CN214405168U - Pipeline inspection robot - Google Patents
Pipeline inspection robot Download PDFInfo
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- CN214405168U CN214405168U CN202023179422.XU CN202023179422U CN214405168U CN 214405168 U CN214405168 U CN 214405168U CN 202023179422 U CN202023179422 U CN 202023179422U CN 214405168 U CN214405168 U CN 214405168U
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Abstract
The utility model discloses a pipeline inspection robot, include: a master control box; the traveling devices are arranged on two sides of the main control box and are connected with the main control box through extending arms; the camera is arranged at one end of the main control box. By changing the distance between the two walking devices, the extending arm drives the main control box to move up and down, so that the height of the camera arranged on the main control box can be adjusted, the camera can better detect the pipeline, the condition that the camera is lifted up and down by manually replacing structural parts is avoided, and the detection time is greatly saved; meanwhile, four wheels of the robot can be extended; the walking device can rotate along the extending arm to change the angle, and can adapt to various different detection environments.
Description
Technical Field
The utility model relates to a pipeline inspection technical field, more specifically says, the utility model relates to a pipeline inspection robot.
Background
A pipeline is a device for transporting a gas, liquid or fluid with solid particles, connected by pipes, pipe couplings, valves, etc. Generally, a fluid is pressurized by a blower, a compressor, a pump, a boiler, etc., and then flows from a high pressure portion to a low pressure portion of a pipe, or is transported by the pressure or gravity of the fluid itself. The use of pipelines is very widespread, mainly in water supply, drainage, heating, gas supply, long-distance oil and gas delivery, agricultural irrigation, hydraulic engineering and various industrial installations. After the pipeline laying finishes, need detect the pipeline during the use to guarantee stable normal transport, the pipeline detection device of conveying all adopts the ultrasonic wave to detect, but need detect the inside of pipeline often when detecting, and the small-size robot of crawling that has now, if change the structure with artificial mode, just can not the lifting camera, the detection task of the pipeline that adapts to slightly a little inadequately. When the operation of replacing the lifting structure is carried out manually, time and labor are wasted, and the equipment cost is higher. Therefore, there is a need for a pipeline inspection robot that at least partially solves the problems of the prior art.
SUMMERY OF THE UTILITY MODEL
In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
For at least partly solving above-mentioned problem, the utility model provides a pipeline inspection robot, include:
a master control box;
the walking device is arranged on each of two sides of the main control box, and the walking device is connected with the main control box through the extending arm.
The camera is arranged at one end of the main control box.
Preferably, the master control box comprises:
the damping device comprises a box body, wherein a damping cavity is arranged in the box body, synchronous cavities are arranged on two sides of the damping cavity, and two damping devices are arranged at two ends of the box body;
the damping device includes:
the first damper is connected in the damping cavity in a sliding mode;
one end of the damping shaft is connected with the damper, the other end of the damping shaft penetrates through the box body, and the damping shaft is rotatably connected with the box body through a sealing ring;
the butterfly-shaped damping fin is sleeved on the damping shaft and is positioned between the first damper and the inner side wall of the damping cavity;
the synchronous gears are sleeved on the damping shafts and positioned in the synchronous cavities, and the synchronous gears of two adjacent damping devices are meshed and connected;
the connecting blocks are arranged on two sides of the bottom end of the box body;
the fixture block is arranged at the bottom end of the box body and located between the two adjacent connecting blocks.
Preferably, the walking device includes:
the motor box is internally symmetrically provided with two rotating cavities, and a transmission cavity and a motor cavity are arranged between every two adjacent rotating cavities side by side;
the motor is arranged on the inner wall of the motor cavity;
one end of the first rotating shaft is connected with the motor, and the other end of the first rotating shaft is rotatably connected with the inner side wall of the transmission cavity;
the first gear is sleeved on the first rotating shaft and is positioned in the transmission cavity;
two ends of the second rotating shaft respectively extend into the two rotating cavities, and two ends of the second rotating shaft are provided with first oblique moving gears;
the second gear is sleeved on the second rotating shaft and is positioned in the transmission cavity, and the first gear is in meshed connection with the second gear;
one end of the third rotating shaft extends into the transmission cavity and is connected with the second oblique moving gear, and the other end of the third rotating shaft extends out of the motor box and is connected with the second wheel;
the first wheel is sleeved on the third rotating shaft and is positioned between the second wheel and the motor box;
and the second dampers are arranged at two ends of the motor box.
