CN217843140U - Airbag secondary pushing guide device of airbag plugging robot - Google Patents

Abstract

The utility model provides an air bag secondary push-out guide device of an air bag plugging robot, which comprises an outer frame component and an inner guide cylinder component; the outer frame assembly is provided with an accommodating cavity for accommodating the inner guide cylinder assembly, and the inner guide cylinder assembly is sleeved in the outer frame assembly and linearly moves along the accommodating cavity, extends out of the outer frame assembly or retracts into the outer frame assembly; the inner guide cylinder assembly comprises a pushing mechanism used for pushing the air bag, the air bag is contained in the inner guide cylinder assembly, and the pushing mechanism pushes the air bag to an appointed position. The robot adopts second grade gasbag to release and guider, compact structure, the less perpendicular well head of convenient business turn over diameter, well during the withdrawal. The stroke is large when the air bag is stretched out, and the air bags with various specifications and sizes can be pushed in place.

Description

Air bag secondary push-out guiding device of air bag plugging robot

Technical Field

The utility model relates to a pipeline inspection technical field is an airbag second grade release guider of airbag plugging robot particularly.

Background

Municipal drainage pipeline engineering construction is divided into several categories such as pipeline detection, maintenance, restoration, and high water level pipeline construction all needs to carry out works such as precipitation, drainage, washing after the shutoff pipeline earlier stage. Air bag plugging is one of the most common modes for pipeline plugging, and is basically manual downhole operation at present.

However, since a safe manhole cover is arranged above each manhole, a closed limited space is formed by the manhole and the pipeline. After natural substances in the inspection well are rotted, other toxic gases such as methane and the like are easily generated, and particularly, the generation conditions of sewage and rainwater pipelines are more sufficient. The methane is colorless, tasteless and insoluble combustible gas. When the concentration of the accumulated toxic gas is high, operators can easily suffer from poisoning and coma or even death when entering the inspection well without protective measures. The operator of the current air bag 10 plugging operation needs to be prepared for gas protection, such as a gas mask, before going down the well. However, the inspection wells are outdoor and scattered in all corners of a city, so that great difficulty exists in supervision of operators, and operators with weak safety consciousness often enter the inspection wells without any anti-virus measures under the unsupervised condition, so that great life safety problems exist. And the manual work efficiency is low.

Along with the development of robot technique, pipeline inspection robot uses more and more extensively, but at present the robot gets into and need get into the horizontal well through moving mechanism and carry out the operation after the inspection shaft, to the condition that needs carry out gasbag shutoff at the pipeline tip, the robot gets into the pipeline and places the gasbag and increase robot operation control's the degree of difficulty.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a robot need not to get into the gasbag second grade release guider that can place the gasbag in the horizontal well is provided.

The utility model discloses a following technical means realizes solving above-mentioned technical problem:

an air bag secondary pushing and guiding device of an air bag plugging robot comprises an outer frame component (1) and an inner guide cylinder component (2); the outer frame component (1) is provided with an accommodating cavity for accommodating the inner guide cylinder component (2), and the inner guide cylinder component (2) is sleeved in the outer frame component (1) and drives the inner guide cylinder component (2) to linearly move along the accommodating cavity through a telescopic driving piece (25); the base of the telescopic driving piece (25) is rotatably connected to the rear end of the outer frame assembly (1), the output end of the telescopic driving piece is rotatably connected to the front end of the inner guide cylinder assembly, and the front end of the outer frame assembly 1 is provided with a channel through which the output end of the telescopic driving piece (25) penetrates; the inner guide cylinder assembly comprises a pushing mechanism used for pushing the air bag, the air bag is contained in the inner guide cylinder assembly (2), and the pushing mechanism pushes the air bag to an appointed position.

Further, the outer frame assembly (1) comprises a front side plate (11), a rear side plate (12) and a plurality of connecting rods (13) for connecting the front side plate (11) and the rear side plate (12); at least one connecting rod (13) is provided with a guide sleeve (10), and the guide sleeve (100) is contacted with the outer wall of the inner guide cylinder (21) component; the base of the telescopic driving piece (25) is rotatably connected with the rear side plate (12).

