CN209819037U - Climbing robot for laying cable on underground pipeline - Google Patents
Climbing robot for laying cable on underground pipeline Download PDFInfo
- Publication number
- CN209819037U CN209819037U CN201920193962.1U CN201920193962U CN209819037U CN 209819037 U CN209819037 U CN 209819037U CN 201920193962 U CN201920193962 U CN 201920193962U CN 209819037 U CN209819037 U CN 209819037U
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- China
- Prior art keywords
- fixed
- shell
- lantern ring
- adjusting device
- climbing robot
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- 230000009194 climbing Effects 0.000 title claims abstract description 14
- 230000000694 effects Effects 0.000 claims description 14
- 238000005516 engineering process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
The utility model discloses a climbing robot for laying cables on underground pipelines, which relates to the field of robots and comprises a shell, a stepping crawler and an adjusting device; the outer surface of the right side of the shell is movably sleeved with a movable ferrule, the upper outer surface and the lower outer surface of the movable ferrule are movably connected with a fixed rod, the other end of the fixed rod is movably connected with the outer surfaces of two sides of the stepping crawler belt, the upper surface and the lower surface of the shell are fixedly provided with a fixed rail, the fixed rail is connected with a spring rod in a sliding manner, the other end of the spring rod is movably connected with the outer surfaces of two sides of the stepping crawler belt, the upper outer surface and the lower outer surface of the left side of the shell are movably connected with a telescopic screw rod, the other end; the utility model discloses a set up adjusting device, adjusting device can drive movable ferrule along shell lateral shifting, and then can adjust the distance between the step-by-step track, thereby make the utility model discloses can be applicable to the pipeline of different pipe diameters.
Description
Technical Field
The utility model relates to a robot field, more specifically say, relate to a climbing robot that underground piping laid cable was used.
Background
With the development of economy and the progress of science and technology, the pipeline transportation technology has been widely applied to various aspects such as power transmission lines, petroleum, natural gas, chemical raw materials, domestic water and the like. The corrosion, blockage and the like of pipelines become more serious due to the application of the pipeline, and various dangers such as low conveying efficiency, pipeline damage and the like are easily caused. The pipeline robot is an in-pipe crawling carrier developed by scientific researchers and used for dragging instruments such as cleaning, obstacle clearing, routing inspection, traction, repairing and the like in a pipe to complete various in-pipe operations in order to solve the problems. In recent years, with the rapid development of computer technology and electromechanical technology, the pipeline robot technology at home and abroad has new technological breakthroughs continuously. Various pipeline robots are developed and designed by various research institutions, and the walking modes of the pipeline robots mainly comprise wheel type, crawler type, peristaltic type, spiral type and the like. The application environment is also from micro-pipes of a few tens of millimeters to large-diameter pipes as large as a few hundreds or even thousands of millimeters. Regardless of the walking mode, the comprehensive technical requirements of the pipeline robot mainly include large dragging force, good pipe diameter adaptability, obstacle crossing performance and reliability. However, the existing pipeline robot can only be suitable for a single underground pipe network and cannot be adjusted by itself to adapt to pipelines with different calibers.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a climbing robot that laying cable was used that is applicable to the pipeline of different bores, and the climbing robot that underground pipeline laid cable was used that proposes.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a climbing robot for laying cables on underground pipelines comprises a shell, a stepping crawler and an adjusting device; the outer surface activity of right side of shell cup jointed the activity lasso, the upper and lower surface swing joint of activity lasso have the dead lever, the other end of dead lever and the both sides surface swing joint of step-by-step track, the upper and lower fixed surface of shell install fixed rail, fixed rail on sliding connection have a spring beam, the other end of spring beam and the both sides surface swing joint of step-by-step track, the left side of shell about surface swing joint have scalable screw rod, the other end of scalable screw rod and the both sides surface swing joint of step-by-step track, adjusting device fixed mounting at the surface middle part of shell, adjusting device's right-hand member and activity lasso fixed connection.
Preferably, adjusting device include the slide bar and remove the frame, removal frame fixed mounting on the surface of shell, the right-hand member and the activity lasso fixed connection of slide bar, the bottom of slide bar be provided with the spacing groove, the surface fixed mounting of shell have spacing slider, spacing slider and spacing groove sliding connection, the upper surface of slide bar be provided with the gear groove, the inside fixed mounting of removal frame crossbeam department have driving motor, driving motor's output shaft fixed mounting have the action wheel, the horizontal movable mounting in center of removal frame have the drive roller, the right-hand member of center pin extend to the inside of removal frame and the right-hand member fixed mounting of the center pin of drive roller have a driving wheel, action wheel and driving wheel between swing joint have the connecting belt, adjusting device's setting can drive the removal of activity lasso on the shell, thereby adjusting the distance between the step tracks.