Preferably, the extension arm includes:
one end of the first rotating rod is connected with the damping shaft, the other end of the first rotating rod is rotatably connected with one end of the second rotating rod through a rotating shaft, and the other end of the second rotating rod is connected with the second damper;
the one end of third dwang with the middle part of second dwang is rotated through the pivot and is connected, the other end of third dwang with the connecting block is rotated and is connected.
Preferably, handles are rotatably arranged on two sides of the box body.
Preferably, still be equipped with buffer stop on the running gear, buffer stop includes:
one end of the mounting rod is rotatably connected with the middle part of one end of the motor box, and the other end of the mounting rod is slidably connected in a mounting groove arranged on one side of the frame body;
the limiting block is arranged in the frame body;
one end of the damping rod penetrates through the limiting block to be connected with the fixed block, and the damping rod is connected with the limiting block in a sliding mode; the other end of the shock absorption rod is connected with one side of the first shock absorption block;
the first spring is sleeved on the damping rod, one end of the first spring is connected with the first damping block, and the other end of the first spring is connected with one end of the limiting block;
the bilateral symmetry of shock attenuation pole is equipped with two side damping device, side damping device includes:
one end of the first connecting rod is rotatably connected with the second damping block through a rotating shaft, and the other end of the first connecting rod is rotatably connected with the rotating shaft;
one end of the second connecting rod is rotatably connected with the rotating shaft, and the other end of the second connecting rod is rotatably connected to the inner wall of the frame body through the rotating shaft;
the torsion spring is sleeved on the rotating shaft, and the first connecting rod and the second connecting rod are connected through the torsion spring;
one end of the second spring is connected with the middle part of the second connecting rod, and the other end of the second spring is connected with the second damping block;
the first buffer piece is arranged on the other side of the second buffer block;
the second buffer piece is arranged on the other side of the first shock absorption block;
the hinge is used for rotatably connecting the first damping block and the second damping block.
Preferably, the first and second bumpers are made of foam.
Preferably, the first wheel and the second wheel are both made of rubber materials.
Compared with the prior art, the utility model discloses at least, including following beneficial effect:
the utility model discloses a pipeline inspection robot makes the extending arm drive the main control box to reciprocate through changing the distance between two running gear, makes the camera that installs on the main control box can height-adjusting, makes the camera can detect the pipeline better, has avoided the manual work to change the structure and has realized the lift of camera, practices thrift detection time greatly; meanwhile, four wheels of the robot can be extended; the walking device can rotate along the extending arm to change the angle, and can adapt to various different detection environments.
Described herein is a pipeline inspection robot, other advantages, objects, and features of the invention will be in part apparent from the following description, and in part will be apparent to those skilled in the art from a study and practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of the pipeline inspection robot of the present invention.
Fig. 2 is the utility model discloses a pipeline inspection robot's schematic structure diagram.
Fig. 3 is a schematic structural diagram of the main control box of the pipeline inspection robot of the present invention.
Fig. 4 is a schematic structural diagram of the synchronous cavity of the pipeline inspection robot of the present invention.
Fig. 5 is a schematic structural view of the walking device of the pipeline inspection robot of the present invention.
Fig. 6 is a schematic view of the down-looking structure of the anti-collision device of the pipeline inspection robot of the present invention.
