CN111005919A - Robot for installing chip in pipeline - Google Patents
Robot for installing chip in pipeline Download PDFInfo
- Publication number
- CN111005919A CN111005919A CN201911137021.7A CN201911137021A CN111005919A CN 111005919 A CN111005919 A CN 111005919A CN 201911137021 A CN201911137021 A CN 201911137021A CN 111005919 A CN111005919 A CN 111005919A
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- Prior art keywords
- pipeline
- chip
- rod
- robot
- pair
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- 238000009434 installation Methods 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims description 28
- 238000004140 cleaning Methods 0.000 claims description 20
- 230000005570 vertical transmission Effects 0.000 claims description 17
- 230000005571 horizontal transmission Effects 0.000 claims description 13
- 230000009194 climbing Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000009193 crawling Effects 0.000 claims description 6
- 241000219098 Parthenocissus Species 0.000 claims description 5
- 230000008094 contradictory effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 10
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 9
- 230000001360 synchronised effect Effects 0.000 description 8
- 238000007790 scraping Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000003292 glue Substances 0.000 description 3
- 239000012535 impurity Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B11/00—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
- F16B11/006—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding by gluing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/0492—Heavy-type cleaning devices, e.g. crawlers with plural cleaning members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a robot for installing a chip in a pipeline, which relates to the field of pipeline monitoring and comprises a crawler, wherein the upper end surface of the crawler is provided with an installation box with an opening at the upper end, and the front side of the installation box is provided with a camera; the diapire of install bin is vertical to be provided with the electric jar, is provided with the mounting panel that supplies the chip to place on the piston rod of electric jar, and the up end of mounting panel is provided with the holding tank that supplies the lower extreme embedding of chip. The invention has the following advantages and effects: in getting into the pipeline through the robot that sets up high automation, realize the accurate installation of chip in the narrow space, reached the effect of easy to assemble chip simultaneously.
Description
Technical Field
The invention relates to the field of pipeline monitoring, in particular to a robot for installing a chip in a pipeline.
Background
An underground pipeline is a pipeline laid underground and used for conveying liquid, gas or loose solids, and in the construction process of the existing pipeline, an electronic chip is often required to be installed inside the pipeline so as to monitor the pipeline in real time.
However, since the inner wall diameter of a part of the pipeline is smaller, workers cannot directly enter the pipeline, so that the chips cannot be accurately mounted, and improvement is needed.
Disclosure of Invention
The invention aims to provide a robot for installing a chip in a pipeline, which has the effect of conveniently installing the chip.
The technical purpose of the invention is realized by the following technical scheme: a robot for installing a chip in a pipeline comprises a crawler, wherein an installation box with an opening at the upper end is arranged on the upper end face of the crawler, and a camera is arranged on the front side of the installation box; the diapire of install bin is vertical to be provided with the electric jar, be provided with the mounting panel that supplies the chip to place on the piston rod of electric jar, the up end of mounting panel is provided with the holding tank that supplies the lower extreme embedding of chip.
Through adopting above-mentioned technical scheme, when needs are to pipeline inner wall installation chip, place the chip in the holding tank on the mounting panel earlier to chip coating glue, then put into the pipeline with whole crawl car, and utilize crawl car drive install bin synchronous motion. Meanwhile, the camera is used for shooting the picture in the pipeline and transmitting the picture to a computer at the rear. When the climbing vehicle moves to the position where the chip needs to be installed on the pipeline, the remote control electric cylinder is started, the piston rod of the electric cylinder is made to move upwards, the piston rod drives the installation plate and the chip to move upwards synchronously, and the chip is bonded on the inner wall of the pipeline until the chip abuts against the inner wall of the pipeline. And then, the piston rod of the electric cylinder is controlled to move downwards, and then the crawler crane is controlled to move in the reverse direction until the crawler crane is separated from the pipeline, so that the chip can be installed. Therefore, through the robot with high automation, the chip can be accurately installed in a narrow space, and the effect of conveniently installing the chip is achieved.
