CN115163963B - Airbag plugging robot with two-stage airbag pushing-out guide device - Google Patents
Airbag plugging robot with two-stage airbag pushing-out guide device Download PDFInfo
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- CN115163963B CN115163963B CN202210825648.7A CN202210825648A CN115163963B CN 115163963 B CN115163963 B CN 115163963B CN 202210825648 A CN202210825648 A CN 202210825648A CN 115163963 B CN115163963 B CN 115163963B
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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
- F16L55/10—Means for stopping flow from or in pipes or hoses
- F16L55/12—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ
- F16L55/128—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ introduced axially into the pipe or hose
- F16L55/132—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ introduced axially into the pipe or hose the closure device being a plug fixed by radially deforming the packing
- F16L55/134—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ introduced axially into the pipe or hose the closure device being a plug fixed by radially deforming the packing by means of an inflatable packing
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Abstract
The invention provides an airbag plugging robot with a secondary airbag pushing-out guide device, which comprises an outer frame assembly and an inner guide cylinder assembly; the outer frame assembly is provided with a containing cavity for containing the inner guide cylinder assembly, and the inner guide cylinder assembly is sleeved in the outer frame assembly and moves linearly along the containing cavity to extend out of the outer frame assembly or retract into the outer frame assembly; the inner guide cylinder assembly comprises a pushing mechanism for pushing the air bag, the air bag is contained in the inner guide cylinder assembly, and the air bag is pushed to a designated position by the pushing mechanism. The robot adopts the two-stage air bag pushing-out and guiding device, has compact structure during retraction, and is convenient to enter and exit the vertical wellhead and the well with smaller diameters. The extension stroke is large, and the air bags with various specifications and sizes can be ensured to be pushed in place.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to an airbag plugging robot with a secondary airbag pushing-out guide device.
Background
Municipal drainage pipeline engineering construction is divided into a plurality of categories such as pipeline detection, maintenance, repair and the like, and the pipeline is plugged at the early stage of high water level pipeline construction and then precipitation, drainage, cleaning and the like are carried out. Balloon plugging is one of the most common ways of plugging a pipeline, and is currently basically a manual well-down operation.
However, since a safe manhole cover is installed above each manhole, a closed limited space is formed between the manhole and the pipeline. When natural substances in the inspection well decay, other toxic gases such as methane and the like are easy to generate, and particularly, the generation conditions of sewage and rainwater pipelines are more sufficient. Biogas is colorless, odorless, and poorly water-soluble combustible gas. When the concentration of the accumulated toxic gas is high, operators can easily suffer from toxic coma and even death when entering the inspection well without protective measures. The operators of the current bladder 10 plugging operations need to make gas protection preparations, such as gas masks, before they can run in the well. However, because the inspection well is outdoor and is scattered in all corners of the city, great difficulty exists in supervision work of operators, and operators with weak safety awareness often enter the inspection well without any anti-virus measures under the condition of no supervision, so that great life safety problem exists. And the manual operation efficiency is low.
With the development of robot technology, pipeline detection robots are more and more widely applied, but at present, after entering an inspection well, the robots need to enter a transverse well to operate through a moving mechanism, and for the condition that air bag blocking needs to be carried out at the end part of the pipeline, the difficulty of running control of the robots is increased due to the fact that the robots enter the pipeline to place air bags.
Disclosure of Invention
The invention aims to solve the technical problem that if the robot is provided with a plurality of air bag pushing sizes according to different underground plugging positions.
The invention solves the technical problems by the following technical means:
an air bag plugging robot with a secondary air bag pushing-out guide device comprises an outer frame assembly (1) and an inner guide cylinder assembly (2); the outer frame assembly (1) is provided with a containing cavity for containing the inner guide cylinder assembly (2), the inner guide cylinder assembly (2) is sleeved in the outer frame assembly (1) and moves linearly along the containing cavity, and extends out of the outer frame assembly (1) or returns into the outer frame assembly (1); the inner guide cylinder assembly comprises a pushing mechanism for pushing the air bag, the air bag is contained in the inner guide cylinder assembly (2), and the air bag is pushed to a designated position by the pushing mechanism; the travelling mechanism comprises two spiral driving wheels (16), and a driving swing arm (14), a driven swing arm (15), a swing arm driving piece (17) and a driving wheel driving piece (18) which correspond to each spiral driving wheel (16); the two swing arm driving pieces (17) and the driving wheel driving piece (18) are both fixed at the bottom of the outer frame assembly (1); the two spiral driving wheels (16) are positioned at the left side and the right side of the outer frame assembly (1); the two ends of the spiral driving wheel (16) are respectively and rotatably connected with one end of a driving swing arm (14) and one end of a driven swing arm (15), and the other end of the driving swing arm (14) is in transmission connection with the output end of a corresponding swing arm driving piece (17); the other end of the driven swing arm (15) is rotationally connected with the output end of the corresponding driving wheel driving piece (18); the swing arm driving piece (17) drives the driving swing arm (14) to swing up and down and drives the corresponding spiral driving wheel (16) to move up and down.