FIG. 7 is a schematic structural view of the first connecting rod and the second connecting rod of the anti-collision device of the pipeline inspection robot of the present invention
Description of reference numerals: a main control box 1; a box body 1-1; a synchronization chamber 1-2; 1-3 of a damping shaft; a first damper 1-4; 1-5 of a synchronous gear; 1-6 of a sealing ring; 1-7 of butterfly-shaped damping fins; 1-8 parts of a connecting block; 1-9 of a fixture block; 1-10 parts of a damping cavity; a traveling device 2; a motor box 2-1; a rotating cavity 2-2; 2-3 of a transmission cavity; 2-4 of a motor cavity; 2-5 of a motor; a second damper 2-6; a first rotating shaft 2-7; a first gear 2-8; a second gear 2-9; 2-10 parts of a second rotating shaft; a second bevel gear 2-11; a third rotating shaft 2-12; a second bevel gear 2-13; a first gear 2-14; a second gear 2-15; an extension arm 3; a first rotating rod 3-1; a second rotating rod 3-2; a third rotating rod 3-3; a handle 4; a camera 5; an anti-collision device 6; a frame body 6-1; a first buffer 6-2; a second buffer 6-3; a second damper block 6-4; a first damper block 6-5; a first spring 6-6; 6-7 of a shock absorption rod; 6-8 parts of a limiting block; 6-9 parts of a fixed block; 6-10 parts of a second spring; a first connecting rod 6-11; a second connecting rod 6-12; mounting rods 6-13; 6-14 of mounting grooves; 6-15 parts of a rotating shaft; torsion springs 6-16; and 6-17 parts of hinges.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can implement the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-7, the utility model provides a pipeline inspection robot, include: a main control box 1;
the walking device 2 is arranged on each of two sides of the main control box 1, and the walking devices 2 are connected with the main control box 1 through the extending arms 3.
And a camera 5, wherein one end of the main control box 1 is provided with the camera 5.
The working principle of the technical scheme is as follows: in the actual use process, the distance between the traveling devices 2 positioned on the two sides of the main control box 1 is changed, so that the vertical height of the extension arm 3 is changed, the horizontal height of the main control box 1 is changed, and the shooting height of the camera 5 on the main control box 1 is changed; and the running gear 2 is rotatably connected with the extending arm 3, so that the angle between the direction vertical to the ground and the direction vertical to the ground of the running gear 2 and the main control box 1 can be changed.
The beneficial effects of the above technical scheme are that: through the design of the structure, the extending arm 3 drives the main control box 1 to move up and down by changing the distance between the two walking devices 2, so that the height of the camera 5 arranged on the main control box 1 can be adjusted, the camera 5 can better detect a pipeline, the condition that the camera 5 is lifted by manually replacing a structural part is avoided, and the detection time is greatly saved; meanwhile, four wheels of the robot can be extended; the walking device 2 can rotate along the extending arm 3 to change the angle, and can adapt to various different detection environments.
In one embodiment, the master box 1 comprises:
the damping device comprises a box body 1-1, wherein a damping cavity 1-10 is arranged in the box body 1-1, synchronous cavities 1-2 are arranged on two sides of the damping cavity 1-10, and two damping devices are arranged at two ends of the box body 1-1;
the damping device includes:
the first damper 1-4 is connected in the damping cavity 1-10 in a sliding manner;
one end of the damping shaft 1-3 is connected with the damper 1-4, the other end of the damping shaft 1-3 penetrates through the box body 1-1, and the damping shaft 1-3 is rotatably connected with the box body 1-1 through a sealing ring 1-6;
butterfly-shaped damping pieces 1-7, wherein the butterfly-shaped damping pieces 1-7 are sleeved on the damping shafts 1-3, and the butterfly-shaped damping pieces 1-7 are positioned between the first dampers 1-4 and the inner side walls of the damping cavities 1-10;
the synchronous gears 1-5 are sleeved on the damping shafts 1-3, the synchronous gears 1-5 are positioned in the synchronous cavities 1-2, and the synchronous gears 1-5 of two adjacent damping devices are meshed and connected;
the connecting blocks 1-8 are arranged on two sides of the bottom end of the box body 1-1;
the fixture blocks 1-9 are arranged at the bottom end of the box body 1-1, and the fixture blocks 1-9 are located between every two adjacent connecting blocks 1-8.
The working principle of the technical scheme is as follows: in the actual use process, the extending arm 3 rotates to enable the damping shafts 1-3 to rotate, the damping shafts 1-3 are connected with the first dampers 1-4, the extending arm 3 can keep the rotated state after rotating, and butterfly-shaped damping pieces 1-7 are arranged to play a role in buffering after being pressed by the extending arm 3; synchronous gears 1-5 of two adjacent damping devices are meshed, so that included angles between the walking devices 2 on two sides and the main control box 1 are always equal; the clamping blocks 1-9 are arranged, so that the two walking devices 2 can be prevented from colliding when the minimum distance between the two walking devices 2 is ensured.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, can keep this distance after changing the distance between running gear 2 through the damping device in the master control case 1 for the height of master control case 1 keeps fixed and the extension of four-wheel keeps fixed, has avoided the robot in testing process, changes and influences the detection effect.
