CN209654854U - Improve the expanding device of pipe robot adaptability - Google Patents
Improve the expanding device of pipe robot adaptability Download PDFInfo
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- CN209654854U CN209654854U CN201920411413.7U CN201920411413U CN209654854U CN 209654854 U CN209654854 U CN 209654854U CN 201920411413 U CN201920411413 U CN 201920411413U CN 209654854 U CN209654854 U CN 209654854U
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- pipe robot
- expansion
- chassis
- expanding
- adaptability
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Abstract
The utility model discloses a kind of expanding devices for improving pipe robot adaptability, expand component including walking and/or component is expanded at top: it includes expanding chassis, expanding traveling wheel and flexible element that component is expanded in walking, expand the lower section that chassis is removably installed in pipe robot, traveling wheel is expanded to be removably installed on expansion chassis, the output end that traveling wheel is connected to the walking power source of pipe robot by flexible element is expanded, walking power source is for providing the walking power of pipe robot；It includes expanding upper frame and protruding from the press group for expanding table on upper frame that component is expanded at top, expands the top that upper frame is removably installed in pipe robot, press group is telescopically held out against at the top of the inner wall of the pipeline locating for pipe robot.The expanding device of the raising pipe robot adaptability effectively increases pipe robot for the adaptability of the operating environment of different tube diameters pipeline, has widened application range.
Description
Technical field
The utility model belongs to pipeline robot technique field, is a kind of raising pipe robot adaptation specifically
The expanding device of property.
Background technique
Pipe robot be one kind can inside or outside small sized pipeline automatically walk, carry one or more sensors and
Operation is mechanical, and mechanical, electrical, the instrument one of a series of pipeline operations are carried out under the remote control operation or computer controlled automatic of staff
Body system.
Existing pipe robot generally directed to specific caliber pipe design, for different tube diameters pipeline adaptability not
Foot.How to increase pipe robot for the adaptability of different pipelines, becomes urgent problem to be solved.
Utility model content
A kind of expansion for improving pipe robot adaptability that in order to overcome the deficiencies of the prior art, the utility model provides
Device effectively increases pipe robot for the adaptability of the operating environment of different tube diameters pipeline, widens application range.
The purpose of this utility model is achieved through the following technical solutions:
A kind of expanding device improving pipe robot adaptability, including component is expanded in walking and/or component is expanded at top:
It includes expanding chassis, expanding traveling wheel and flexible element that component is expanded in the walking, and the expansion chassis is removably
It is installed on the lower section of pipe robot, the expansion traveling wheel is removably installed on the expansion chassis, the expansion row
The output end that wheel is connected to the walking power source of the pipe robot by flexible element is walked, the walking power source is for providing
The walking power of the pipe robot；
It includes the press group expanded upper frame and protrude from table on the expansion upper frame, the expansion that component is expanded at the top
Upper frame is removably installed in the top of the pipe robot, and the press group is telescopically held out against in the pipe robot
At the top of the inner wall of locating pipeline.
As an improvement of the above technical solution, the expansion chassis includes carrying chassis, chassis connecting rod and lower carrying
Plate, the expansion traveling wheel are removably installed on the carrying chassis, and the chassis connecting rod is for connecting described hold
Chassis and the lower loading plate are carried, the lower loading plate is removably installed in the lower section of the pipe robot.
As a further improvement of the above technical scheme, the expansion chassis includes that axle widens device, the expansion walking
Wheel is widened device by the axle and is installed on the expansion chassis.
As a further improvement of the above technical scheme, the axle widens device with axial stretching ability, axial direction one
End connects the expansion chassis, and the other end connects the expansion traveling wheel.
As a further improvement of the above technical scheme, it is a plurality of and successively axial splicing that the axle, which widens device,.
As a further improvement of the above technical scheme, the expansion upper frame include connecting substrate, upper frame connecting rod with
Width expands device, and the connecting substrate is removably installed in the top of the pipe robot, and the upper frame connecting rod is used
Device is expanded with the width in connecting the connecting substrate；Along the width direction of the pipe robot, the width expands device
Both ends be used to hold out against the side wall of pipeline locating for the pipe robot.
As a further improvement of the above technical scheme, along the width direction of the pipe robot, the width is expanded
A plurality of idler wheels are respectively set in the both ends of device, and a plurality of idler wheel axial direction verticals simultaneously are used to hold out against locating for the pipe robot
The side wall of pipeline.