The robot adopts the two-stage air bag pushing-out and guiding device, has compact structure during retraction, and is convenient to enter and exit the vertical wellhead and the well with smaller diameters. The extension stroke is large, and the air bags with various specifications and sizes can be ensured to be pushed in place.
Further, the outer frame assembly (1) comprises a front side plate (11), a rear side plate (12), a plurality of connecting rods (13) connected with the front side plate (11) and the rear side plate (12) and a telescopic driving piece (25); wherein, a guide sleeve (10) is arranged on at least one connecting rod (13), and the guide sleeve (10) is contacted with the outer wall of the inner guide cylinder (21) component; the base of the telescopic driving piece (25) is rotationally connected with the rear side plate (12), the output end of the base is rotationally connected with one end of the inner guide cylinder (21) component, which faces the front side plate (11), and the telescopic driving piece (25) drives the inner guide cylinder (21) component to penetrate out of the front side plate (11) to slide forwards after being started.
Further, the spiral driving wheel (16) moves upwards to be accommodated between the front side plate (11) and the rear side plate (12), and moves downwards to be used for supporting or walking; the drive wheel drive (18) drives rotation of the corresponding helical drive wheel (16) via a first sprocket assembly.
Further, one of the connecting rods (13) is positioned at the middle position of the bottoms of the front side plate (11) and the rear side plate (12), and the two spiral driving wheels (16) and driving swing arms (14) and driven swing arms (15) at the two ends of the spiral driving wheels are symmetrically arranged at the two sides of the connecting rod (13) at the bottom; the two swing arm driving pieces (17) and the driving wheel driving piece (18) are fixed on two sides of the connecting rod (13); the two driving wheel driving parts (18) are connected with the rotating shaft of the spiral driving wheel (16) through a first chain wheel assembly.
Further, the first sprocket assembly comprises a driving sprocket (101), a driving sprocket (102) and a first chain (103); the driving chain wheel (101) is fixed at one end of the driven swing arm (15) facing the connecting rod (13), the driving chain wheel (102) is fixed at one end of the driven swing arm (15) facing the spiral driving wheel (16), the first chain (103) is connected with the driving chain wheel (101) and the driving chain wheel (102), and the driving chain wheel (102) is fixed with the rotating shaft of the spiral driving wheel (16); the drive sprocket (101) is fixed to an output shaft of the drive wheel driver (18).
Further, motor bases (19) are fixed at two ends of the connecting rod (13) at the bottom, two mounting holes are formed in the motor bases (19), and the two mounting holes are symmetrically positioned at two sides of the connecting rod (13) at the bottom; the machine seat of the swing arm driving piece (17) and the driving wheel driving piece (18) is fixed with the bottom connecting rod (13), and the output ends are respectively fixed with mounting holes at two ends of the bottom connecting rod (13); the driving swing arm (14) and the driven swing arm (15) are respectively and rotatably connected with mounting holes at two ends of the bottom connecting rod (13).
Further, the inner guide cylinder assembly (2) comprises an inner guide cylinder (21), a push plate (22), a second chain wheel assembly (23) and a push plate driving piece (24), and the inner guide cylinder (21) is of a cylinder structure; the pushing plate (22) is positioned in the inner guide cylinder (21), and the pushing plate driving piece (24) drives the pushing plate (22) to move back and forth in the inner guide cylinder (21) through the second chain wheel assembly (23), so that the air bag (10) is pushed out of the inner guide cylinder (21); the output end of the telescopic driving piece (25) is rotationally connected with the front end of the inner guide cylinder (21).