In one embodiment, the walking device 2 includes:
the motor comprises a motor case 2-1, wherein two rotating cavities 2-2 are symmetrically arranged in the motor case 2-1, and a transmission cavity 2-3 and a motor cavity 2-4 are arranged between every two adjacent rotating cavities 2-2 side by side;
the motor 2-5 is arranged on the inner wall of the motor cavity 2-4;
one end of the first rotating shaft 2-7 is connected with the motor 2-5, and the other end of the first rotating shaft 2-7 is rotatably connected with the inner side wall of the transmission cavity 2-3;
the first gear 2-8 is sleeved on the first rotating shaft 2-7, and the first gear 2-8 is positioned in the transmission cavity 2-3;
two ends of the second rotating shaft 2-10 extend into the two rotating cavities 2-2 respectively, and two ends of the second rotating shaft 2-10 are provided with first oblique moving gears 2-13 respectively;
the second gear 2-9 is sleeved on the second rotating shaft 2-10, the second gear 2-9 is positioned in the transmission cavity 2-3, and the first gear 2-8 is meshed with the second gear 2-9;
one end of the third rotating shaft 2-12 extends into the transmission cavity 2-3 and is connected with the second bevel gear 2-11, and the other end of the third rotating shaft 2-12 extends out of the motor box 2-1 and is connected with the second wheel 2-15;
the first wheel 2-14 is sleeved on the third rotating shaft 2-12, and the first wheel 2-14 is positioned between the second wheel 2-15 and the motor box 2-1;
and the two ends of the motor box 2-1 are respectively provided with the second dampers 2-6.
The working principle of the technical scheme is as follows: in the actual use process, after the distance between the two traveling devices 2 is adjusted, the traveling devices 2 are rotated, the rotated traveling devices 2 are fixed through the second dampers 2-6, then the motors 2-5 are started, the motors 2-5 drive the first gears 2-8 to rotate through the first rotating shafts 2-7, the first gears 2-8 drive the second rotating shafts 2-10 to rotate through the second gears 2-9, the rotating shafts 2-10 drive the second bevel gears 2-11 to rotate through the first bevel gears 2-13, the second bevel gears 2-11 drive the third rotating shafts 2-12 to rotate, the third rotating shafts 2-12 drive the first wheels 2-14 and the second wheels 2-15 to rotate, and the wheels rotate to drive the robot to move in the pipeline to finish detection.
The beneficial effects of the above technical scheme are that: through the design of the structure, the running gear 2 rotates with the extending arm 3 through the second dampers 2-6, so that the included angle between the two running gears 2 is changed, the robot can be suitable for different detection environments, the use range of the robot is improved, and the robot is suitable for pipeline detection with smaller pipeline diameter by arranging the first wheels 2-14 and the detachable second wheels 2-15.
In one embodiment, the extension arm 3 comprises:
one end of the first rotating rod 3-1 is connected with the damping shaft 1-3, the other end of the first rotating rod 3-1 is rotatably connected with one end of the second rotating rod 3-2 through a rotating shaft, and the other end of the second rotating rod 3-2 is connected with the second damper 2-6;
and one end of the third rotating rod 3-3 is rotatably connected with the middle part of the second rotating rod 3-2 through a rotating shaft, and the other end of the third rotating rod 3-3 is rotatably connected with the connecting block 1-8.
The working principle of the technical scheme is as follows: in the actual use process, when the distance between the two walking devices 2 is reduced, the second rotating rod 3-2 rotates, the first rotating rod 3-1 rotates upwards, so that the included angle between the first rotating rod 3-1 and the second rotating rod 3-2 is reduced, the distance between the two walking devices 2 is reduced, and the third rotating rod 3-3 can drive the main control box 1 to move downwards; when the distance between the two traveling devices 2 needs to be increased, the second rotating rod 3-2 rotates, the first rotating rod 3-1 rotates downwards, so that the included angle between the first rotating rod 3-1 and the second rotating rod 3-2 is increased, the distance increase of the two traveling devices 2 is completed, and the third rotating rod 3-3 can drive the main control box 1 to move upwards.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, when adjusting the distance between running gear 2 according to the pipeline of different pipe diameters size, can drive main control box 1 and be in the positive center of pipeline all the time for the shooting angle of the camera equipment on main control box 1 keeps the best.