As a further improvement of the above technical scheme, it includes the expansion device component being arranged in pairs that the width, which expands device,；
There is the opposite of the width direction along the pipe robot to slide for pairs of expanding between device component, separate in any one of them
A plurality of idler wheels, direction of advance straight line of a plurality of idler wheels that same end is arranged along the pipe robot is arranged in one end of another one
Array.
As a further improvement of the above technical scheme, the press group includes telescopic rod and is set to the telescopic rod top
The pinch roller at end.
As a further improvement of the above technical scheme, the pinch roller is multi-directional ball.
The beneficial effects of the utility model are:
The expansion chassis of component is expanded by walking and expands traveling wheel and expands the lower section for being installed on pipe robot, utilizes pipe
The walking power source drive of pipeline robot is walked, to increase the chassis height and walking wheel footpath of pipe robot, makes pipe machine
Device people has to be obtained in compared with the obstacle detouring walking ability under big-diameter pipeline and larger mud depth, and without additional increase driving source
To reduce number of components, meet the job requirements of different tube diameters pipeline；
It is installed on the top of pipe robot, by the expansion upper frame and press group of top expansion component with the flexible of press group
It moves and can hold out against at the top of the inner wall of different tube diameters pipeline, make pipe robot that there is positioning and position in different tube diameters pipeline
Holding capacity is set, to steadily be cut, be repaired, the different works such as dredging.
To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, preferred embodiment is cited below particularly, and
Cooperate appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the application signal of the expanding device for the raising pipe robot adaptability that the utility model embodiment 1 provides
Figure；
Fig. 2 is the partial structurtes of the expanding device for the raising pipe robot adaptability that the utility model embodiment 1 provides
Schematic diagram.
Main element symbol description:
Component is expanded in P (a)-expanding device, 100- walking, and 110- expands chassis, and 111- carries chassis, the connection of the chassis 112-
Rod piece, loading plate under 113-, 114- axle widen device, and 120- expands traveling wheel, 130- flexible element, expand component at the top of 200-,
210- expansion upper frame, 211- connecting substrate, 212- upper frame connecting rod, 213- width expand device, and 213a- expands device component,
213b- idler wheel, 220- press group, 221- telescopic rod, 222- pinch roller, P (b)-pipe robot, 301- walking power source.
Specific embodiment
Expansion below with reference to relevant drawings to pipe robot adaptability is improved for the ease of understanding the utility model,
Device is described more fully.The preferred embodiment for improving the expanding device of pipe robot adaptability is given in attached drawing.
But the expanding device for improving pipe robot adaptability can be realized by many different forms, however it is not limited to herein
Described embodiment.On the contrary, purpose of providing these embodiments is makes to the expansion dress for improving pipe robot adaptability
The disclosure set is more thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Term as used herein "vertical", "horizontal", "left" and "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Herein in the specification for the expanding device for improving pipe robot adaptability
Used in term be only for the purpose of describing specific embodiments and be not intended to limit the utility model.Made herein
Term " and/or " it include any and all combinations of one or more related listed items.
Embodiment 1
Fig. 1~2 are please referred to, it is (following that the present embodiment discloses a kind of expanding device for improving pipe robot adaptability
Referred to as " expanding device "), which includes at least one that walking is expanded in component 100 and top expansion component 200
Person effectively increases pipe robot P (b) for the adaptability of the operating environment of different tube diameters pipeline, widens application range.
It includes expanding chassis 110, expanding traveling wheel 120 and flexible element 130 that component 100 is expanded in walking.Wherein, chassis is expanded
110 are removably installed in the lower section of pipe robot P (b), serve as the practical chassis of pipe robot P (b) after expanding.
It expands traveling wheel 120 to be removably installed on expansion chassis 110, serves as the pipe robot P's (b) after expanding
Practical traveling wheel.Wherein, the bottom or side for expanding chassis 110 can be specifically installed on by expanding traveling wheel 120.Expand traveling wheel
120 are connected to the output end of the walking power source 301 of pipe robot P (b) by flexible element 130, still utilize pipe robot P
(b) the existing driving of walking power source 301 expands traveling wheel 120 and walks.