Further, sliding grooves (211) are formed in the left side and the right side of the inner guide cylinder (21) along the moving direction of the inner guide cylinder, guide shafts (221) are fixed on the left side and the right side of the push plate (22), and the guide shafts (221) extend out of the sliding grooves (211); the second chain wheel assembly (23) is positioned on the outer wall of the inner guide cylinder (21) and comprises a driving gear (231), a driven gear (232) and a chain meshed with the driving gear (231) and the driven gear (232), wherein the driving gear (231) and the driven gear (232) are respectively fixed at two ends of the sliding groove (211); both ends of the chain are fixed with the guide shafts (221) to form a closed loop; the driving gears (231) are positioned at the rear end of the inner guide cylinder (21), the two driving gears (231) at the rear end of the inner guide cylinder (21) are fixed with the transmission shaft (26), and the push plate driving piece (24) drives the transmission shaft (26) to rotate.
Further, two ends of the transmission shaft (26) are fixed with the two driving gears (231) through universal joints (29).
Further, the push plate driving piece (24) is fixed inside the inner guide cylinder (21) and is positioned between the rear part of the push plate (22) and the transmission shaft (26); the push plate driving piece (24) is in transmission connection with a transmission shaft (26) through a third chain wheel assembly (27).
The invention has the advantages that:
the outline of the external section of the overall design of the robot is limited in the allowed diameter range of the vertical inspection wellhead, the internal section is defined by the diameter of the cross section of the air bag, and the volume is minimized on the premise of ensuring that the air bag is reliably carried down the well;
the robot adopts a pushing mechanism of a first-stage pushing inner guide cylinder and a second-stage pushing air bag, and has compact structure, and is convenient to enter and exit from a vertical wellhead and a well with smaller diameters during retraction. The extension stroke is large, and the air bags with various specifications and sizes can be ensured to be pushed in place.
The first-stage pushing mechanism is driven by a servo electric cylinder, the structure is simple, the response speed is high, the servo electric cylinder can stay at a set position according to the requirement, and the pushing requirements of air bags with different lengths are met; the pushing speed of the air bag is regulated by regulating the expansion speed of the electric cylinder; the electric cylinder has a self-locking function, so that the safety of equipment can be improved. According to the primary pushing mechanism of the power source, components such as an air cylinder, a hydraulic cylinder and the like can be selected.
The second-stage pushing mechanism coaxially drives the left and right groups of chain wheels through a single servo motor, so that synchronous displacement of the left and right chains is ensured. The second-stage pushing mechanism drives the chain wheel group to drive the chain wheel group through the universal joint, driving force is transmitted between the two variable-angle rotating shaft parts, and the universal joint can be suitable for power transmission with larger intersection angle, so that the limited layout requirement of the servo motor on the robot is met. The second-stage pushing motor adjusts the pushing speed of the air bag by adjusting the rotating speed of the driving motor, and controls the pushing stability of the air bag; the stroke of the secondary pushing mechanism is controlled by adjusting the revolution of the servo motor, so that the requirements of airbags with different specifications and sizes on the stroke of the pushing plate are met; the stress point of the secondary pushing mechanism is positioned at the middle lower part of the air bag, so that the air bag is prevented from generating upward thrust in the pushing process, and the rear upper part of the air bag is propped against the upper arm of the guide cylinder to generate friction resistance and even is blocked in the guide cylinder.
The secondary pushing mechanism can set single-stage expansion and secondary synchronous expansion or secondary independent expansion according to the specification length of the air bag and the placement requirement after the air bag is pushed out.
The inner guide cylinder and the guide sleeve play a role in guiding and bearing in the primary pushing-out process, and bending force of the air bag on the piston rod of the telescopic driving piece in the pushing-out process is eliminated. The sliding groove plays a guiding role in the secondary pushing-out process. The second-stage pushing mechanism is provided with a plurality of groups of nylon chute guide mechanisms, so that the running stability and the structural strength of the device are enhanced, and the friction resistance is reduced. In addition, the sliding groove guide assembly is in modularized design, so that maintenance and replacement after abrasion are facilitated. On the premise of ensuring the strength, the inner guide cylinder adopts the hollow design of aluminum alloy or high-strength wear-resistant nonmetallic material, so that the weight of the structure is reduced. The guide sleeve is made of nylon materials with a self-lubricating function, so that a sealing structure required by underwater lubrication is simplified.
The folding symmetrical swing arm structure has compact structure and circular section after contraction, is matched with the shape of the inspection wellhead, and is convenient for entering and exiting the inspection wellhead and carrying and storing.