In one embodiment, handles 4 are rotatably provided on both sides of the case 1-1.
The working principle of the technical scheme is as follows: in actual use, the handle 4 can be directly lifted by a robot.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, can make things convenient for the staff to carry the robot, can be faster reach the operating position.
In one embodiment, the walking device 2 is further provided with an anti-collision device 6, and the anti-collision device 6 includes:
one end of the mounting rod 6-13 is rotatably connected with the middle part of one end of the motor box 2-1, and the other end of the mounting rod 6-13 is slidably connected into a mounting groove 6-14 arranged on one side of the frame body 6-1;
the limiting blocks 6-8 are arranged in the frame body 6-1, and the limiting blocks 6-8 are arranged in the frame body 6-1;
one end of the shock absorption rod 6-7 penetrates through the limiting block 6-8 to be connected with the fixing block 6-9, and the shock absorption rod 6-7 is connected with the limiting block 6-8 in a sliding mode; the other end of the shock absorption rod 6-7 is connected with one side of the first shock absorption block 6-5;
the first spring 6-6 is sleeved on the damping rod 6-7, one end of the first spring 6-6 is connected with the first damping block 6-5, and the other end of the first spring 6-6 is connected with one end of the limiting block 6-8;
two side damping devices are symmetrically arranged on two sides of the damping rods 6-7, and each side damping device comprises:
one end of the first connecting rod 6-11 is rotatably connected with the second damping block 6-4 through a rotating shaft, and the other end of the first connecting rod 6-11 is rotatably connected with the rotating shaft 6-15;
one end of the second connecting rod 6-12 is rotatably connected with the rotating shaft 6-15, and the other end of the second connecting rod 6-12 is rotatably connected to the inner wall of the frame body 6-1 through a rotating shaft;
the torsion springs 6-16 are sleeved on the rotating shafts 6-15, and the first connecting rods 6-11 are connected with the second connecting rods 6-12 through the torsion springs 6-16;
one end of the second spring 6-10 is connected with the middle part of the second connecting rod 6-12, and the other end of the second spring 6-10 is connected with the second damping block 6-4;
the first buffer piece 6-2 is arranged on the other side of the second buffer piece 6-4, and the first buffer piece 6-2 is arranged on the other side of the second buffer piece;
the second buffer piece 6-3 is arranged on the other side of the first shock absorption block 6-5;
and the first damping block 6-5 and the second damping block 6-4 are rotatably connected through the hinges 6-17.
The working principle of the technical scheme is as follows: in the actual use process, when the distance between the traveling devices 2 is adjusted, the mounting rods 6-13 mounted on the motor box 2-1 can slide in the mounting rod grooves 6-14, so that the anti-collision device 6 is always positioned in front of the traveling devices 2; when the front of the anti-collision device 6 is collided, the second buffer part 6-3 can play a buffering role firstly, then the second buffer part 6-3 drives the damping rod 6-7 to slide in the limiting block 6-8 through the first damping plate 6-5, and can compress the first spring 6-6 at the same time, so that the acting force generated by collision is reduced, and meanwhile, a part of force can be transferred to the side damping device through the hinge 6-17, so that the front damping effect is better; when two sides of the collision device 6 are impacted, the first buffer piece 6-2 can drive the second buffer piece 6-4 to rotate, the second spring 6-10 can be stretched in the rotating process, meanwhile, the first buffer piece 6-4 can drive the first connecting rod 6-11 to rotate, the first connecting rod 6-11 can drive the second connecting rod 6-12 to rotate, potential energy is accumulated in the torsion spring 6-16, and the effect of reducing the action force generated by collision is achieved.
The beneficial effects of the above technical scheme are that: through the design of the structure, when the robot moves forwards in the pipeline and a large obstacle exists at the front, the robot can avoid the damage caused by the fact that the front camera 5 and the front walking device 2 directly contact the obstacle through the buffer action of the anti-collision device 6, and the robot is protected; when the robot is in emergency over-bending, the robot may not turn to the right time and then collide the pipe wall, after the anti-collision device 6 is installed, the side damping device of the anti-collision device 6 collides the pipe wall to play a role in buffering and damping, the robot is protected from being damaged in emergency over-bending, and the adaptability of the robot to complex pipeline detection is improved.