Wherein, walking power source 301 is set to pipe robot P for providing the walking power of pipe robot P (b)
(b) on, for exporting hoofing part power.The form of walking power source 301 is numerous, including the types such as rotating electric machine, hydraulic motor.
The implementation of flexible element 130 is numerous, including the types such as transmission belt, transmission rope, transmission chain.Correspondingly, row is expanded
The axle stub for walking wheel 120 is equipped with belt wheel, rope sheave or sprocket wheel or the wheel shaft is pulley shaft, sheave shaft or sprocket shaft.It is similar
Ground, the output shaft end of walking power source 301 is equipped with belt wheel, rope sheave or sprocket wheel or output shaft is pulley shaft, sheave shaft or chain
Wheel shaft.Exemplarily, in the present embodiment, flexible element 130 is triangle V band.
It is appreciated that the original traveling wheel of pipe robot P (b) is driven by the walking power source 301.It is opened up using walking
When opening up component 100, the original traveling wheel of pipe robot P (b) can both be retained, and can also be removed.
Exemplarily, the wheel footpath for expanding traveling wheel 120 is greater than the wheel footpath of the original traveling wheel of pipe robot P (b).Demonstration
Property, the quantity of the expansion traveling wheel 120 with same size is a plurality of, and is distributed in the different location for expanding chassis 110.
Exemplarily, expanding traveling wheel 120 has a variety of wheel footpath specifications, further increases suitability.
The application of component 100, the outer dimension of pipe robot P (b) and the height position of execution unit are expanded based on walking
It sets realization to be promoted, the job area for effectively increasing pipe robot P (b) and the walking ability under different deposit depths, in
Compared with operation can be carried out in the pipeline of Large Diameter Pipeline freely, enhance the environmental suitability in different tube diameters pipeline.
The structure type for expanding chassis 110 is numerous, and exemplarily, expanding chassis 110 includes carrying chassis 111, chassis company
Extension bar part 112 and lower loading plate 113.
Chassis 111 is carried for realizing structural bearing, traveling wheel 120 is expanded and is removably installed on carrying chassis 111
And it is reliably supported.Its connection type includes the types such as threaded connection, pin joint, nail joint, and is convenient to realize dismounting.
The lower end of chassis connecting rod 112 is connected to carrying chassis 111, and upper end is connected to lower loading plate 113.Lower carrying
Plate 113 is removably installed in the lower section of pipe robot P (b), for being directly connected to carrying pipe robot P (b).
Exemplarily, expanding chassis 110 includes that axle widens device 114, expands traveling wheel 120 by axle and widens device 114
It is installed on and expands on chassis 110.In other words, axle widens device 114 along axle axial direction, and one end, which is connected to, expands chassis 110, another
End, which is connected to, expands traveling wheel 120.
Axle widen the effect of device 114 at least that, increase the length of axle and make expand traveling wheel 120 position it is corresponding
Outer shifting, to promote the enabling capabilities for expanding 120 pairs of traveling wheel expansion chassis 110.Axle widens the quantity of device 114 according to reality
It needs and determines, exemplarily, it is a plurality of and successively axial splicing that axle, which widens device 114, to increase range of fit.
Axle is widened device 114 and can be realized by different form.
Exemplarily, axle widens device 114 with axial stretching ability, and chassis 110 is expanded in axial one end connection, another
Traveling wheel 120 is expanded in end connection.For example, axle widens the slide-bar that device 114 includes guide sleeve and is slidably held on guide sleeve, lead
Set, which is connected to, expands chassis 110, and slide-bar, which is connected to, expands traveling wheel 120, adjusts vehicle with respect to sliding by slide-bar and guide sleeve
The length of axis.
Another kind demonstration, it is non-telescoping shaft part that axle, which widens device 114, widens device by the axle of different dimensions
114 matching or multiple axles widen the successively axial splicing of device 114 and widen purpose needed for realization.
It includes the press group 220 expanded upper frame 210 and protrude from table on expansion upper frame 210 that component 200 is expanded at top.Its
In, the top that upper frame 210 is removably installed in pipe robot P (b) is expanded, is kept fixed with pipe robot P (b).
Press group 220 has stretching motion ability, can hold out against the pipeline locating for pipe robot P (b) when it is extended
At the top of inner wall, realize that position positioning is kept with position, the different works process such as cutting, reparation, dredging holding position is steady in executing
It is fixed.Based on stretching motion ability, press group 220 has the adaptability for different tube diameters pipeline.
