CN111963825A - Telescopic pipeline wall climbing robot - Google Patents
Telescopic pipeline wall climbing robot Download PDFInfo
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- CN111963825A CN111963825A CN202010885274.9A CN202010885274A CN111963825A CN 111963825 A CN111963825 A CN 111963825A CN 202010885274 A CN202010885274 A CN 202010885274A CN 111963825 A CN111963825 A CN 111963825A
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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
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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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
- F16L55/40—Constructional aspects of the body
- F16L55/42—Constructional aspects of the body gelled or degradable
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Dispersion Chemistry (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a telescopic pipeline wall-climbing robot in the technical field of pipeline processing, which comprises a front driving mechanism and a rear driving mechanism; preceding actuating mechanism's middle part with be connected through steering mechanism between rear drive mechanism's the middle part, steering mechanism includes at least two sets of knuckles, the knuckle includes first dwang, ball cover seat, commentaries on classics ball and second dwang, the rotatable cover of commentaries on classics ball is established in the inner chamber of ball cover seat, one side middle part of ball cover seat with the one end of first dwang is fixed mutually, and is a set of the other end of first dwang with rear drive mechanism is fixed mutually, change one side of ball with the one end of second dwang is fixed mutually. The wall climbing robot can conveniently realize the steering wall climbing work of the turning pipe in the inner wall of the pipeline by utilizing the front driving mechanism and the rear driving mechanism through the matching of the steering knuckles on the steering mechanism.
Description
Technical Field
The embodiment of the invention relates to the technical field of pipeline processing, in particular to a telescopic pipeline wall-climbing robot.
Background
With the rapid development of modern society and science and technology, the application of the pipeline wall-climbing robot is gradually increased, and the defects of low working efficiency, high enterprise cost, severe working environment and danger and the like existing in the prior manual operation are overcome.
When the pipeline has a bent pipeline with large bending degree, the wall climbing robot cannot well perform steering operation and is easily clamped in the inner wall of the bent pipeline, cannot advance or retreat and cannot be taken out; and current pipeline wall climbing robot is when using, can't be fine according to the pipeline internal diameter, and the driver that the adjustment is connected with the pipe wall presses the stress on the pipeline inner wall to lead to wall grabbing ability when wall climbing robot removes in the pipeline relatively poor, produce great relative slip.
Based on the above, the invention designs a telescopic pipeline wall climbing robot to solve the above problems.
Disclosure of Invention
The embodiment of the invention provides a telescopic pipeline wall-climbing robot, which aims to solve the technical problems mentioned in the background technology.
The embodiment of the invention provides a telescopic pipeline wall-climbing robot. In one possible approach, a front drive mechanism and a rear drive mechanism are included; the middle part of the front driving mechanism is connected with the middle part of the rear driving mechanism through a steering mechanism, the steering mechanism comprises at least two groups of steering knuckles, the steering knuckles comprise a first rotating rod, a ball sleeve seat, a rotating ball and a second rotating rod, the rotary ball is rotatably sleeved in the inner cavity of the ball sleeve seat, the middle part of one side of the ball sleeve seat is fixed with one end of the first rotary rod, the other end of the first rotary rod is fixed with the rear driving mechanism, one side of the rotary ball is fixed with one end of the second rotary rod, the other end of one group of the second rotating rod is fixed with the front driving mechanism, the adjacent two groups of the steering knuckles are connected through the first rotating rod and the second rotating rod, and the middle part of the front end of the front driving mechanism is connected with a guide mechanism for guiding the front driving mechanism in a pipeline.
The embodiment of the invention provides a telescopic pipeline wall-climbing robot. In a feasible scheme, the ball cover seat comprises a semicircular ball cover and a ball cover, inner cavities of the semicircular ball cover and the ball cover are matched with the side surface of the rotary ball, a first mounting flange is fixed on the surface of the outer side of the semicircular ball cover, a second mounting flange is fixed on the surface of the outer side of the ball cover, a fixing screw is inserted into one side of the first mounting flange, and the other end of the fixing screw is in threaded connection with the side surface of the second mounting flange.