Preferably, the left end terminal surface fixed mounting of shell have the screw thread lantern ring, the left end threaded connection of the screw thread lantern ring have a fixed lantern ring, the inside of the fixed lantern ring be provided with the joint groove, the inside swing joint of the fixed lantern ring have a joint piece, the external cable of joint piece and cable pass the middle part of the fixed lantern ring, the joint piece can the fixed connection cable.
Preferably, the center of the end face of the right end of the shell is fixedly provided with a camera, the upper side of the camera is fixedly provided with an illuminating lamp, and the arrangement of the camera enables a user to clearly see the inside of the pipeline.
Preferably, the outer fixed surface of fixed rail install the fixed slot, fixed slot and spring lever activity joint, the spring lever can be fixed in the setting of fixed slot.
Compared with the prior art, the utility model provides a climbing robot that underground pipe laying cable was used possesses following beneficial effect:
(1) when the utility model is used, the position of the spring rod is required to be adjusted according to the radius of the pipeline, the telescopic screw rod is firstly rotated, the length of the telescopic screw rod is judged according to the pipe diameter, the spring rod is required to be moved to the left part of the fixed rail when the radius is larger, the spring rod is required to be moved to the right part of the fixed rail when the radius is smaller, the spring rod is fixed through the fixed groove, then the utility model is placed at the pipe orifice of the pipeline, the movable ferrule is moved along the shell through the remote operation adjusting device, when the movable ferrule moves to the left side, the fixed rod on the outer surface of the movable ferrule drives the stepping crawler to extend outwards until the stepping crawler tightly clings to the inner wall of the pipeline, then the stepping crawler is controlled to work, the stepping crawler moves along the inner wall of the pipeline, and the upper side of the camera on the end surface of the, the utility model can be suitable for the pipelines with different pipe diameters by the arrangement of providing illumination for the shooting of the camera;
(2) in the utility model, through setting up the adjusting device, when the adjusting device works, only need control the driving motor that moves the inside of frame, driving motor work drives the action wheel and rotates, the action wheel drives the driving wheel through the transmission of connecting the belt and rotates, the driving wheel drives the drive roller and rotates, the drive roller is connected with the meshing of gear groove again, make the drive roller drive the slide bar and move, thereby drive the movable ferrule and move, in order to guarantee that the slide bar can move along the straight line, so be provided with the spacing groove on the basal surface of slide bar, and fixed mounting has the spacing slider on the surface of shell, spacing slider and spacing groove sliding connection, thereby guarantee that the slide bar moves along the direction of spacing groove; the utility model discloses remove mainly in underground pipe network and use in order to lay the cable, use and have the screw thread lantern ring at the left end terminal surface fixed mounting of shell, need pass fixed lantern ring and joint piece fixed connection with the terminal surface of cable when using, later with joint piece and the movable joint of fixed lantern ring, will fix the lantern ring at last and screw thread lantern ring threaded connection for fixed cable convenient and fast.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the right end face of the present invention;
FIG. 3 is a schematic structural diagram of the adjusting device of the present invention;
FIG. 4 is a schematic view of the movable frame according to the present invention;
fig. 5 is a schematic view of the connection of the fixing collar of the present invention.
The reference numbers in the figures illustrate:
1. a housing; 2. a step-by-step crawler; 3. a movable ferrule; 4. a retractable screw; 5. a fixed rail; 6. a spring lever; 7. fixing the rod; 8. an adjustment device; 9. a threaded collar; 10. a fixed collar; 11. a camera; 12. an illuminating lamp; 13. a slide bar; 14. moving the frame; 15. a limiting groove; 16. a limiting slide block; 17. a gear groove; 18. a drive motor; 19. a driving wheel; 20. driving the wheel; 21. connecting a belt; 22. a drive roller; 23. a clamping groove; 24. and a clamping block.
Detailed Description
The drawings in the embodiments of the present invention will be combined; the technical scheme in the embodiment of the utility model is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the present invention; rather than all embodiments. Based on the embodiment of the utility model; all other embodiments obtained by a person skilled in the art without making any inventive step; all belong to the protection scope of the utility model.