The implementation for expanding upper frame 210 is numerous.Exemplarily, expanding upper frame 210 includes connecting substrate 211, upper frame company
Extension bar part 212 and width expand device 213.Connecting substrate 211 is removably installed in the top of pipe robot P (b), is implemented in
Being reliably fixed at the top of pipe robot P (b), connection type includes the types such as threaded connection, pin joint, nail joint, and can be facilitated
Realize dismounting in ground.The upper end of upper frame connecting rod 212 is connected to connecting substrate 211, and lower end is connected to width and expands device 213,
Realize rigid connection.
Wherein, along the width direction of pipe robot P (b), width expands the both ends of device 213 for holding out against pipe robot
The side wall of pipeline locating for P (b), is further held in position reliability and position keeps stability.Device 213 and top are expanded by width
The common pressure positioning of pressure group 220 is realized between pipe robot P (b) and locating pipeline and is accurately positioned.
Width expands device 213 and the press of pipe side wall acts on, and the outer rim that device 213 can be expanded by width is realized.Alternatively,
Exemplarily, along the width direction of pipe robot P (b), a plurality of idler wheels are respectively set in the both ends that width expands device 213
213b, for holding out against the side wall for acting on pipeline locating for pipe robot P (b).Supplementary explanation, the width of pipe robot P (b)
Direction is also course axis direction, the direction be located at horizontal plane it is interior and with the direction of advance of pipe robot P (b) (i.e. roll axis
Direction) keep vertical.
Wherein, a plurality of idler wheel 213b axial direction verticals are occurred by the circumference wheel face of idler wheel 213b and the side wall of pipeline
Press effect.Exemplarily, with a plurality of idler wheel 213b of end setting along direction of advance (the i.e. roll axis of pipe robot P (b)
Direction) linear array.Supplementary explanation, under idler wheel 213b form, width expands device 213 and has both guiding role, makes pipeline machine
People P (b) is accurately moved forward or back along the extending direction of pipeline.
Exemplarily, it includes the expansion device component 213a being arranged in pairs that width, which expands device 213,.Pairs of expansion device component
There is the opposite sliding of the width direction along pipe robot P (b) between 213a, thus realize the outer dimension of width direction
It adjusts.
When being relatively close between pairs of expansion device component 213a, the width dimensions of the pipe robot P (b) after expansion
Compression；When being relatively distant between pairs of expansion device component 213a, the width dimensions of the pipe robot P (b) after expansion increase
Add.
Meanwhile among pairs of expansion device component 213a, plural number is arranged in one end in any one of them far from another one
A idler wheel 213b makes width expand device 213 and all has a plurality of idler wheels along the both ends of the width direction of pipe robot P (b)
213b.Exemplarily, it is formed with a plurality of idler wheel 213b of end setting along the direction of advance linear array of pipe robot P (b)
Multi-point contact type carries guide frame, keeps the direction of motion more accurate and moves more steady.
The structure type of press group 220 is numerous.Exemplarily, press group 220 including telescopic rod 221 and is set to telescopic rod
The pinch roller 222 on 221 tops.Telescopic rod 221 has stretching motion ability, adjusts the pinch roller positioned at its top by stretching motion
222 height and position.For example, telescopic rod 221 includes guide sleeve and the slide bar being slidably held on guide sleeve, guide sleeve, which is installed on, to be opened up
It opens up on upper frame 210, pinch roller 222 is arranged in the end of slide bar.
Pinch roller 222 can preferably act on the top of inner wall of the pipe.Exemplarily, pinch roller 222 is multi-directional ball.Universal ball
There are omnidirectional's rotational freedom, that is, ball bearing.Pinch roller 222 can be adaptively adjusted and keep with the top of inner wall of the pipe as a result,
Fitting effect.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustratively, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to the scope of the utility model.It should be pointed out that for the ordinary skill of this field
For personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this
The protection scope of utility model.Therefore, the protection scope of the utility model should be determined by the appended claims.