The invention is further provided with: the upper end surface of the installation box is horizontally and movably connected with a pair of cover plates, magnetic strips which are mutually attracted are arranged on one sides of the cover plates which are mutually close to each other, and a driving mechanism which is used for controlling the pair of cover plates to be mutually close to or far away from each other is arranged on a piston rod of the electric cylinder.
By adopting the technical scheme, after the chip is placed on the mounting plate, the piston rod of the electric cylinder retracts, the piston rod drives the driving mechanism to move synchronously, and the driving mechanism controls the pair of cover plates to be close to each other, so that the cover plates are automatically closed. When the chip is installed, the piston rod of the electric cylinder extends out, the driving mechanism moves synchronously at the moment, and drives the pair of cover plates to be away from each other, so that the cover plates are automatically opened. Consequently, cover the upper end of install bin through setting up the apron of automatic opening and closing, avoid the impurity in the pipeline to pollute the chip to guarantee that the stable installation of chip is fixed.
The invention is further provided with: the driving mechanism comprises a pair of driving rods which are horizontally arranged, the pair of driving rods are arranged on two sides of a piston rod of the electric cylinder, and the upper end surface of each driving rod is horizontally connected with a sliding block in a sliding manner; the upper end surface of each sliding block is provided with a swinging rod, the lower ends of a pair of swinging rods are close to each other, the upper ends of the pair of swinging rods are far away from each other, the upper ends of the swinging rods are hinged to the inner wall of the mounting box, and the lower ends of the swinging rods are hinged to the upper end surfaces of the sliding blocks; every the upper end of swinging arms all is provided with the driven lever, the lower extreme of driven lever is close to each other and the upper end is kept away from each other, every the upper end of driven lever all is provided with circular-arc fluted disc, every the lower terminal surface of apron all be provided with in the rack that the fluted disc meshes mutually.
Through adopting above-mentioned technical scheme, when the piston rod of electric jar stretches out, the piston rod of electric jar drives the actuating lever synchronous upward movement, and a pair of slider is close to each other this moment to the lower extreme that drives a pair of swinging arms is close to each other, and the swinging arms drives the driven lever synchronous motion simultaneously, and the upper end of driven lever is kept away from each other. Meanwhile, the fluted disc on the driven rod drives the racks on the lower end faces of the cover plates to move synchronously, and drives the pair of cover plates to be away from each other, so that the opening control of the cover plates is realized. When the piston rod of the electric cylinder retracts, the piston rod of the electric cylinder drives the driving rod to synchronously move downwards, the pair of sliding blocks are far away from each other at the moment, the lower ends of the pair of swing rods are driven to be far away from each other, meanwhile, the swing rods drive the driven rods to synchronously move, and the upper ends of the driven rods are far away from each other. Meanwhile, the fluted disc on the driven rod drives the racks on the lower end faces of the cover plates to move synchronously, and drives the pair of cover plates to approach each other, so that the closing control of the cover plates is realized. The driving mechanism is simple in structure and stable in working process, so that the cover plate is stably controlled to be opened and closed.
The invention is further provided with: the front end slope of climbing vehicle upwards is provided with the supporting seat, the upper end level of supporting seat is provided with the bracing piece, the front end of bracing piece is provided with the support frame, the outward flange position of support frame is provided with the round and is used for supporting the scraper blade of tight pipeline inner wall.
Through adopting above-mentioned technical scheme, when putting into the pipeline with the climbing vehicle, the scraper blade is located the place ahead of climbing vehicle to contradict the pipeline inner wall, the climbing vehicle simultaneous movement is followed to the scraper blade this moment, and scrapes the debris of pipeline inner wall automatically, avoids the adhesion effect that the debris of pipeline inner wall influences the chip, thereby realizes the stable installation of chip.