The embodiment of the invention provides a telescopic pipeline wall-climbing robot. In a feasible scheme, the rear driving mechanism comprises a first center seat connected with the first rotating rod, a first push rod motor, a first telescopic rod, a first spring, a first loop bar, a first base, a first side plate, a first motor and a first driving wheel, the first push rod motor is inserted and fixed on the side surface of the first center seat, the power output end of the first push rod motor is connected with one end of the first telescopic rod, the other end of the first telescopic rod is inserted and sleeved at one end of the first loop bar in a telescopic manner, the first spring is sleeved on the first telescopic rod between the first loop bar and the first push rod motor, the middle part of the first base is fixed at the other end of the first loop bar, one end of the first side plate is fixed at two sides of the first base, the first motor is fixed at the inner side of a group of the first side plate, just the power take off end of first motor is connected with the pivot, first drive wheel runs through to be fixed in the pivot, the other end and another group of the pivot the rotatable joint of first curb plate, be fixed with on the first curb plate and be used for giving the first power of rear drive mechanism power supply.
The embodiment of the invention provides a telescopic pipeline wall-climbing robot. In a feasible scheme, the front driving mechanism comprises a second center seat connected with the second rotating rod, a second push rod motor, a second telescopic rod, a second spring, a second loop bar, a second base, a second side plate, a second motor and a second driving wheel, the second push rod motor is inserted and fixed on the side surface of the second center seat, the power output end of the second push rod motor is connected with one end of the second telescopic rod, the other end of the second telescopic rod is inserted and sleeved at one end of the second loop bar in a telescopic manner, the second spring (sleeved on the second telescopic rod between the second loop bar and the second push rod motor), the middle part of the second base is fixed at the other end of the second loop bar, one end of the second side plate is fixed on two sides of the second base, and the second motor is fixed on the inner side of a group of the second side plates, and the power take off end of second motor is connected with the pivot, the second drive wheel runs through to be fixed in the pivot, the other end and another group of the pivot the rotatable joint of second curb plate, be fixed with on the second curb plate and be used for the second power of preceding actuating mechanism power supply.
The embodiment of the invention provides a telescopic pipeline wall-climbing robot. In one possible solution, a front cleaning mechanism for performing front wheel cleaning on the second driving wheel is fixed to one side of one set of the second side plates.
The embodiment of the invention provides a telescopic pipeline wall-climbing robot. In a feasible scheme, preceding clearance mechanism including be used for with the drive tooth case that the pivot is connected, the other end power take off end of drive tooth case is connected with the axis of rotation, the end fixing of axis of rotation has the carousel, the avris fixed surface of carousel has the scraper, the scraper with the position of second drive wheel is corresponding, just the diameter of carousel is less than the diameter of carousel.
The embodiment of the invention provides a telescopic pipeline wall-climbing robot. In a feasible scheme, the driving gear box comprises a fixed box frame, a first bevel gear, a second bevel gear and a third bevel gear, the third bevel gear is provided with two groups, a connecting rod is fixed in the middle between the third bevel gears, a mounting seat is rotatably sleeved in the middle of the connecting rod, the mounting seat is fixed to the fixed box frame, the tooth surface of the first bevel gear is meshed with one group of the third bevel gears, the tooth surface of the second bevel gear is meshed with the other group of the third bevel gears, the end part of the rotating shaft is fixed to the middle part of one side of the first bevel gear, and the middle part of one side of the second bevel gear is fixed to the end part of the rotating shaft.
The embodiment of the invention provides a telescopic pipeline wall-climbing robot. In a feasible scheme, the guide mechanism comprises a fixed column, a damping supporting rod, a wheel carrier and a guide wheel, wherein the fixed column, the damping supporting rod, the wheel carrier and the guide wheel are connected with the front drive mechanism, the guide wheel is rotatably clamped on the inner side of the wheel carrier, the wheel carrier is connected with the side surface of the fixed column through the damping supporting rod, and an included angle between the damping supporting rod and the fixed column is at least forty-five degrees.
The embodiment of the invention provides a telescopic pipeline wall-climbing robot. In a feasible scheme, the damping support rod comprises a damping sleeve rod obliquely fixed with the fixed column, a damping inserted rod movably inserted at the other end of the damping sleeve rod and a damping spring, the other end of the damping inserted rod is fixed with the wheel carrier, and the damping spring is sleeved on the damping inserted rod between the damping sleeve rod and the wheel carrier.
Based on the scheme, the beneficial effects of the invention are as follows:
1. according to the invention, through the matching between the steering knuckles on the steering mechanism, the wall climbing robot can conveniently realize that the steering wall climbing work of the turning pipe is completed in the inner wall of the pipeline by using the front driving mechanism and the rear driving mechanism;
2. the front driving mechanism and the rear driving mechanism are matched, so that the front and the rear of the robot have the wall climbing capacity, the steering wall climbing work of the bending pipe is better adapted, and the capacity of the front driving mechanism and the rear driving mechanism attaching to the inner wall of the pipeline can be improved by arranging the first push rod motor and the second push rod motor, so that the wall climbing capacity of the robot is improved;
3. according to the invention, through the cooperation between the front cleaning mechanism and the front driving mechanism, when the front driving wheel carries out wall climbing operation, the cleaning work of raised dirt on the inner wall of the pipeline at one side in front of the front driving wheel can be conveniently realized, and the problem that the front driving wheel cannot cross the raised dirt is prevented, so that the device cannot advance in the pipeline;
4. according to the invention, by utilizing the matching between the guide mechanism and the front driving mechanism, the front driving mechanism can be conveniently guided when the front driving mechanism is utilized to steer in the bending pipeline, so that the steering trend is provided for the front driving mechanism, and the steering action is more conveniently completed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the steering mechanism of the present invention;
FIG. 3 is a schematic structural view of the rear drive mechanism of the present invention;
FIG. 4 is a schematic structural view of a front drive mechanism and a guide mechanism of the present invention;
fig. 5 is a cross-sectional view of the drive gear box of the present invention.
Reference numbers in the figures:
1. a front drive mechanism; 2. a rear drive mechanism; 3. a steering mechanism; 4. a knuckle; 5. a first rotating lever; 6. a ball sleeve seat; 7. rotating the ball; 8. a second rotating lever; 9. a guide mechanism; 10. a semi-spherical sleeve; 11. a ball cover sleeve; 12. a first mounting flange; 13. a second mounting flange; 14. fixing screws; 15. a first center seat; 16. a first push rod motor; 17. a first telescopic rod; 18. a first spring; 19. a first loop bar; 20. a first base; 21. a first side plate; 22. a first motor; 23. a first drive wheel; 24. a rotating shaft; 25. a first power supply; 26. a second center seat; 27. a second push rod motor; 28. a second telescopic rod; 29. a second spring; 30. a second loop bar; 31. a second base; 32. a second side plate; 33. a second motor; 34. a second drive wheel; 35. a rotating shaft; 36. a second power supply; 37. a front cleaning mechanism; 38. a drive gear box; 39. a rotating shaft; 40. a turntable; 41. a scraper; 42. fixing the box frame; 43. a first bevel gear; 44. a second bevel gear; 45. a third bevel gear; 46. a connecting rod; 47. a mounting seat; 48. fixing a column; 49. a shock-absorbing strut; 50. a wheel carrier; 51. a guide wheel; 52. a shock-absorbing loop bar; 53. a shock absorbing inserted link; 54. a shock absorbing spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the indicated orientations and positional relationships based on the drawings for convenience in describing and simplifying the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection or communication connection; either directly or indirectly through intervening media, either internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 to 5 illustrate a telescopic pipe wall climbing robot according to a first embodiment of the present invention, which is a telescopic pipe wall climbing robot according to the present embodiment; comprises a front driving mechanism 1 and a rear driving mechanism 2; the middle part of the front driving mechanism 1 is connected with the middle part of the rear driving mechanism 2 through a steering mechanism 3, the steering mechanism 3 comprises at least two groups of steering knuckles 4, the steering knuckles 4 comprise a first rotating rod 5, a ball sleeve seat 6, a rotating ball 7 and a second rotating rod 8, the rotary ball 7 is rotatably sleeved in the inner cavity of the ball sleeve seat 6, the middle part of one side of the ball sleeve seat 6 is fixed with one end of the first rotary rod 5, the other end of the first rotary rod 5 is fixed with the rear driving mechanism 2, one side of the rotary ball 7 is fixed with one end of the second rotary rod 8, the other end of one group of the second rotating rod 8 is fixed with the front driving mechanism 1, the adjacent two groups of the steering knuckles 4 are connected through the first rotating rod 5 and the second rotating rod 8, the middle part of the front end of the front driving mechanism 1 is connected with a guide mechanism 9 for guiding the front driving mechanism 1 in a pipeline.
It is obvious from the above that, when the telescopic pipeline wall climbing robot of the present invention is used for climbing a pipe wall, the front driving mechanism 1 can drive the front part of the device to move in the pipeline, and the rear driving mechanism 2 can drive the rear part of the device to move in the pipeline, when an elbow occurs in the pipeline, the steering direction can be detected in advance by using the guiding mechanism 9, the front driving mechanism 2 is driven to have a steering trend towards the steering direction, and the steering mechanism 3 is used for adjusting the connection angle of the front driving mechanism 1 and the rear driving mechanism 2, specifically, the steering work is completed by using a plurality of sets of steering knuckles 4, when the front driving mechanism 1 has a steering trend, the second steering rod 8 can drive the steering ball 7 to follow and rotate in the ball socket 6, and through the steering knuckles 4 connected in sequence, realize the work of turning to of each group of knuckle 4 to the knuckle 4 that is located can be through being connected with back drive structure 2, accomplish subsequent follow and turn to the work, this kind of mode of turning to, realization pipeline wall climbing robot that can be fine can climb the wall and remove in the pipeline, can accomplish the work of turning to in the pipeline that has the return bend moreover, can suitably increase knuckle 4's quantity according to the biggest camber of pipeline simultaneously, can realize climbing the operation that turns to of the more angle of wall robot.
Optionally, in this embodiment, the ball sleeve seat 6 includes a semi-circular ball sleeve 10 and a ball cover sleeve 11, the inner cavities of the semi-circular ball sleeve 10 and the ball cover sleeve 11 all match with the side surface of the rotary ball 7, the outside surface of the semi-circular ball sleeve 10 is fixed with a first mounting flange 12, the outside surface of the ball cover sleeve 11 is fixed with a second mounting flange 13, a fixing screw 14 is inserted into one side of the first mounting flange 12, and the other end of the fixing screw 14 is in threaded connection with the side surface of the second mounting flange 13. It should be noted that, in this embodiment, as shown in fig. 2, when the steering knuckle 4 is installed, the ball cover sleeve 11 may be inserted into the other side of the rotary ball 7, one side of the rotary ball 7 is inserted into the inner side of the semi-circular ball sleeve 10, the first mounting flange 12 is covered on the second mounting flange 13, and the fixing screws 14 are used to fixedly connect the two mounting flanges, so that the assembling work of the steering knuckle 4 can be well implemented, and the disassembling and washing work of the ball cover seat 6 and the rotary ball 7 can be conveniently implemented.