Further, the inner guide cylinder assembly (2) comprises an inner guide cylinder (21), a push plate (22), a second chain wheel assembly (23) and a push plate driving piece (24), and the inner guide cylinder (21) is of a cylindrical structure; the push plate (22) is positioned in the inner guide cylinder (21), and the push plate driving piece (24) drives the push plate (22) to move back and forth in the inner guide cylinder (21) through the second chain wheel assembly (23), so that the air bag (10) is pushed out of the inner guide cylinder (21).

Furthermore, sliding grooves (211) are formed in the left side and the right side of the inner guide cylinder (21) along the moving direction of the inner guide cylinder, guide shafts (221) are fixed to the left side and the right side of the push plate (22), and the guide shafts (221) extend out of the sliding grooves (211); the second chain wheel assembly (23) is positioned on the outer wall of the inner guide cylinder (21) and comprises a driving gear (231), a driven gear (232) and a chain, wherein the driving gear (231) and the driven gear (232) are respectively fixed at two ends of the sliding groove (211), and the chain is meshed with the driving gear (231) and the driven gear (232); both ends of the chain are fixed with the guide shaft (221) to form a closed loop; the driving gear (231) is located at the rear end of the inner guide cylinder (21), the two driving gears (231) at the rear end of the inner guide cylinder (21) are fixed with the transmission shaft (26), and the push plate driving piece (24) drives the transmission shaft (26) to rotate.

Furthermore, two ends of the transmission shaft (26) are fixed with two driving gears (231) through universal joints (29).

Furthermore, the push plate driving piece (24) is fixed inside the inner guide cylinder (21) and is positioned between the rear part of the push plate (22) and the transmission shaft (26); the push plate driving piece (24) is in transmission connection with the transmission shaft (26) through a third chain wheel component (27).

Furthermore, a sliding sleeve (234) is further arranged on the sliding groove (211) in a matched mode, and the guide shaft (221) is in sliding contact with the sliding sleeve (234).

Furthermore, the guide shaft (221) extends out of the sliding groove (211) and is fixed with the guide shaft sliding seat (221-1), and two ends of the second chain 233 are connected with the guide shaft sliding seat (221-1) in series to form a closed loop.

Furthermore, the telescopic driving piece (25) is an electric push rod.

Further, the contact surface of the guide sleeve (100) and the inner guide cylinder component (2) is made into a smooth surface.

The utility model has the advantages of:

the inner guide cylinder is pushed out by adopting a telescopic driving piece (a first-stage pushing mechanism), so that the pushing and releasing requirements of air bags with different lengths are met; the second chain wheel component drives the push plate (the second-stage pushing mechanism) to push out the air bag, and the stroke of the two-stage pushing mechanism is controlled, so that the requirements of the air bags with different specifications and sizes on the stroke of the push plate can be met; the two-stage pushing mechanism can set single-stage expansion, two-stage synchronous expansion or two-stage independent expansion according to the specification and length of the air bag and the placement requirement of the pushed air bag.

The guide sleeve plays a role in guiding and bearing the inner guide cylinder in the first-stage pushing process, and eliminates the bending force of the air bag on the piston rod of the telescopic driving piece in the pushing process. The sliding groove plays a guiding role in the secondary pushing-out process. The inner guide cylinder adopts a hollow design on the premise of ensuring the strength, so that the structural weight is reduced.

The second sprocket assembly is arranged along the movement direction of the inner guide cylinder, the guide shafts at the two ends of the push plate are connected with the chain in series, the push plate is carried to move when the chain moves, the structural advantage of the inner guide cylinder is fully utilized, and the space of an air bag advancing path is not occupied, so that the air bag is pushed out more smoothly.

The secondary air bag pushing and guiding device can realize that the robot replaces the manpower in the pipeline, the air bag is put into the specified plugging position of the transverse well through the inspection well, safety and intelligence are achieved, and casualty accidents caused by personnel going into the well are avoided.