The secondary air bag pushing and guiding device can replace manual work in a pipeline by a robot, the air bag is placed into a specified blocking position of a transverse well by an inspection well, safety and intelligence are realized, and casualties caused by personnel descending into the well are avoided.
Drawings
Fig. 1 is a schematic diagram of an overall application structure of a robot in an embodiment of the present invention;
FIG. 2 is a schematic view of a robot in an unfolded state according to an embodiment of the present invention;
FIG. 3 is a schematic view of an outer frame assembly of a robot according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a spiral driving wheel and a swing arm on one side of a robot in an embodiment of the present invention;
FIG. 5 is a schematic diagram of a structure of a sprocket assembly shown after a driven swing arm of a robot opens a cover plate according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an end face structure of a robot running mechanism opened in an embodiment of the invention;
fig. 7 is a schematic diagram of an end face structure of a robot running mechanism according to an embodiment of the present invention;
FIG. 8 is a schematic view of the structure of the inner guide cylinder and the inner push plate and push plate driving member according to the embodiment of the present invention;
fig. 9 is a schematic diagram of a link set structure of an outer wall of an inner guide cylinder according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The air bag plugging robot with the secondary air bag pushing-out guide device disclosed by the embodiment is applied to underground air bag plugging work. The plugging work of the underground air bag relates to equipment shown in figure 1, and comprises a robot, an air bag 10, an air compressor, a cable box 4 and a derrick 3; the derrick 3 is erected at an inspection wellhead and is used for conveying the robot into the inspection wellhead, the cable box 4 provides cable conveying and power supply for the robot, and the air compressor inflates a driving piece in the robot to ensure tightness of the driving piece. The air bag 10 is placed in a robot, pushed to a lateral well by the robot, and inflated by an air compressor. Each of the portions is described in detail below.
As shown in fig. 2 and 3, the robot comprises an outer frame assembly 1, a guide cylinder assembly 2 and a travelling mechanism. The outer frame assembly 1 comprises a front side plate 11, a rear side plate 12, a plurality of connecting rods 13 connecting the front side plate 11 and the rear side plate 12 and a telescopic driving piece; in this embodiment, the front side plate 11 and the rear side plate 12 are annular plate bodies with the same diameter, and two ends of the plurality of connecting rods 13 are respectively fixed with the front side plate 11 and the rear side plate 12, so as to form a cylinder body which is a cylinder. In order to facilitate the fixation of other components, in this embodiment, the number of connecting rods 13 is 5, the number of connecting rods is two at the top, one at the left and right sides of the middle position, one at the bottom, and two at the middle and one at the bottom form an isosceles triangle structure.
The outer frame assembly 1 also comprises a travelling mechanism; as shown in fig. 4, the running mechanism includes a driving swing arm 14, a driven swing arm 15, two spiral driving wheels 16, two swing arm drivers 17, and two driving wheel drivers 18.
A swing arm driving member 17 and a driving wheel driving member 18 are respectively fixed on the left and right sides of the bottom connecting rod 13, and the output shafts of the two driving members face forward and backward respectively, so for facilitating the fixation with the swing arm, motor bases 19 are also fixed on the two ends of the bottom connecting rod 13, as shown in fig. 3, the motor bases 19 are in a plate-shaped structure, and are welded and fixed or bolted with the connecting rod 13. Two mounting holes are formed in the motor base 19 and are symmetrically positioned on two sides of the bottom connecting rod 13; as shown in fig. 2, the bases of the swing arm driving member 17 and the driving wheel driving member 18 are fixed to the bottom connecting rod 13, and the output ends are fixed to mounting holes at both ends of the bottom connecting rod 13, respectively.
As shown in fig. 4, two ends of each spiral driving wheel 16 are respectively connected with one ends of the driving swing arm 14 and the driven swing arm 15 in a rotating manner, as shown in fig. 2, the other ends of the driven swing arms 15 are respectively fixed with mounting holes on the motor bases 19 at corresponding positions, and the other ends of the driving swing arms 14 are fixed with the corresponding mounting holes of the motor bases 19 (the motor bases 19 are not marked in fig. 2), so that the driving swing arms are connected with the output ends of the corresponding swing arm driving pieces 17 in a rotating manner. In this embodiment, the driving swing arm 14 and the driven swing arm 15 are arc structures, when the swing arm driving member 17 drives the driving swing arm 14 to retract, the driving swing arm 14 drives the spiral driving wheel 16 to swing upwards, and the driving swing arm is accommodated between the front side plate 11 and the rear side plate 12, and when the driving swing arm is opened, the opening angle of the swing arms at two sides can be adjusted as required, so that the overall height of the robot is controlled. The two spiral drive wheels 16 also provide stable support for the robot.