In one embodiment, the first and second bumpers 6-2, 6-3 are made of foam.
The working principle of the technical scheme is as follows: the foam plastic has light weight, high elasticity and low price.
The beneficial effects of the above technical scheme are that: through the structural design, the first buffer part 6-2 and the second buffer part 6-3 are made of foamed plastics, so that the replacement cost after damage can be facilitated, the weight is light, and the burden of the robot can be reduced.
In one embodiment, the first wheels 2-14 and the second wheels 2-15 are each made of a rubber material.
The working principle of the technical scheme is as follows: the rubber material may be non-slip.
The beneficial effects of the above technical scheme are that: through the design of the structure, the first wheels 2-14 and the second wheels 2-15 made of rubber materials can prevent the robot from skidding when detecting in the pipeline.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
While the embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may be readily effected by those skilled in the art, and the invention is thus not limited to the specific details and illustrations shown and described herein, without departing from the general concept defined by the claims and their equivalents.
Claims (8)
1. A pipeline inspection robot, comprising:
a master control box (1);
the walking device (2) is arranged on each of two sides of the main control box (1), and the walking devices (2) are connected with the main control box (1) through extending arms (3);
the main control box (1) is provided with a camera (5), and one end of the main control box (1) is provided with the camera (5).
2. The pipeline inspection robot of claim 1,
the master control box (1) comprises:
the damping device comprises a box body (1-1), wherein a damping cavity (1-10) is arranged in the box body (1-1), synchronous cavities (1-2) are arranged on two sides of the damping cavity (1-10), and two damping devices are arranged at two ends of the box body (1-1);
the damping device includes:
the first damper (1-4), the first damper (1-4) is connected in the damping cavity (1-10) in a sliding manner;
one end of the damping shaft (1-3) is connected with the first damper (1-4), the other end of the damping shaft (1-3) penetrates through the box body (1-1), and the damping shaft (1-3) is rotatably connected with the box body (1-1) through a sealing ring (1-6);
the butterfly-shaped damping pieces (1-7) are sleeved on the damping shafts (1-3), and the butterfly-shaped damping pieces (1-7) are positioned between the first dampers (1-4) and the inner side walls of the damping cavities (1-10);
the synchronous gears (1-5) are sleeved on the damping shafts (1-3), the synchronous gears (1-5) are positioned in the synchronous cavities (1-2), and the synchronous gears (1-5) of two adjacent damping devices are meshed and connected;
the two sides of the bottom end of the box body (1-1) are provided with the connecting blocks (1-8);
the clamping blocks (1-9), the clamping blocks (1-9) are arranged at the bottom end of the box body (1-1), and the clamping blocks (1-9) are located between every two adjacent connecting blocks (1-8).
3. The pipeline inspection robot of claim 1,
the walking device (2) comprises:
the motor comprises a motor box (2-1), wherein two rotating cavities (2-2) are symmetrically arranged in the motor box (2-1), and a transmission cavity (2-3) and a motor cavity (2-4) are arranged between every two adjacent rotating cavities (2-2) side by side;
the motor (2-5), the motor (2-5) is arranged on the inner wall of the motor cavity (2-4);
one end of the first rotating shaft (2-7) is connected with the motor (2-5), and the other end of the first rotating shaft (2-7) is rotatably connected with the inner side wall of the transmission cavity (2-3);
the first gear (2-8), the first gear (2-8) is sleeved on the first rotating shaft (2-7), and the first gear (2-8) is positioned in the transmission cavity (2-3);
two ends of the second rotating shaft (2-10) respectively extend into the two rotating cavities (2-2), and two ends of the second rotating shaft (2-10) are respectively provided with a first oblique moving gear (2-13);
the second gear (2-9), the second gear (2-9) is sleeved on the second rotating shaft (2-10), the second gear (2-9) is located in the transmission cavity (2-3), and the first gear (2-8) is meshed with the second gear (2-9);
one end of the third rotating shaft (2-12) extends into the transmission cavity (2-3) and is connected with the second bevel gear (2-11), and the other end of the third rotating shaft (2-12) extends out of the motor box (2-1) and is connected with the second wheel (2-15);
the first wheel (2-14), the first wheel (2-14) is sleeved on the third rotating shaft (2-12), and the first wheel (2-14) is positioned between the second wheel (2-15) and the motor box (2-1);
the second dampers (2-6) are arranged at two ends of the motor box (2-1).