Example 1: referring to fig. 1, 2 and 5, a climbing robot for laying cables in underground pipelines comprises a housing 1, a stepping crawler 2 and an adjusting device 8; activity lasso 3 has been cup jointed in the right side surface activity of shell 1, activity lasso 3's upper and lower surface swing joint has dead lever 7, the other end of dead lever 7 and step-by-step track 2's both sides surface swing joint, shell 1's upper and lower fixed surface installs fixed rail 5, sliding connection has spring beam 6 on the fixed rail 5, spring beam 6's the other end and step-by-step track 2's both sides surface swing joint, surface swing joint has scalable screw rod 4 about shell 1's the left side, scalable screw rod 4's the other end and step-by-step track 2's both sides surface swing joint, adjusting device 8 fixed mounting is at shell 1's surface middle part, adjusting device 8's right-hand member and.
The center of the right end face of the shell 1 is fixedly provided with a camera 11, and the upper side of the camera 11 is fixedly provided with an illuminating lamp 12.
The outer fixed surface of fixed rail 5 installs the fixed slot, and fixed slot and 6 activity joint of spring beam.
When the utility model is used, the position of the spring rod 6 is required to be adjusted according to the radius of the pipeline, the telescopic screw rod 4 is firstly rotated, the length of the telescopic screw rod 4 is judged according to the pipe diameter, the spring rod 6 is required to be moved to the left part of the fixed rail 5 when the radius is larger, the spring rod 6 is required to be moved to the right part of the fixed rail 5 when the radius is smaller, the spring rod 6 is fixed through the fixed groove, then the utility model is placed at the pipe orifice of the pipeline, the movable ferrule 3 is moved along the shell 1 through the remote operation adjusting device 8, when the movable ferrule 3 moves to the left side, the fixed rod 7 on the outer surface of the movable ferrule 3 drives the stepping crawler 2 to extend outwards until the stepping crawler 2 tightly contacts the inner wall of the pipeline, then the stepping crawler 2 is controlled to work, and the stepping crawler 2 moves along the inner wall of the pipeline, and the upside fixed mounting of the camera 11 on the 1 right-hand member terminal surface of shell has light 12, for the shooting of camera 11 provides the illumination, through the above setting, makes the utility model discloses can be applicable to the pipeline of different pipe diameters size.
Example 2: referring to fig. 3-4, the basic difference of embodiment 1 is that the adjusting device 8 includes a sliding rod 13 and a moving frame 14, the moving frame 14 is fixedly installed on the outer surface of the housing 1, the right end of the sliding rod 13 is fixedly connected with the movable collar 3, the bottom of the sliding rod 13 is provided with a limiting groove 15, the outer surface of the housing 1 is fixedly installed with a limiting slider 16, the limiting slider 16 is slidably connected with the limiting groove 15, the upper surface of the sliding rod 13 is provided with a gear groove 17, the inside of the cross beam of the moving frame 14 is fixedly installed with a driving motor 18, the output shaft of the driving motor 18 is fixedly installed with a driving wheel 19, the center of the moving frame 14 is transversely movably installed with a driving roller 22, the right end of the central shaft of the driving roller 22 extends to the inside of the moving frame 14 and is fixedly installed with a driving wheel 20, and a connecting belt.
The left end terminal surface fixed mounting of shell 1 has the screw thread lantern ring 9, and the left end threaded connection of the screw thread lantern ring 9 has the fixed lantern ring 10, and the inside of the fixed lantern ring 10 is provided with joint groove 23, and the inside swing joint of the fixed lantern ring 10 has joint piece 24, and the external cable of joint piece 24 and cable pass the middle part 10 of the fixed lantern ring.
In the utility model, through setting up adjusting device 8, when adjusting device 8 works, only need control to remove the inside driving motor 18 of frame 14, driving motor 18 works and drives action wheel 19 and rotate, action wheel 19 drives driving wheel 20 through the transmission of connecting belt 21 and rotates, driving wheel 20 drives drive roller 22 and rotates, drive roller 22 is connected with gear groove 17 meshing again, make drive roller 22 drive slide bar 13 and move, thereby drive movable ferrule 3 and move, in order to guarantee that slide bar 13 can move along the straight line, so be provided with spacing groove 15 on the basal surface of slide bar 13, and fixed mounting has stop block 16 on the surface of shell 1, stop block 16 and spacing groove 15 sliding connection, thereby guarantee that slide bar 13 moves along the direction of spacing groove 15; the utility model discloses remove mainly in underground pipe network and use in order to lay the cable, use the left end terminal surface fixed mounting at shell 1 have the screw thread lantern ring 9, need pass fixed lantern ring 10 and joint piece 24 fixed connection with the terminal surface of cable when using, later with joint piece 24 and the 10 movable joint of the fixed lantern ring, will fix lantern ring 10 and the 9 threaded connection of screw thread lantern ring at last for fixed cable convenient and fast.