In this embodiment, the drive wheel drive 18 is coupled to the rotational axis of the helical drive wheel 16 via a first sprocket assembly. As shown in fig. 5, the first sprocket assembly includes a drive sprocket 101, a drive sprocket 102, a first chain 103; the driving sprocket 101 is fixed at one end of the driven swing arm 15 facing the connecting rod 13, the driving sprocket 102 is fixed at one end of the driven swing arm 15 facing away from the connecting rod, the first chain 103 is connected with the driving sprocket 101 and the driving sprocket 102, and the driving sprocket 102 is fixed with the rotating shaft of the spiral driving wheel 16 (the spiral driving wheel 16 is shown in fig. 2); the drive sprocket 101 is fixed to an output shaft of the drive wheel driver 18 (the drive wheel driver 18 is referred to in fig. 2). In this embodiment, the driven swing arm 15 is provided with a groove 151 for accommodating the first chain 103, and since the groove 151 is integrally arc-shaped, a plurality of tensioning rollers are provided in the groove 151, and the chain is tensioned by the plurality of tensioning rollers and located in the groove 151, so that scraping with the wall of the groove 151 is avoided. The groove 151 faces the side of the driving swing arm 14 (the driving swing arm 14 is shown in fig. 2). When the driving wheel driving member 18 is started, the spiral driving wheel 16 is driven to rotate forward and backward (the spiral driving wheel 16 is shown in fig. 2) through the transmission of the chain wheel, so that the robot can move forward and backward. The stability, safety and reliability of the first sprocket assembly are ensured by the cover plate and the silica gel sealing gasket sealing groove 151.
In this embodiment, in order to hoist and mount the robot into the inspection shaft, a cross bar is fixed on the outer wall of the rear side plate 12 to form a hanger 121, meanwhile, the strength of the rear side plate 12 can be improved, two connecting rods 13 at the top are fixed with a U-shaped hanging ring 121-1, two ends of the U-shaped hanging ring 121-1 rotate on the connecting rods 13 at the two tops respectively and are close to the front side plate 11, the hanger 121 and the hanging ring 121-1 form two hanging points, and the head and tail heights of the robot can be controlled in the hoisting process conveniently. The U-shaped hanging ring 121-1 is tightly attached to the connecting rod 13 when being folded, so that the robot can be stored conveniently.
As shown in fig. 6 and 7, fig. 6 is a state in which the screw drive wheel of the robot is opened, and fig. 7 is a state in which the screw drive wheel is retracted.
In this embodiment, as shown in fig. 2, a muddy water camera 6 and a sonar 7 are fixed to a front side plate 11, a plurality of obstacle avoidance distance measurement sensors 8 are mounted to a plurality of connecting rods 13, and an attitude sensor 9 is fixed to the wall of an inner guide tube 21. The front upper end of the robot is respectively provided with a waterproof illuminating lamp, an underwater muddy water camera or a polarized light camera and a front scanning imaging sonar, and an obstacle avoidance ranging sensor which is used for detecting the position of a transverse well to be blocked at a vertical inspection well and guiding the robot to move and position. The air bag is pushed in place and inflated to complete the blocking, and the posture and blocking condition of the air bag are detected in an auxiliary mode.
As shown in fig. 8, the inner guide cylinder assembly 2 comprises an inner guide cylinder 21, a push plate 22, a second sprocket assembly 23 and a push plate driving member 24, wherein the inner guide cylinder 21 has a cylindrical structure, and the whole body is hollow, so that the whole weight of the robot can be reduced; the inner guide 21 is in a cylindrical barrel enclosed by the front side plate 11, the rear side plate 12 and 5 connecting rods 13, wherein the diameter of a middle through hole of the front side plate 11 is larger than that of the inner guide 21, and the movement path of the inner guide 21 extends out or retreats from the front side plate 11.