In addition, the rear driving mechanism 2 includes a first center seat 15 connected to the first rotating rod 5, a first push rod motor 16, a first telescopic rod 17, a first spring 18, a first sleeve 19, a first base 20, a first side plate 21, a first motor 22 and a first driving wheel 23, the first push rod motor 16 is inserted and fixed on a side surface of the first center seat 15, a power output end of the first push rod motor 16 is connected to one end of the first telescopic rod 17, the other end of the first telescopic rod 17 is inserted and sleeved at one end of the first sleeve 19 in a telescopic manner, the first spring 18 is sleeved on the first telescopic rod 17 between the first sleeve 19 and the first push rod motor 16, a middle portion of the first base 20 is fixed at the other end of the first sleeve 19, one end of the first side plate 21 is fixed on two sides of the first base 20, the first motor 22 is fixed on the inner side of one group of the first side plates 21, the power output end of the first motor 22 is connected with a rotating shaft 24, the first driving wheel 23 is fixed on the rotating shaft 24 in a penetrating manner, the other end of the rotating shaft 24 is rotatably clamped with the other group of the first side plates 21, and a first power supply 25 for supplying power to the rear driving mechanism 2 is fixed on the first side plate 21; as shown in fig. 3, in the process of driving the rear portion of the device by using the rear driving mechanism 2, the first push rod motor 16 on the first center seat 15 can be driven to work by using the power output of the first power source 25, so as to adjust the length of the first sleeve 19 connected to the first telescopic rod 17, so as to realize that the first driving wheel 23 connected to the first side plate 21 adapts to the diameter of the pipe wall, adjust the wall climbing capability of the first driving wheel 23, and supply power by using the first power source 25 to drive the first motor 22 to work, so as to drive the rotating shaft 25 to drive the first driving wheel 23 to move in the pipe wall, and because the pipe has a lot of protrusions in the long-term use process, so that the first telescopic rod 17 can adapt to the adjustment in the first sleeve 19 by using the first spring 18.
More specifically, the front driving mechanism 1 includes a second center seat 26 connected to the second rotating rod 5, a second push rod motor 27, a second telescopic rod 28, a second spring 29, a second sleeve rod 30, a second base 31, a second side plate 32, a second motor 33 and a second driving wheel 34, the second push rod motor 27 is inserted and fixed to a side surface of the second center seat 26, a power output end of the second push rod motor 27 is connected to one end of the second telescopic rod 28, the other end of the second telescopic rod 28 is inserted and fixed to one end of the second sleeve rod 30 in a retractable manner, the second spring 29 is sleeved on the second telescopic rod 28 between the second sleeve rod 30 and the second push rod motor 27, a middle portion of the second base 31 is fixed to the other end of the second sleeve rod 30, and one end of the second side plate 32 is fixed to two sides of the second base 31, the second motor 33 is fixed on the inner side of one group of the second side plates 32, the power output end of the second motor 33 is connected with a rotating shaft 35, the second driving wheel 34 is fixed on the rotating shaft 35 in a penetrating manner, the other end of the rotating shaft 35 is rotatably clamped with the other group of the second side plates 32, and a second power source 36 for supplying power to the front driving mechanism 1 is fixed on the second side plates 32; as shown in fig. 4, when the front driving mechanism 1 is used to perform the front driving operation of the device, the second power supply 36 is used to drive the second motor 33 to operate, so that the second motor 33 can drive the second driving wheel 34 connected with the second shaft rod 35 to rotate, thereby realizing the front wall climbing operation of the device, and the second power supply 36 can drive the second push rod motor 27 to operate, thereby pushing the second driving wheel 34 to cling to the inner wall of the pipeline, and increasing the wall climbing capability.
Furthermore, a front cleaning mechanism 37 for cleaning the second driving wheel 34 in front of the wheel is fixed on one side of the second side plate 32, and through the front cleaning mechanism 37, when the second driving wheel 34 moves to work, the cleaning work of the pipeline inner wall protrusion on one side of the front end of the second driving wheel 34 can be well realized.