The invention is further provided with: the bracing piece deviates from the one end of support frame is provided with the support, the outward flange position of support is provided with the cleaning brush that the round is used for conflicting pipeline inner wall.
Through adopting above-mentioned technical scheme, after the debris of scraper blade to pipeline inner wall were scraped, utilize the cleaning brush to carry out automatic scrubbing to pipeline inner wall immediately to guarantee the clean degree of pipeline inner wall.
The invention is further provided with: the support rotates connect in the bracing piece, be provided with on the climbing vehicle and be used for the drive the rotatory drive mechanism of support.
Through adopting above-mentioned technical scheme, when the climbing vehicle walking, climbing vehicle control drive mechanism synchronous motion utilizes drive mechanism to drive support and cleaning brush rotatory this moment to improve the effect of brushing to pipeline inner wall, improve the clean degree of pipeline inner wall.
The invention is further provided with: the creeper truck comprises a truck body and wheels arranged on the periphery of the truck body, wherein the transmission mechanism comprises a rotating shaft which is horizontally arranged, and the rotating shaft is arranged between a pair of wheels at the front end; a first supporting seat is arranged at the lower end of the trolley body, a second supporting seat is arranged at the front end of the trolley body, a horizontal transmission rod is horizontally and rotatably connected to the first supporting seat, a vertical transmission rod is arranged on the second supporting seat, and a first bevel gear set meshed with the horizontal transmission rod and the vertical transmission rod are arranged between the horizontal transmission rod and the vertical transmission rod; one end of the horizontal transmission rod, which deviates from the vertical transmission rod, is provided with a worm wheel, a worm matched with the worm wheel is arranged on the rotating shaft, and a second bevel gear set meshed with each other is arranged between the upper end of the vertical transmission rod and the support.
Through adopting above-mentioned technical scheme, when the climbing vehicle during operation, the wheel synchronous revolution will be followed to the pivot, and at this moment under the mating reaction of worm wheel and worm, drive horizontal drive pole synchronous motion. And then under the action of the first bevel gear set, the horizontal transmission rod drives the vertical transmission rod to move synchronously. And finally, under the action of the second bevel gear set, the vertical transmission rod drives the bracket to synchronously rotate, so that the rotation control of the bracket and the cleaning brush is realized. The structure of the transmission mechanism is simple, and the working process is stable, so that the stable control in the rotating process of the bracket and the cleaning brush is realized, and the stable cleaning of the inner wall of the pipeline is realized.
The invention is further provided with: the lower terminal surface of climbing vehicle is provided with circular-arc spatula, the spatula is used for the diapire of conflict pipeline.
Through adopting above-mentioned technical scheme, when cleaning the pipeline inner wall, debris will drop to the diapire of pipeline, utilize the spatula to shovel debris this moment, realize the automatic collection of debris.
The invention is further provided with: the installation box is close to one side outer wall of camera is provided with a plurality of searchlights to a plurality of searchlights encircle the camera.
Through adopting above-mentioned technical scheme, provide light for the camera through setting up the searchlight for the camera can be more clear shoot the situation in the pipeline.
In conclusion, the invention has the following beneficial effects:
1. the chip is accurately installed in a narrow space by arranging a highly-automatic robot to enter the pipeline, and meanwhile, the effect of conveniently installing the chip is achieved;
2. the opening and closing of the upper end of the installation box are controlled by arranging the cover plate capable of being automatically opened and closed, so that impurities in a pipeline are prevented from polluting a chip, and the stable installation and fixation of the chip are guaranteed;
3. the inner wall of the pipeline is automatically cleaned by arranging the scraper and the cleaning brush, so that sundries on the inner wall of the pipeline are prevented from influencing the adhesion effect of the chip, and the stable installation of the chip is realized;
4. the scraping shovel which moves synchronously along with the crawling vehicle is arranged to automatically shovel the sundries, so that the sundries can be automatically cleaned and collected.
Drawings
FIG. 1 is a schematic structural view of an embodiment;
FIG. 2 is a schematic view of the internal structure of the installation case of the embodiment;
fig. 3 is a schematic structural view of the creeper truck and the support seat of the embodiment.
Reference numerals: 1. a crawling vehicle; 11. a vehicle body; 12. a wheel; 13. a first support base; 14. a second support seat; 15. a horizontal transmission rod; 16. a vertical transmission rod; 17. a first bevel gear set; 18. a worm gear; 19. a second bevel gear set; 2. installing a box; 21. a camera; 22. a searchlight; 23. an electric cylinder; 24. mounting a plate; 25. accommodating grooves; 26. a cover plate; 27. a magnetic strip; 28. a rack; 3. a drive mechanism; 31. a drive rod; 32. a slider; 33. a swing lever; 34. a driven lever; 35. a fluted disc; 4. a supporting seat; 41. a support bar; 42. a support frame; 43. a support; 44. a squeegee; 45. a cleaning brush; 6. scraping; 7. a transmission mechanism; 71. a rotating shaft; 72. a worm.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, a robot for installing a chip in a pipeline comprises a crawler 1, wherein an upper end face of the crawler 1 is provided with an installation box 2 with an upper end opening, and a camera 21 and a plurality of searchlights 22 surrounding the camera 21 are arranged on the front side of the installation box 2.
As shown in fig. 1 and 2, the bottom wall of the installation box 2 is vertically provided with an electric cylinder 23, and a piston rod of the electric cylinder 23 is arranged upward. A mounting plate 24 for placing a chip is provided on the piston rod of the electric cylinder 23, and an accommodating groove 25 for embedding the lower end of the chip is provided on the upper end surface of the mounting plate 24.
As shown in fig. 1 and 2, a pair of cover plates 26 are horizontally and slidably connected to the upper end surface of the mounting box 2, magnetic strips 27 that attract each other are provided on the sides of the cover plates 26 that are close to each other, and a drive mechanism 3 for controlling the pair of cover plates 26 to approach or separate from each other is provided on the piston rod of the electric cylinder 23.
When the chip needs to be installed on the inner wall of the pipeline, the electric cylinder 23 is controlled to be started, the piston rod of the electric cylinder 23 is made to move upwards, and at the moment, the piston rod drives the installation plate 24 and the chip to move upwards synchronously and drives the driving mechanism 3 to work synchronously. When the drive mechanism 3 controls the pair of cover plates 26 to move away from each other, the piston rod and the mounting plate 24 are extended from the mounting case 2.
The chip is then placed in receiving slot 25 on mounting board 24 and the upper end of the chip is coated with glue. And then, the piston rod of the electric cylinder 23 is controlled to move downwards, the piston rod drives the driving mechanism 3 to move synchronously, and the pair of cover plates 26 are controlled to approach each other until the piston rod of the electric cylinder 23 and the mounting plate 24 are positioned in the mounting box 2, and the pair of cover plates 26 are abutted and cover the upper end of the mounting box 2.
Then, after the whole crawler 1 is placed into the pipeline, the crawler 1 is utilized to drive the installation box 2 to move synchronously. Meanwhile, the searchlight 22 is used for illuminating the inner wall of the pipeline, the camera 21 is used for shooting pictures in the pipeline, and the pictures are transmitted to a computer at the rear part, so that the real-time monitoring of the motion position of the crawler 1 is realized.
When the crawler 1 moves to the position where the chip needs to be installed on the pipeline, the remote control electric cylinder 23 is started, the piston rod of the electric cylinder 23 moves upwards, and at the moment, the piston rod drives the installation plate 24 and the chip to move upwards synchronously and drives the driving mechanism 3 to work synchronously. After the driving mechanism 3 controls the opening of the pair of cover plates 26, the piston rod and the mounting rod are extended from the mounting box 2 and continue to move upward. And the chip is bonded on the inner wall of the pipeline until the chip is abutted against the inner wall of the pipeline.