4. The pipeline inspection robot of claim 2,
the extension arm (3) comprises:
one end of the first rotating rod (3-1) is connected with the damping shaft (1-3), the other end of the first rotating rod (3-1) is rotatably connected with one end of the second rotating rod (3-2) through a rotating shaft, and the other end of the second rotating rod (3-2) is connected with the second damper (2-6);
the third rotating rod (3-3), one end of the third rotating rod (3-3) is rotatably connected with the middle part of the second rotating rod (3-2) through a rotating shaft, and the other end of the third rotating rod (3-3) is rotatably connected with the connecting block (1-8).
5. The pipeline inspection robot of claim 2,
handles (4) are rotatably arranged on two sides of the box body (1-1).
6. The pipeline inspection robot of claim 3,
still be equipped with buffer stop (6) on running gear (2), buffer stop (6) include:
one end of the mounting rod (6-13) is rotatably connected with the middle part of one end of the motor box (2-1), and the other end of the mounting rod (6-13) is slidably connected into a mounting groove (6-14) arranged on one side of the frame body (6-1);
the limiting blocks (6-8), the limiting blocks (6-8) are arranged in the frame body (6-1);
one end of the shock absorption rod (6-7) penetrates through the limiting block (6-8) to be connected with the fixing block (6-9), and the shock absorption rod (6-7) is connected with the limiting block (6-8) in a sliding mode; the other end of the shock absorption rod (6-7) is connected with one side of the first shock absorption block (6-5);
the first spring (6-6) is sleeved on the damping rod (6-7), one end of the first spring (6-6) is connected with the first damping block (6-5), and the other end of the first spring (6-6) is connected with one end of the limiting block (6-8);
two side damping devices are symmetrically arranged on two sides of the damping rods (6-7), and each side damping device comprises:
one end of the first connecting rod (6-11) is rotatably connected with the second damping block (6-4) through a rotating shaft, and the other end of the first connecting rod (6-11) is rotatably connected with the rotating shaft (6-15);
one end of the second connecting rod (6-12) is rotatably connected with the rotating shaft (6-15), and the other end of the second connecting rod (6-12) is rotatably connected with the inner wall of the frame body (6-1) through a rotating shaft;
the torsion springs (6-16), the torsion springs (6-16) are sleeved on the rotating shafts (6-15), and the first connecting rods (6-11) are connected with the second connecting rods (6-12) through the torsion springs (6-16);
one end of the second spring (6-10) is connected with the middle part of the second connecting rod (6-12), and the other end of the second spring (6-10) is connected with the second damping block (6-4);
the first buffer piece (6-2), the first buffer piece (6-2) is arranged on the other side of the second damping block (6-4);
the second buffer piece (6-3), the said second buffer piece (6-3) locates the other side of the first snubber block (6-5);
the first damping block (6-5) is rotatably connected with the second damping block (6-4) through the hinges (6-17).
7. The pipeline inspection robot of claim 6,
the first buffer member (6-2) and the second buffer member (6-3) are both made of foamed plastic.
8. The pipeline inspection robot of claim 3,
the first wheels (2-14) and the second wheels (2-15) are made of rubber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202023179422.XU CN214405168U (en) | 2020-12-25 | 2020-12-25 | Pipeline inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023179422.XU CN214405168U (en) | 2020-12-25 | 2020-12-25 | Pipeline inspection robot |
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| CN214405168U true CN214405168U (en) | 2021-10-15 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114352844A (en) * | 2022-01-14 | 2022-04-15 | 广州大学 | Multifunctional light soft robot |
| CN114407034A (en) * | 2022-01-11 | 2022-04-29 | 深圳市博铭维技术股份有限公司 | Detection robot |
-
2020
- 2020-12-25 CN CN202023179422.XU patent/CN214405168U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407034A (en) * | 2022-01-11 | 2022-04-29 | 深圳市博铭维技术股份有限公司 | Detection robot |
| CN114352844A (en) * | 2022-01-14 | 2022-04-15 | 广州大学 | Multifunctional light soft robot |
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