Preferably, the front cleaning mechanism 37 includes a driving gear box 38 connected to the rotating shaft 35, a rotating shaft 39 is connected to a power output end of the other end of the driving gear box 38, a rotating disc 40 is fixed to an end of the rotating shaft 39, a scraper 41 is fixed to an edge side surface of the rotating disc 40, the scraper 41 corresponds to the second driving wheel 34, and a diameter of the rotating disc 40 is smaller than a diameter of the rotating disc 40; as shown in fig. 4, when the front cleaning mechanism 37 is operated, the rotating shaft 35 can be driven to rotate by the power of the second motor 33, the rotating shaft 35 can transmit the power to the driving gear box 38, the driving gear box 38 can output the power to the rotating shaft 39, and the rotating shaft 39 can drive the rotating disc 40 to rotate, so that the inner wall of the pipeline can be cleaned in advance by the scraper 41 on the rotating disc 40, and the rotating and moving work of the second driving wheel 34 can be realized.
Furthermore, the driving gear box 38 includes a fixed box frame 42, two sets of first bevel gears 43, two second bevel gears 44 and three third bevel gears 45, two sets of third bevel gears 45 are provided, a connecting rod 46 is fixed in the middle between the third bevel gears 45, a mounting seat 47 is rotatably sleeved in the middle of the connecting rod 46, the mounting seat 47 is fixed with the fixed box frame 42, the tooth surface of the first bevel gear 43 is meshed with one set of the third bevel gears 45, the tooth surface of the second bevel gear 44 is meshed with the other set of the third bevel gears 45, the end of the rotating shaft 35 is fixed with the middle part of one side of the first bevel gear 43, and the middle part of one side of the second bevel gear 44 is fixed with the end of the rotating shaft 39; as shown in fig. 5, when the driving gear box 38 is used to perform driving transmission operation, the first bevel gear 43 is driven by the rotating shaft 35 to rotate, the first bevel gear 43 drives the third bevel gear 45 to rotate, another group of third bevel gears 45 is driven by the connecting rod 46 to rotate, and then the second bevel gear 45 is driven to rotate, and the second bevel gear 45 further drives the rotating rod 39 to rotate.
The guide mechanism 9 comprises a fixed column 48, a damping strut 49, a wheel carrier 50 and a guide wheel 51 which are connected with the front driving mechanism 1, the guide wheel 51 is rotatably clamped at the inner side of the wheel carrier 50, the wheel carrier 50 is connected with the side surface of the fixed column 48 through the damping strut 49, and the included angle between the damping strut 49 and the fixed column 48 is at least forty-five degrees; as shown in fig. 4, when the guide mechanism 9 is used to guide the front driving mechanism 1, the fixed column 48 can drive the diagonally connected damping strut 49 to perform damping operation, and the guide wheel 51 can perform guiding movement operation in the curved duct.
Then, the damping strut 49 includes a damping loop bar 52 obliquely fixed with the fixing column 48, a damping inserted bar 53 movably inserted at the other end of the damping loop bar 52, and a damping spring 54, the other end of the damping inserted bar 53 is fixed with the wheel carrier 50, the damping spring 54 is sleeved on the damping inserted bar 53 between the damping loop bar 52 and the wheel carrier 50, when the damping strut 49 performs damping guidance, the damping loop bar 52 can conveniently move back and forth in the damping inserted bar 53 by using the cooperation between the damping inserted bar 52 and the damping inserted bar 53, and under the elastic force action of the damping spring 54, the damping work can be well realized, and the guide wheel 51 is prevented from directly impacting on the tube wall to cause large vibration.
In the present invention, unless otherwise explicitly specified or limited, the first feature "on" or "under" the second feature may be directly contacting the first feature and the second feature or indirectly contacting the first feature and the second feature through an intermediate.
Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly above or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lower level than the second feature.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The telescopic pipeline wall-climbing robot is characterized by comprising a front driving mechanism (1) and a rear driving mechanism (2); the middle part of preceding actuating mechanism (1) with be connected through steering mechanism (3) between the middle part of back actuating mechanism (2), steering mechanism (3) are including at least two sets of knuckle (4), knuckle (4) are including first dwang (5), ball cover seat (6), commentaries on classics ball (7) and second dwang (8), change the rotatable cover of ball (7) and establish in the inner chamber of ball cover seat (6), one side middle part of ball cover seat (6) with the one end of first dwang (5) is fixed mutually, and is a set of the other end of first dwang (5) with back actuating mechanism (2) are fixed mutually, change one side of ball (7) with the one end of second dwang (8) is fixed mutually, and a set of the other end of second dwang (8) with preceding actuating mechanism dwang (1) is fixed mutually, it is adjacent two sets of through first dwang (5) and second dwang (8) between knuckle (4) And the middle part of the front end of the front driving mechanism (1) is connected with a guide mechanism (9) for guiding the front driving mechanism (1) in a pipeline.
2. The telescopic pipeline wall-climbing robot according to claim 1, wherein the ball sleeve seat (6) comprises a semi-circular ball sleeve (10) and a ball cover sleeve (11), inner cavities of the semi-circular ball sleeve (10) and the ball cover sleeve (11) are matched with the side surface of the rotary ball (7), a first mounting flange (12) is fixed on the outer side surface of the semi-circular ball sleeve (10), a second mounting flange (13) is fixed on the outer side surface of the ball cover sleeve (11), a fixing screw (14) is inserted into one side of the first mounting flange (12), and the other end of the fixing screw (14) is in threaded connection with the side surface of the second mounting flange (13).
3. The telescopic pipe wall-climbing robot according to claim 1, wherein the rear driving mechanism (2) comprises a first center seat (15) connected to the first rotating rod (5), a first push rod motor (16), a first telescopic rod (17), a first spring (18), a first loop bar (19), a first base (20), a first side plate (21), a first motor (22) and a first driving wheel (23), the first push rod motor (16) is inserted and fixed on a side surface of the first center seat (15), a power output end of the first push rod motor (16) is connected to one end of the first telescopic rod (17), the other end of the first telescopic rod (17) is telescopically inserted and sleeved on one end of the first loop bar (19), the first spring (18) is sleeved on the first telescopic rod (17) between the first loop bar (19) and the first push rod motor (16), the middle part of first base (20) is fixed the other end of first loop bar (19), the one end of first curb plate (21) is fixed the both sides of first base (20), first motor (22) are fixed a set of the inboard of first curb plate (21), just the power take off end of first motor (22) is connected with pivot (24), first drive wheel (23) run through to be fixed on pivot (24), the other end and another group of pivot (24) the rotatable joint of first curb plate (21), be fixed with on first curb plate (21) and be used for first power (25) of back actuating mechanism (2) power supply.
4. The telescopic pipe wall-climbing robot according to claim 1, wherein the front driving mechanism (1) comprises a second center seat (26) connected to the second rotating rod (5), a second push rod motor (27), a second telescopic rod (28), a second spring (29), a second loop bar (30), a second base (31), a second side plate (32), a second motor (33) and a second driving wheel (34), the second push rod motor (27) is inserted and fixed on the side surface of the second center seat (26), the power output end of the second push rod motor (27) is connected to one end of the second telescopic rod (28), the other end of the second telescopic rod (28) is telescopically inserted and sleeved on one end of the second loop bar (30), the second spring (29) is sleeved on the second telescopic rod (28) between the second loop bar (30) and the second push rod motor (27), the middle part of second base (31) is fixed the other end of second loop bar (30), the one end of second curb plate (32) is fixed the both sides of second base (31), second motor (33) are fixed a set of the inboard of second curb plate (32), just the power take off end of second motor (33) is connected with pivot (35), second drive wheel (34) run through to be fixed in on pivot (35), the other end and another group of pivot (35) the rotatable joint of second curb plate (32), be fixed with on second curb plate (32) and be used for giving second power (36) of preceding actuating mechanism (1) power supply.