Claims (10)
1. a kind of expanding device for improving pipe robot adaptability, which is characterized in that expand component and/or top including walking
Expand component:
It includes expanding chassis, expansion traveling wheel and flexible element, the expansion chassis to be removably installed that component is expanded in the walking
In the lower section of pipe robot, the expansion traveling wheel is removably installed on the expansion chassis, the expansion traveling wheel
The output end of the walking power source of the pipe robot is connected to by flexible element, the walking power source is used to provide the described
The walking power of pipe robot；
It includes the press group expanded upper frame and protrude from table on the expansion upper frame, the expansion upper frame that component is expanded at the top
It is removably installed in the top of the pipe robot, the press group is telescopically held out against locating for the pipe robot
At the top of the inner wall of pipeline.
2. the expanding device according to claim 1 for improving pipe robot adaptability, which is characterized in that the expansion bottom
Disk includes that carrying chassis, chassis connecting rod and lower loading plate, the expansion traveling wheel are removably installed in the carrying bottom
On frame, the chassis connecting rod is for connecting the carrying chassis and the lower loading plate, and the lower loading plate is removably
It is installed on the lower section of the pipe robot.
3. the expanding device according to claim 1 for improving pipe robot adaptability, which is characterized in that the expansion bottom
Disk includes that axle widens device, and the expansion traveling wheel is widened device by the axle and is installed on the expansion chassis.
4. the expanding device according to claim 3 for improving pipe robot adaptability, which is characterized in that the axle is opened up
Wide device has axial stretching ability, and axial one end connects the expansion chassis, and the other end connects the expansion traveling wheel.
5. the expanding device according to claim 3 for improving pipe robot adaptability, which is characterized in that the axle is opened up
Wide device is a plurality of and successively axial splicing.
6. the expanding device according to claim 1 for improving pipe robot adaptability, which is characterized in that the expansion top
Frame includes that connecting substrate, upper frame connecting rod and width expand device, and the connecting substrate is removably installed in the pipe machine
The top of device people, the upper frame connecting rod expand device for connecting the connecting substrate and the width；Along the pipe machine
The width direction of device people, the both ends that the width expands device are used to hold out against the side wall of pipeline locating for the pipe robot.
7. the expanding device according to claim 6 for improving pipe robot adaptability, which is characterized in that along the pipeline
A plurality of idler wheels, a plurality of idler wheel axial direction lead are respectively set in the width direction of robot, the both ends that the width expands device
Hang down and be used to hold out against the side wall of pipeline locating for the pipe robot.
8. the expanding device according to claim 7 for improving pipe robot adaptability, which is characterized in that the width is opened up
Opening up device includes the expansion device component being arranged in pairs；Have between pairs of expansion device component along the width side of the pipe robot
To opposite sliding, a plurality of idler wheels are arranged in one end far from another one in any one of them, with a plurality of idler wheels of end setting
Along the direction of advance linear array of the pipe robot.
9. the expanding device according to claim 1 for improving pipe robot adaptability, which is characterized in that the press group
Including telescopic rod and it is set to the pinch roller of the telescopic rod top end.
10. the expanding device according to claim 9 for improving pipe robot adaptability, which is characterized in that the pinch roller
For multi-directional ball.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920411413.7U CN209654854U (en) | 2019-03-28 | 2019-03-28 | Improve the expanding device of pipe robot adaptability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920411413.7U CN209654854U (en) | 2019-03-28 | 2019-03-28 | Improve the expanding device of pipe robot adaptability |
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| Publication Number | Publication Date |
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| CN209654854U true CN209654854U (en) | 2019-11-19 |
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| CN201920411413.7U Active CN209654854U (en) | 2019-03-28 | 2019-03-28 | Improve the expanding device of pipe robot adaptability |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116788477A (en) * | 2023-06-01 | 2023-09-22 | 博雅工道（北京）机器人科技有限公司 | Detachable underwater robot |
-
2019
- 2019-03-28 CN CN201920411413.7U patent/CN209654854U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116788477A (en) * | 2023-06-01 | 2023-09-22 | 博雅工道（北京）机器人科技有限公司 | Detachable underwater robot |
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Effective date of registration: 20200430 Address after: 518000 Xinlan Community Tourist Road 1301-72 Yinxing Zhijie Building 1101, Guanlan Street, Longhua District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN SROD INDUSTRIAL GROUP Co.,Ltd. Address before: 518000 Silver Star Science and Technology Building D90E-1, 1301 Guanlan Street Sightseeing Road, Longhua New District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN LAND INTELLIGENT ROBOTS Co.,Ltd. |