Drawings

Fig. 1 is a schematic view of an application structure of a robot in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of the robot in the embodiment of the present invention in the expanded state;

fig. 3 is a schematic structural diagram of an outer frame assembly of the robot according to the embodiment of the present invention;

fig. 4 is a schematic structural view of a spiral driving wheel and a swing arm on one side of the robot according to the embodiment of the present invention;

fig. 5 is a schematic structural view showing the sprocket assembly after the driven swing arm of the robot opens the cover plate in the embodiment of the present invention;

fig. 6 is a schematic structural view of an end face of the robot walking mechanism opened in the embodiment of the present invention;

fig. 7 is a schematic end face structure diagram of the robot walking mechanism storage in the embodiment of the present invention;

FIG. 8 is a schematic structural view of the inner guide cylinder, the inner push plate and the push plate driving member of the embodiment of the present invention;

fig. 9 is a schematic diagram of a link group structure of an outer wall of an inner guide cylinder according to an embodiment of the present invention.

Detailed Description

To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The guider is released to gasbag shutoff robot's that this embodiment discloses gasbag second grade, as shown in fig. 1, is applied to gasbag shutoff robot, and the during operation, derrick 3 erects at the inspection well head for the conveying robot gets into in the inspection well, and cable box 4 provides cable transport and power supply for the robot, and the air compressor machine is aerifyd for the driving piece in the robot, guarantees its leakproofness. The gasbag 10 is placed in the robot, is pushed to the cross well by the robot to aerify by the air compressor machine. Each section is described in detail below.

As shown in fig. 2 and 3, the robot includes an outer frame assembly 1, an inner guide assembly 2, and a traveling mechanism. The outer frame assembly 1 comprises a front side plate 11, a rear side plate 12, a plurality of connecting rods 13 connected with the front side plate 11 and the rear side plate 12 and a telescopic driving piece; in this embodiment, the front plate 11 and the rear plate 12 are circular ring plates with the same diameter, and two ends of the connecting rods 13 are fixed to the front plate 11 and the rear plate 12, respectively, so as to form a cylinder body which is a substantially cylindrical cylinder. In order to facilitate the fixation of other parts, in this embodiment, the connecting rods 13 are 5, two at the top, one at the left and right sides of the middle position, one at the bottom, and two in the middle and one at the bottom form an isosceles triangle structure.

The outer frame component 1 also comprises a walking mechanism; as shown in fig. 4, the traveling mechanism includes a driving swing arm 14, a driven swing arm 15, two spiral driving wheels 16, two swing arm drivers 17, and two driving wheel drivers 18.

A swing arm driving member 17 and a driving wheel driving member 18 are respectively fixed on the left and right sides of the bottom connecting rod 13, the output shafts of the two driving members respectively face to the front and back, and in order to facilitate the fixing with the swing arm, motor bases 19 are further fixed on the two ends of the bottom connecting rod 13, as shown in fig. 3, the motor bases 19 are substantially plate-shaped structures and are welded or bolted with the connecting rod 13. Two mounting holes are formed in the motor base 19 and symmetrically located on two sides of the bottom connecting rod 13; as shown in fig. 2, the bases of the swing arm driving member 17 and the driving wheel driving member 18 are fixed to the bottom connecting rod 13, and the output ends are respectively fixed to the mounting holes at the two ends of the bottom connecting rod 13.

As shown in fig. 4, two ends of each spiral driving wheel 16 are respectively rotatably connected to one end of the driving swing arm 14 and one end of the driven swing arm 15, as shown in fig. 2, the other end of the driven swing arm 15 is respectively fixed to a mounting hole on the motor base 19 at a corresponding position, and the other end of the driving swing arm 14 is fixed to a mounting hole of the corresponding motor base 19 (the motor base 19 is not labeled in fig. 2), so as to be rotatably connected to an output end of the corresponding swing arm driving member 17. In this embodiment, initiative swing arm 14 and driven swing arm 15 are the arc structure, and when swing arm driving piece 17 drive initiative swing arm 14 was packed up, initiative swing arm 14 drove the 16 upswing of spiral drive wheel, accomodate between preceding curb plate 11 and posterior lateral plate 12, when opening, can adjust the angle that both sides swing arm was opened as required to the holistic height of control robot. The two helical drive wheels 16 also provide a stable support for the robot.