The above; is only a preferred embodiment of the present invention; however, the scope of protection of the present invention is not limited thereto; any person skilled in the art is within the technical scope of the present disclosure; according to the technical scheme of the utility model and the improvement conception, equivalent substitution or change is carried out; are all covered by the protection scope of the utility model. Furthermore, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. Several elements of the plurality recited in the product claims may be implemented by one element in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (5)
1. The utility model provides a climbing robot that underground piping laid cable was used, includes shell (1) and step-by-step track (2), its characterized in that: also comprises an adjusting device (8); the outer surface activity of the right side of shell (1) cup jointed movable ferrule (3), the upper and lower surface swing joint of movable ferrule (3) have dead lever (7), the other end of dead lever (7) and the both sides surface swing joint of step-by-step track (2), the upper and lower surface fixed mounting of shell (1) have fixed rail (5), fixed rail (5) go up sliding connection and have spring beam (6), the other end of spring beam (6) and the both sides surface swing joint of step-by-step track (2), the left side of shell (1) about surface swing joint have scalable screw rod (4), the other end of scalable screw rod (4) and the both sides surface swing joint of step-by-step track (2), adjusting device (8) fixed mounting in the middle part of the surface of shell (1), the right end of the adjusting device (8) is fixedly connected with the movable ferrule (3).
2. The climbing robot for laying cables in underground pipelines according to claim 1, characterized in that: adjusting device (8) include slide bar (13) and remove frame (14), removal frame (14) fixed mounting on the surface of shell (1), the right-hand member and the activity lasso (3) fixed connection of slide bar (13), the bottom of slide bar (13) be provided with spacing groove (15), the surface fixed mounting of shell (1) have limit slider (16), limit slider (16) and spacing groove (15) sliding connection, the upper surface of slide bar (13) be provided with gear groove (17), the inside fixed mounting who removes frame (14) crossbeam department have driving motor (18), the output shaft fixed mounting of driving motor (18) have action wheel (19), the horizontal movable mounting in center of removal frame (14) have drive roller (22), the right-hand member of the center pin of drive roller (22) extend to the inside of removal frame (14) and the right-hand member of the center pin of drive roller (22) is fixed ann safely A driving wheel (20) is arranged, and a connecting belt (21) is movably connected between the driving wheel (19) and the driving wheel (20).
3. The climbing robot for laying cables in underground pipelines according to claim 1, characterized in that: the left end terminal surface fixed mounting of shell (1) have the screw thread lantern ring (9), the left end threaded connection of the screw thread lantern ring (9) have fixed lantern ring (10), the inside of the fixed lantern ring (10) be provided with joint groove (23), the inside swing joint of the fixed lantern ring (10) have joint piece (24), joint piece (24) external cable and cable pass the middle part of the fixed lantern ring (10).
4. The climbing robot for laying cables in underground pipelines according to claim 1, characterized in that: the camera is characterized in that a camera (11) is fixedly mounted at the center of the end face of the right end of the shell (1), and an illuminating lamp (12) is fixedly mounted on the upper side of the camera (11).
5. The climbing robot for laying cables in underground pipelines according to claim 1, characterized in that: the outer fixed surface of fixed rail (5) install the fixed slot, fixed slot and spring beam (6) activity joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920193962.1U CN209819037U (en) | 2019-02-13 | 2019-02-13 | Climbing robot for laying cable on underground pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920193962.1U CN209819037U (en) | 2019-02-13 | 2019-02-13 | Climbing robot for laying cable on underground pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209819037U true CN209819037U (en) | 2019-12-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920193962.1U Expired - Fee Related CN209819037U (en) | 2019-02-13 | 2019-02-13 | Climbing robot for laying cable on underground pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209819037U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112197096A (en) * | 2020-09-28 | 2021-01-08 | 刘艳 | Underground pipeline non-excavation repair equipment |
-
2019
- 2019-02-13 CN CN201920193962.1U patent/CN209819037U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112197096A (en) * | 2020-09-28 | 2021-01-08 | 刘艳 | Underground pipeline non-excavation repair equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191219 Address after: No. 6388, West Ring Road, Weifang City, Shandong Province Patentee after: Shandong Vocational College of Science & Technology Address before: 261000 401, building 5, Jiaoyun community, Liyuan street, Kuiwen District, Weifang City, Shandong Province Co-patentee before: Zhang Chunxia Patentee before: Tang Diankui |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191220 Termination date: 20210213 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |