installed, a transmission slide cavity is provided in the material distribution base at the bottom end of the magazine, the stirring spindle goes into the transmission slide cavity, and the bottom end end of the stirring spindle is provided. A driven bevel gear is fixed, a first slider is slidably mounted in the transmission slide cavity, a drive motor is fixed in the right end surface of the first slider, and the drive motor is fixed to the right end of the drive motor. A rotating shaft is engaged and mounted by power, and a driving bevel gear for meshing with the driven bevel gear is fixedly provided on the outer periphery of the rotating shaft, and is provided in the transmission slide cavity on the right side of the driving bevel gear. A slide frame is slidably mounted, the pivot shaft extends into the slide frame and is slidably connected to the slide frame, and a male sprout is attached to the right end of the pivot shaft. A transfer shaft is fixedly mounted between the transmission slide cavity and the cavity so as to be rotatable, and the left end surface of the transfer cylinder is engaged and connected with the male spline shaft. A female spline cavity is provided, a main driving gear that meshes with the driven gear is fixedly provided on the right end surface of the transfer cylinder, and a regulation slide cavity is provided in the bottom wall of the transmission slide cavity. A second slider fixedly connected to the first slider is slidably mounted in the regulating slide cavity, and a screw rod is screwed and mounted in the second slider, and the left end of the screw rod is the regulating slide. The left side wall of the cavity is rotatably engaged and connected, and the right end of the screw rod is power-engaged with a restriction motor. A wheel type pipe detection robot characterized by being fixedly installed in the right side wall of the slide cavity. The material spraying mechanism includes an L-shaped material spraying cavity installed in an L-shaped material spraying pipe, and a sealing slide pad is slidably mounted in the L-shaped material spraying cavity. A material spraying port is provided inside, a material spraying adjustment pipe is fixed to the bottom end surface of the sealing slide pad, and a material spraying space is provided in the material spraying adjusting pipe in communication with the material spraying port. A high pressure nozzle is fixed to the bottom end of the material spray adjusting pipe, a support block is fixed to the L-shaped material spray pipe, and a stabilizer is slidably mounted in the support block, and the bottom end of the stabilizer is Fixedly connected to the high-pressure nozzle, a stopper is fixed to the tip end of the stabilizer, and a fixed block is fixed to the L-shaped material spray pipe. A pneumatic cylinder is fixedly mounted on a bottom end surface of the mold material spraying pipe, a link is fixedly connected to a piston rod at a bottom end of the pneumatic cylinder, and a bottom end of the link is fixedly connected to the high pressure nozzle. The wheel-type pipe detection robot according to claim 1. An electronic control valve is fixedly installed in the left end of the L-shaped material spraying cavity, an energization cavity is provided in the right end surface of the regulation slide cavity, and the energization cabinet is in the right end surface of the second slider. The electrically conductive block is engaged and mounted by being inserted into the tee, the electrically conductive cavity is electrically connected to a control terminal, and the electrically conductive block is electrically connected to the electronic control valve. 1. The wheel-type pipe detection robot described in 1. The wheel-type pipe detection robot according to claim 1, wherein a seal ring is mounted in a bottom wall of the storage cavity on an outer periphery of the stirring spindle. The wheel according to claim 1, wherein a free adjustment mechanism is attached to a right end surface of the support base, a monitoring probe is attached to the free adjustment mechanism, and a searchlight is attached to a right end of the support base. Type pipe detection robot. The wheel type pipe detection robot according to claim 1, wherein an interlocking shaft is rotatably mounted on a left end surface of the support base, and the interlocking shaft is fixedly connected to the L-shaped material spray pipe. An opening / closing cavity is provided at the tip of the material spraying base so as to communicate with the storage cavity, and an opening / closing door panel is hingedly mounted in the opening / closing cavity via a pin joint shaft, and a handle is attached to the opening / closing door panel. The wheel-type pipe detection robot according to claim 1, which is mounted.

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