In this embodiment, in order to ensure that the path does not deviate when the inner guide 21 moves, at least one connecting rod 13 is provided with a guide sleeve 100, and the guide sleeve 100 contacts with the outer wall of the inner guide 21; in this embodiment, the guide sleeves 100 are installed on the middle two connecting rods 13, and because the outer wall of the inner guide cylinder 21 assembly is an arc surface, the contact surface between the guide sleeve 100 and the outer wall of the inner guide cylinder 21 assembly is also an arc surface, so that the guide sleeve is convenient to be attached to the outer wall of the inner guide cylinder 21 assembly. The two guide sleeves 100 provide limit and guide in the movement process of the inner guide cylinder 21, so that the movement process of the inner guide cylinder 21 is smooth. In this embodiment, the cross section of the guide sleeve 100 is generally triangular, a hole is formed in the middle, and the connecting post is inserted into the hole, and the two can be fixed by bolts or welding. In order to reduce friction, the contact surface between the guide bush 100 and the inner guide tube 21 is made smooth.
The inner guide 21 is driven to expand and contract by an expansion driving member 25. The telescopic driving piece 25 is an electric push rod, the base of the telescopic driving piece is rotatably connected to the rear side plate 12, the output end of the telescopic driving piece is rotatably connected with one end of the inner guide cylinder 21, which faces the front side plate 11, and after the telescopic driving piece 25 is started, the inner guide cylinder 21 is driven to penetrate out of the front side plate 11 to slide forwards. The front side plate 11 is provided with a limiting hole for the output end of the telescopic driving piece 25 to pass through. In this embodiment, the telescopic driving member 25 is located at the middle position of the two top connecting rods 13.
The push plate 22 is positioned in the inner guide cylinder 21, the area of the push plate 22 is smaller than the inner sectional area of the inner guide cylinder 21, the whole push plate 22 is positioned below the inner cavity of the inner guide cylinder 21, the push plate driving member 24 is positioned behind the push plate 22, the air bag 10 is positioned in front of the push plate 22, and when the push plate driving member 24 drives the push plate 22 to advance, the push plate 22 pushes the air bag 10 to advance, so that the air bag is fed into a specified pipeline. The specific driving structure is as follows:
as shown in fig. 8, sliding grooves 211 are formed in the left and right sides of the inner guide cylinder 21 along the moving direction, guide shafts 221 are fixed on the left and right sides of the push plate 22, and the guide shafts 221 extend out of the sliding grooves 211 to be fixed with guide shaft sliding seats 221-1; as shown in fig. 9, the second sprocket assembly 23 is located on the outer wall of the inner guide 21, and includes a driving gear 231 and a driven gear 232 fixed at two ends of the sliding slot 211, and a second chain 233 engaged with the driving gear 231 and the driven gear 232; both ends of the second chain 233 are connected with the guide shaft sliding seat 221-1 in series to form a closed loop; the driving gear 231 is located at the rear end of the inner guide cylinder 21. As shown in fig. 8, a transmission shaft 26 is rotationally fixed behind the push plate 22 in the inner guide cylinder 21, two driving gears 231 are both fixed with the transmission shaft 26, the push plate driving member 24 drives the transmission shaft 26 to rotate, the transmission shaft 26 drives the two driving gears 231 to rotate, and thus the chain is driven to run, and since the guide shaft sliding seat 221-1 is used as a part of the chain and is pulled to run along the sliding groove 211, the push plate 22 is driven to move, the push plate 22 pushes the air bag 10 to move, and the purpose of pushing the air bag 10 out of the inner guide cylinder 21 is achieved. In this embodiment, due to vibration, friction force and other reasons, the two ends of the transmission shaft 26 are fixed with the two driving gears 231 through the universal joint 29, so that a larger intersection angle between the two connected shafts is allowed, and the layout requirement of the servo motor on the limited position of the robot is met.
In this embodiment, the sliding sleeve 234 is further fixed on the sliding groove 221, the sliding sleeve 234 may be made of nylon with high smoothness, and the sliding sleeve 234 is of modularized design, so that the sliding sleeve is convenient to detach and replace, and the sliding sleeve 234 is in sliding fit with the guiding shaft 211 during sliding, so that friction force is reduced.