And then the piston rod of the electric cylinder 23 is controlled to move downwards, the piston rod drives the driving mechanism 3 to move synchronously at the moment, and the pair of cover plates 26 are controlled to approach each other until the piston rod of the electric cylinder 23 and the mounting plate 24 are positioned in the mounting box 2, and the pair of cover plates 26 are abutted and cover the upper end of the mounting box 2.
And finally, controlling the crawling vehicle 1 to move reversely until the crawling vehicle 1 is separated from the pipeline, taking out the crawling vehicle 1 from the pipeline, realizing the positioning installation and the accurate installation of the chip in the narrow space, and achieving the effect of facilitating the installation of the chip.
As shown in fig. 2, the driving mechanism 3 includes a pair of driving rods 31 horizontally disposed, the pair of driving rods 31 are disposed at opposite positions on both sides of the piston rod of the electric cylinder 23, and a slider 32 is horizontally slidably connected to an upper end surface of each driving rod 31.
As shown in fig. 2, an upper end surface of each slider 32 is provided with a swing lever 33, and lower ends of a pair of swing levers 33 are close to each other and upper ends thereof are distant from each other. The upper end of the swing lever 33 is hinged to the inner wall of the mounting case 2, and the lower end is hinged to the upper end face of the slider 32.
As shown in fig. 2, the upper end of each swing lever 33 is provided with a driven lever 34, the lower ends of the driven levers 34 being close to each other and the upper ends being far from each other. The upper end of each driven rod 34 is provided with a circular arc-shaped fluted disc 35, and the lower end face of each cover plate 26 is provided with a rack 28 meshed with the fluted disc 35.
When the piston rod of the electric cylinder 23 extends, the piston rod of the electric cylinder 23 drives the driving rod 31 to move synchronously upwards, at this time, the driving rod 31 controls the pair of sliders 32 to approach each other and drives the lower ends of the pair of swing rods 33 to approach each other, and simultaneously, the swing rods 33 drive the driven rods 34 to move synchronously and the upper ends of the driven rods 34 to move away from each other. At the same time, the toothed disc 35 on the driven rod 34 drives the toothed rack 28 on the lower end surface of the cover plate 26 to move synchronously, and drives the pair of cover plates 26 to move away from each other, i.e. the opening control of the cover plates 26 is realized.
When the piston rod of the electric cylinder 23 retracts, the piston rod of the electric cylinder 23 drives the driving rod 31 to move synchronously downward, at this time, the driving rod 31 controls the pair of sliders 32 to move away from each other and drives the lower ends of the pair of swing rods 33 to move away from each other, and simultaneously, the swing rods 33 drive the driven rods 34 to move synchronously and the upper ends of the driven rods 34 to move away from each other. Meanwhile, the toothed disc 35 on the driven rod 34 drives the rack 28 on the lower end face of the cover plate 26 to move synchronously, and drives the pair of cover plates 26 to approach each other, so that the closing control of the cover plates 26 is realized.
As shown in fig. 1 and 3, the front end of the crawler 1 is provided with a support seat 4 in an upward inclined manner, the upper end of the support seat 4 is horizontally provided with a support rod 41, the front end of the support rod 41 is provided with a support frame 42, and the tail end of the support frame is rotatably connected with a support 43. The lower terminal surface of the crawler 1 is provided with a circular-arc spatula 6, and the spatula 6 is used for the diapire of the pipeline of contradicting.
As shown in fig. 1 and 3, a circle of scraping plates 44 for abutting against the inner wall of the pipeline is arranged at the outer edge of the supporting frame 42, a circle of cleaning brushes 45 for abutting against the inner wall of the pipeline is arranged at the outer edge of the bracket 43, and the crawler 1 is provided with a transmission mechanism 7 for driving the bracket 43 to rotate.