In this embodiment, the drive wheel drive member 18 needs to be coupled to the shaft of the helical drive wheel 16 via a first sprocket assembly. As shown in fig. 5, the first sprocket assembly includes a driving sprocket 101, a driving sprocket 102, a first chain 103; the driving chain wheel 101 is fixed at one end of the driven swing arm 15 facing the connecting rod 13, the transmission chain wheel 102 is fixed at one end of the driven swing arm 15 deviating from, the first chain 103 is connected with the driving chain wheel 101 and the transmission chain wheel 102, and the transmission chain wheel 102 is fixed with a rotating shaft of the spiral driving wheel 16 (the spiral driving wheel 16 is shown in fig. 2); the drive sprocket 101 is fixed to the output shaft of the drive wheel driver 18 (the drive wheel driver 18 is shown in fig. 2). In this embodiment, the driven swing arm 15 is provided with a groove 151 for accommodating the first chain 103, and since the groove 151 is integrally arc-shaped, a plurality of tensioning rollers are arranged in the groove 151, and the chain is tensioned by the plurality of tensioning rollers and positioned in the groove 151, thereby avoiding scraping against the wall of the groove 151. In addition, the groove 151 faces the side of the active swing arm 14 (the active swing arm 14 is shown in fig. 2). When the driving wheel driving member 18 is activated, the spiral driving wheel 16 is driven by the chain wheel transmission to rotate forward and backward (the spiral driving wheel 16 is shown in fig. 2), so that the robot moves forward and backward. The groove 151 is sealed through the cover plate and the silica gel sealing gasket, so that stability, safety and reliability of the first chain wheel assembly are guaranteed.

In this embodiment, in order to hoist the robot and send the robot into the inspection well, a cross bar is further fixed on the outer wall of the rear side plate 12 to form a hanger 121, and meanwhile, the strength of the rear side plate 12 can also be improved, two connecting rods 13 located at the top are fixed with U-shaped hanging rings 121-1, two ends of each U-shaped hanging ring 121-1 rotate on the two connecting rods 13 at the top respectively and are close to the front side plate 11, and the hanger 121 and the hanging rings 121-1 form two lifting points, so that the head and tail heights of the robot can be controlled in the hoisting process conveniently. When the U-shaped hanging ring 121-1 is folded, the U-shaped hanging ring is tightly attached to the connecting rod 13, so that the robot is convenient to store.

As shown in fig. 6 and 7, fig. 6 shows the state where the screw drive wheel of the robot is opened, and fig. 7 shows the state where the screw drive wheel of the robot is retracted.

In the present embodiment, as shown in fig. 2, the muddy water camera 6 and the sonar 7 are fixed to the front side plate 11, the plurality of obstacle avoidance distance measuring sensors 8 are attached to the plurality of link rods 13, and the attitude sensor 9 is fixed to the wall of the inner guide tube 21. The upper end carries respectively before the robot has carried waterproof light, muddy water camera or polarized light camera under water and preceding scanning formation of image sonar to and keep away barrier range finding sensor, be used for surveying the position of need shutoff cross well at perpendicular inspection shaft, guide robot mobile location. The air bag is pushed in place and the inflation plugging is completed, so that the posture and the plugging condition of the air bag are detected in an auxiliary mode.

As shown in fig. 8, the inner guide cylinder assembly 2 includes an inner guide cylinder 21, a push plate 22, a second sprocket assembly 23, and a push plate driving member 24, the inner guide cylinder 21 is a cylindrical structure, and the whole body is hollow, so that the whole weight of the robot can be reduced; the inner guide cylinder 21 is arranged in a cylindrical cylinder which is formed by enclosing the front side plate 11, the rear side plate 12 and the 5 connecting rods 13, wherein the diameter of a middle through hole of the front side plate 11 is larger than that of the inner guide cylinder 21, and the movement path of the inner guide cylinder 21 extends out of or retracts back from the front side plate 11.