The inner guide 21 is internally fixed with a mounting frame 28, the mounting frame 28 is positioned behind the push plate 22, and the push plate driving member 24 is fixed in the mounting frame 28 through screws, in this embodiment, the mounting frame 28 is higher than the transmission shaft 26 and can be arranged in a staggered manner in space. The push plate driver 24 is drivingly connected to the drive shaft 26 by a third sprocket assembly 27. Through the transmission of the third sprocket assembly 27, one push plate driving piece 24 can drive two driving gears 231 to rotate at the same time, so that the number of driving pieces is reduced, the cost is saved, the running speed of two sides of the push plate 22 can be ensured, and the weight of the robot can be reduced. The third sprocket assembly 27 in this embodiment is a conventional combination of a driving wheel, a driven wheel and a chain, and will not be described in detail herein.
To protect the second sprocket assembly 23, a shroud 212 is also covered outside the chute 211; the driving gear 231, the driven gear 232, and the chain are all located within the shroud 212. Since the shield 212 has a certain thickness, in order to reduce the distance between the inner guide 21 and the outer frame, the position of the front plate 11 corresponding to the embodiment is slotted for the shield 212 to penetrate, which can guide the moving path of the inner guide 21 and make the robot more compact.
As shown in fig. 9, in this embodiment, at least one auxiliary chute 222 is further formed on the inner guide 21, and the push plate 22 is additionally provided with a slide block that cooperates with the auxiliary chute 222 (not shown in fig. 9), and at least three-point support is formed by combining the two chutes, so that the stability of the sliding process of the push plate 22 can be ensured.
The left and right groups of chain wheels are coaxially driven by the single servo motor, so that synchronous displacement of the left and right chains is ensured, and the push plate of the air bag 10 can stably push the air bag 10 into a hoistway. The pushing-out speed of the air bag 10 is adjusted by adjusting the rotating speed of the driving motor, and the pushing-out stability of the air bag 10 is controlled; the stroke of the secondary pushing mechanism is controlled by adjusting the revolution of the servo motor, so that the requirements of the airbags 10 with different specifications and sizes on the stroke of the pushing plate are met.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. An airbag plugging robot with a secondary airbag pushing-out guide device is characterized by comprising an outer frame assembly (1), an inner guide cylinder assembly (2) and a travelling mechanism; the outer frame assembly (1) is provided with a containing cavity for containing the inner guide cylinder assembly (2), the inner guide cylinder assembly (2) is sleeved in the outer frame assembly (1) and moves linearly along the containing cavity, and extends out of the outer frame assembly (1) or returns into the outer frame assembly (1); the inner guide cylinder assembly comprises a pushing mechanism for pushing the air bag, the air bag is contained in the inner guide cylinder assembly (2), and the air bag is pushed to a designated position by the pushing mechanism;
the travelling mechanism comprises two spiral driving wheels (16), and a driving swing arm (14), a driven swing arm (15), a swing arm driving piece (17) and a driving wheel driving piece (18) which correspond to each spiral driving wheel (16); the two swing arm driving pieces (17) and the driving wheel driving piece (18) are both fixed at the bottom of the outer frame assembly (1); the two spiral driving wheels (16) are positioned at the left side and the right side of the outer frame assembly (1); the two ends of the spiral driving wheel (16) are respectively and rotatably connected with one end of a driving swing arm (14) and one end of a driven swing arm (15), and the other end of the driving swing arm (14) is in transmission connection with the output end of a corresponding swing arm driving piece (17); the other end of the driven swing arm (15) is rotationally connected with the output end of the corresponding driving wheel driving piece (18); the swing arm driving piece (17) drives the driving swing arm (14) to swing up and down to drive the corresponding spiral driving wheel (16) to move up and down;
the inner guide cylinder assembly (2) comprises an inner guide cylinder (21), a push plate (22), a second chain wheel assembly (23) and a push plate driving piece (24), wherein the push plate (22) is positioned in the inner guide cylinder (21), and the push plate driving piece (24) drives the push plate (22) to move back and forth in the inner guide cylinder (21) through the second chain wheel assembly (23), so that the air bag (10) is pushed out of the inner guide cylinder (21);
the left side and the right side of the inner guide cylinder (21) are provided with sliding grooves (211) along the movement direction of the inner guide cylinder, the left side and the right side of the push plate (22) are respectively fixed with a guide shaft (221), and the guide shafts (221) extend out of the sliding grooves (211); the second chain wheel assembly (23) is positioned on the outer wall of the inner guide cylinder (21) and comprises a driving gear (231), a driven gear (232) and a chain meshed with the driving gear (231) and the driven gear (232), wherein the driving gear (231) and the driven gear (232) are respectively fixed at two ends of the sliding groove (211); both ends of the chain are fixed with the guide shafts (221) to form a closed loop; the driving gears (231) are positioned at the rear end of the inner guide cylinder (21), the two driving gears (231) at the rear end of the inner guide cylinder (21) are fixed with the transmission shaft (26) through universal joints (29), and the push plate driving piece (24) drives the transmission shaft (26) to rotate.