5. The telescopic pipe wall climbing robot according to claim 4, characterized in that a front cleaning mechanism (37) for performing a wheel-front cleaning of the second driving wheel (34) is fixed to one side of a set of the second side plates (32).
6. The telescopic pipe wall climbing robot according to claim 5, characterized in that the front cleaning mechanism (37) comprises a driving gear box (38) connected with the rotating shaft (35), the other end of the driving gear box (38) is connected with a rotating shaft (39), the end of the rotating shaft (39) is fixed with a turntable (40), the side surface of the turntable (40) is fixed with a scraper (41), the scraper (41) corresponds to the position of the second driving wheel (34), and the diameter of the turntable (40) is smaller than that of the turntable (40).
7. The telescopic pipe wall climbing robot according to claim 6, wherein the driving gear box (38) comprises a fixed box frame (42), a first bevel gear (43), a second bevel gear (44) and a third bevel gear (45), the third bevel gears (45) are arranged in two groups, a connecting rod (46) is fixed in the middle between the third bevel gears (45), a mounting seat (47) is rotatably sleeved in the middle of the connecting rod (46), the mounting seat (47) is fixed with the fixed box frame (42), the tooth surface of the first bevel gear (43) is meshed with one group of the third bevel gears (45), the tooth surface of the second bevel gear (44) is meshed with the other group of the third bevel gears (45), and the end of the rotating shaft (35) is fixed with the middle of one side of the first bevel gear (43), the middle part of one side of the second bevel gear (44) is fixed with the end part of the rotating shaft (39).
8. The telescopic pipeline wall climbing robot according to claim 1, characterized in that the guide mechanism (9) comprises a fixed column (48), a damping strut (49), a wheel carrier (50) and a guide wheel (51) which are connected with the front driving mechanism (1), the guide wheel (51) is rotatably clamped on the inner side of the wheel carrier (50), the wheel carrier (50) is connected with the side surface of the fixed column (48) through the damping strut (49), and the included angle between the damping strut (49) and the fixed column (48) is at least forty-five degrees.
9. The telescopic pipeline wall-climbing robot according to claim 8, wherein the damping strut (49) comprises a damping sleeve rod (52) obliquely fixed with the fixed column (48), a damping inserted rod (53) movably inserted at the other end of the damping sleeve rod (52), and a damping spring (54), the other end of the damping inserted rod (53) is fixed with the wheel carrier (50), and the damping spring (54) is sleeved on the damping inserted rod (53) between the damping sleeve rod (52) and the wheel carrier (50).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010885274.9A CN111963825A (en) | 2020-08-28 | 2020-08-28 | Telescopic pipeline wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010885274.9A CN111963825A (en) | 2020-08-28 | 2020-08-28 | Telescopic pipeline wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111963825A true CN111963825A (en) | 2020-11-20 |
Family
ID=73399709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010885274.9A Withdrawn CN111963825A (en) | 2020-08-28 | 2020-08-28 | Telescopic pipeline wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111963825A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115846324A (en) * | 2023-03-02 | 2023-03-28 | 山东海盛海洋工程集团有限公司 | Movable auxiliary cleaning device and cleaning method for pipeline |
-
2020
- 2020-08-28 CN CN202010885274.9A patent/CN111963825A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115846324A (en) * | 2023-03-02 | 2023-03-28 | 山东海盛海洋工程集团有限公司 | Movable auxiliary cleaning device and cleaning method for pipeline |
| CN115846324B (en) * | 2023-03-02 | 2023-05-16 | 山东海盛海洋工程集团有限公司 | Portable pipeline auxiliary cleaning device and cleaning method |
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Application publication date: 20201120 |
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