When the crawler 1 is placed in a pipeline, the scraper 44 and the cleaning brush 45 are positioned in front of the crawler 1 and abut against the inner wall of the pipeline. Thus, when the crawler 1 travels, the scraper 44 and the cleaning brush 45 follow the crawler 1 in synchronous motion, and the crawler 1 brings the transmission mechanism 7 in synchronous motion and controls the bracket 43 and the cleaning brush 45 to rotate.
Therefore, after the scraping plate 44 is used for automatically scraping the sundries on the inner wall of the pipeline, the rotating cleaning brush 45 is used for automatically cleaning the inner wall of the pipeline rapidly, the cleanness degree of the inner wall of the pipeline is guaranteed, the sundries on the inner wall of the pipeline are prevented from influencing the adhesion effect of the chip, and the stable installation of the chip is realized.
As shown in fig. 1 and 3, the crawler 1 includes a vehicle body 11, wheels 12 provided around the vehicle body 11, and a transmission mechanism 7 including a horizontally provided shaft 71, wherein the shaft 71 is provided between a pair of the wheels 12 at the front end.
As shown in fig. 3, a first support base 13 is provided at a lower end of the vehicle body 11 and a second support base 14 is provided at a front end thereof, a horizontal transmission rod 15 is horizontally and rotatably connected to the first support base 13, a vertical transmission rod 16 is provided on the second support base 14, and a first bevel gear set 17 engaged with each other is provided between the horizontal transmission rod 15 and the vertical transmission rod 16.
As shown in fig. 3, a worm wheel 18 is arranged at one end of the horizontal transmission rod 15 facing away from the vertical transmission rod 16, a worm 72 matched with the worm wheel 18 is arranged on the rotating shaft 71, and a second bevel gear set 19 meshed with each other is arranged between the upper end of the vertical transmission rod 16 and the bracket 43.
When the crawler 1 works, the rotating shaft 71 will rotate synchronously with the wheels 12, and at this time, under the cooperation of the worm wheel 18 and the worm 72, the rotating shaft 71 is used to drive the horizontal transmission rod 15 to rotate synchronously. The horizontal drive rod 15 is then caused to move synchronously with the vertical drive rod 16 by the action of the first bevel gear set 17. Finally, under the action of the second bevel gear set 19, the vertical transmission rod 16 drives the bracket 43 to rotate synchronously, thereby realizing the rotation control of the bracket 43 and the cleaning brush 45.
The working principle is as follows: when the chip is required to be installed on the inner wall of the pipeline, the chip is firstly placed on the installation plate 24, and then glue is coated on the upper end face of the chip. The entire creeper truck 1 is then placed into the duct with the scraper 44 and cleaning brush 45 in front of the creeper truck 1. Then the crawler 1 is controlled to move forwards, and after the inner wall of the pipeline is automatically cleaned by the scraping plate 44 and the cleaning brush 45, the electric cylinder 23 is remotely controlled to start. At this moment, the piston rod of the electric cylinder 23 extends out and drives the mounting plate 24 and the chip to move upwards synchronously until the chip abuts against the inner wall of the pipeline, and the chip is bonded on the inner wall of the pipeline, so that the chip is mounted.
The specific embodiments are only for explaining the present invention, and the present invention is not limited thereto, and those skilled in the art can make modifications without inventive contribution to the present embodiments as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (9)
1. A robot for installing a chip in a pipeline, comprising a crawler (1), characterized in that: the upper end face of the crawling vehicle (1) is provided with an installation box (2) with an opening at the upper end, and the front side of the installation box (2) is provided with a camera (21);
the diapire of install bin (2) is vertical to be provided with electric jar (23), be provided with on the piston rod of electric jar (23) and supply mounting panel (24) that the chip was placed, the up end of mounting panel (24) is provided with holding tank (25) that supply the lower extreme embedding of chip.
2. A robot for mounting chips in a tube according to claim 1, wherein: the upper end surface of the installation box (2) is connected with a pair of cover plates (26) in a horizontal sliding mode, magnetic strips (27) which are mutually attracted are arranged on one sides, close to each other, of the cover plates (26), and a driving mechanism (3) used for controlling the pair of cover plates (26) to be close to or far away from each other is arranged on a piston rod of the electric cylinder (23).