2. An airbag plugging robot with a two-stage airbag push-out guide according to claim 1, characterized in that the outer frame assembly (1) comprises a front side plate (11), a rear side plate (12), a plurality of connecting rods (13) connecting the front side plate (11) and the rear side plate (12), and a telescopic driving member (25); wherein, a guide sleeve (100) is arranged on at least one connecting rod (13), and the guide sleeve (100) is contacted with the outer wall of the inner guide cylinder (21); the base of the telescopic driving piece (25) is rotationally connected with the rear side plate (12), the output end of the telescopic driving piece is rotationally connected with one end of the inner guide cylinder (21) facing the front side plate (11), and the telescopic driving piece (25) drives the inner guide cylinder (21) to penetrate out of the front side plate (11) to slide forwards after being started.
3. An airbag plugging robot with a secondary airbag ejection guide according to claim 2, characterized in that the driving wheel drive (18) drives the corresponding spiral driving wheel (16) in rotation by means of a first sprocket assembly.
4. An airbag plugging robot with a two-stage airbag push-out guide device according to claim 3, characterized in that one of the connecting rods (13) is positioned at the middle position of the bottoms of the front side plate (11) and the rear side plate (12), and the driving swing arms (14) and the driven swing arms (15) of the two spiral driving wheels (16) and the two ends thereof are symmetrically arranged at the two sides of the connecting rod (13) at the bottom; the two swing arm driving pieces (17) and the driving wheel driving piece (18) are fixed on two sides of the connecting rod (13); the two driving wheel driving parts (18) are connected with the rotating shaft of the spiral driving wheel (16) through a first chain wheel assembly.
5. An airbag plugging robot having a secondary airbag ejection guide as recited in claim 4, wherein; the first sprocket assembly comprises a driving sprocket (101), a driving sprocket (102) and a first chain (103); the driving chain wheel (101) is fixed at one end of the driven swing arm (15) facing the connecting rod (13), the driving chain wheel (102) is fixed at one end of the driven swing arm (15) facing the spiral driving wheel (16), the first chain (103) is connected with the driving chain wheel (101) and the driving chain wheel (102), and the driving chain wheel (102) is fixed with the rotating shaft of the spiral driving wheel (16); the drive sprocket (101) is fixed to an output shaft of the drive wheel driver (18).
6. The airbag plugging robot with the secondary airbag pushing-out guide device according to claim 4, wherein motor bases (19) are fixed at two ends of the connecting rod (13) at the bottom, two mounting holes are formed in the motor bases (19), and the two mounting holes are symmetrically positioned at two sides of the connecting rod (13) at the bottom; the machine seat of the swing arm driving piece (17) and the driving wheel driving piece (18) is fixed with the bottom connecting rod (13), and the output ends are respectively fixed with mounting holes at two ends of the bottom connecting rod (13); the driving swing arm (14) and the driven swing arm (15) are respectively and rotatably connected with mounting holes at two ends of the bottom connecting rod (13).
7. The airbag plugging robot with the secondary airbag push-out guide device according to claim 1 or 2, characterized in that the inner guide cylinder (21) is of a cylindrical structure.
8. The airbag plugging robot with the secondary airbag push-out guide device according to claim 2, characterized in that the output end of the telescopic driving piece (25) is rotatably connected with the front end of the inner guide cylinder (21).
9. The airbag plugging robot with the secondary airbag push-out guide device according to claim 1, characterized in that the push plate driving member (24) is fixed inside the inner guide cylinder (21) between the rear of the push plate (22) and the transmission shaft (26); the push plate driving piece (24) is in transmission connection with a transmission shaft (26) through a third chain wheel assembly (27).
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| CN202210825648.7A CN115163963B (en) | 2022-07-14 | 2022-07-14 | Airbag plugging robot with two-stage airbag pushing-out guide device |
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| CN202210825648.7A CN115163963B (en) | 2022-07-14 | 2022-07-14 | Airbag plugging robot with two-stage airbag pushing-out guide device |
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| CN115163963A (en) | 2022-10-11 |
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