3. A robot for mounting chips in a tube according to claim 2, wherein: the driving mechanism (3) comprises a pair of driving rods (31) which are horizontally arranged, the pair of driving rods (31) are arranged on two sides of a piston rod of the electric cylinder (23), and the upper end surface of each driving rod (31) is horizontally connected with a sliding block (32) in a sliding manner;
the upper end face of each sliding block (32) is provided with a swinging rod (33), the lower ends of a pair of swinging rods (33) are close to each other, the upper ends of the swinging rods (33) are far away from each other, the upper ends of the swinging rods (33) are hinged to the inner wall of the mounting box (2), and the lower ends of the swinging rods (33) are hinged to the upper end face of the sliding block (32);
the upper end of each swing rod (33) is provided with a driven rod (34), the lower ends of the driven rods (34) are close to each other, the upper ends of the driven rods are far away from each other, the upper end of each driven rod (34) is provided with an arc-shaped toothed disc (35), and the lower end face of each cover plate (26) is provided with a rack (28) meshed with the toothed disc (35).
4. A robot for mounting chips in a tube according to claim 1, wherein: the front end slope of climbing vehicle (1) upwards is provided with supporting seat (4), the upper end level of supporting seat (4) is provided with bracing piece (41), the front end of bracing piece (41) is provided with support frame (42), the outward flange position of support frame (42) is provided with round scraper blade (44) that are used for supporting tight pipeline inner wall.
5. A robot for mounting chips in a tube according to claim 4, wherein: the utility model discloses a pipeline cleaning device, including bracing piece (41), support frame (42), the outer border position of support frame (43) is provided with round cleaning brush (45) that are used for conflicting pipeline inner wall, bracing piece (41) deviate from the one end of support frame (42) is provided with support (43).
6. A robot for mounting chips in a tube according to claim 5, wherein: the support (43) is rotatably connected with the support rod (41), and a transmission mechanism (7) used for driving the support (43) to rotate is arranged on the crawler (1).
7. A robot for mounting chips in a tube according to claim 6, wherein: the creeper truck (1) comprises a truck body (11) and wheels (12) arranged on the periphery of the truck body (11), the transmission mechanism (7) comprises a rotating shaft (71) which is horizontally arranged, and the rotating shaft (71) is arranged between a pair of the wheels (12) at the front end;
a first supporting seat (13) is arranged at the lower end of the vehicle body (11), a second supporting seat (14) is arranged at the front end of the vehicle body, a horizontal transmission rod (15) is horizontally and rotatably connected to the first supporting seat (13), a vertical transmission rod (16) is arranged on the second supporting seat (14), and a first bevel gear set (17) which is meshed with each other is arranged between the horizontal transmission rod (15) and the vertical transmission rod (16);
one end, deviating from the vertical transmission rod (16), of the horizontal transmission rod (15) is provided with a worm wheel (18), a worm (72) matched with the worm wheel (18) is arranged on the rotating shaft (71), and a second bevel gear set (19) meshed with each other is arranged between the upper end of the vertical transmission rod (16) and the support (43).
8. A robot for mounting chips in a tube according to claim 5, wherein: the lower terminal surface of climbing vehicle (1) is provided with circular-arc spatula (6), spatula (6) are used for contradicting the diapire of pipeline.
9. A robot for mounting chips in a tube according to claim 1, wherein: the installation box (2) is provided with a plurality of searchlights (22) on the outer wall of one side close to the camera (21), and the searchlights (22) surround the camera (21).
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| CN111005919B CN111005919B (en) | 2021-03-23 |
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| CN113405539A (en) * | 2021-06-21 | 2021-09-17 | 杭州越歌科技有限公司 | Underground pipeline surveying and mapping method and system |
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