In the embodiment, in order to ensure that the path does not deflect when the inner guide cylinder 21 moves, a guide sleeve 100 is mounted on at least one connecting rod 13, and the guide sleeve 100 is in contact with the outer wall of the inner guide cylinder 21 assembly; the uide bushing 100 is installed on two connecting rods 13 in the middle to this embodiment, because the outer wall of interior guide tube 21 subassembly is the cambered surface, the face of uide bushing 100 and interior guide tube 21 subassembly outer wall contact also is the cambered surface, is convenient for with the laminating of interior guide tube 21 subassembly outer wall. The two guide sleeves 100 provide limiting and guiding functions during the movement of the inner guide cylinder 21, so that the movement of the inner guide cylinder 21 is smooth. In this embodiment, the cross section of the guide sleeve 100 is generally triangular, a hole is formed in the middle, and the connecting column penetrates through the hole, and the connecting column can be fixed through bolts or welding. In order to reduce the frictional force, the contact surface of the guide sleeve 100 with the inner guide cylinder 21 is made smooth.

The inner guide tube 21 is driven to extend and retract by a telescopic driving member 25. The telescopic driving member 25 is an electric push rod, a base of the telescopic driving member is rotatably connected to the rear side plate 12, an output end of the telescopic driving member is rotatably connected with one end of the inner guide cylinder 21 facing the front side plate 11, and the inner guide cylinder 21 is driven to penetrate out the front side plate 11 to slide forwards after the telescopic driving member 25 is started. The front side plate 11 is provided with a limit hole for the output end of the telescopic driving piece 25 to pass through. In this embodiment, the telescopic driving member 25 is located at the middle position of the two top connecting rods 13.

The push plate 22 is positioned in the inner guide cylinder 21, the area of the push plate 22 is smaller than the inner sectional area of the inner guide cylinder 21, the whole push plate 22 is positioned below the inner cavity of the inner guide cylinder 21, the push plate driving part 24 is positioned behind the push plate 22, the air bag 10 is positioned in front of the push plate 22, and when the push plate driving part 24 drives the push plate 22 to advance, the push plate 22 pushes the air bag 10 to advance so as to send the air bag into a specified pipeline. The specific driving structure is as follows:

as shown in fig. 8, the inner guide cylinder 21 has sliding slots 211 on its left and right sides along its moving direction, the push plate 22 has guide shafts 221 on its left and right sides, and the guide shafts 221 extend out of the sliding slots 211 to be fixed to the guide shaft sliding seats 221-1; as shown in fig. 9, the second sprocket assembly 23 is located on the outer wall of the inner guide drum 21, and includes a driving gear 231, a driven gear 232 fixed to the two ends of the sliding slot 211, and a second chain 233 engaged with the driving gear 231 and the driven gear 232; both ends of the second chain 233 are connected in series with the guide shaft slide seat 221-1 to form a closed loop; the drive gear 231 is located at the rear end of the inner guide sleeve 21. As shown in fig. 8, a transmission shaft 26 is rotatably fixed in the inner guide cylinder 21 behind the push plate 22, the two driving gears 231 are both fixed to the transmission shaft 26, the push plate driving member 24 drives the transmission shaft 26 to rotate, the transmission shaft 26 drives the two driving gears 231 to rotate, thereby driving the chain to rotate, since the guide shaft sliding seat 221-1 is used as a part of the chain, the guide shaft sliding seat is pulled to run along the sliding groove 211, thereby driving the push plate 22 to move, and the push plate 22 pushes the airbag 10 to move, thereby achieving the purpose of pushing the airbag 10 out of the inner guide cylinder 21. In this embodiment, due to vibration and friction, two ends of the transmission shaft 26 are fixed to the two driving gears 231 through the universal joint 29, which allows a large intersection angle between the two connected shafts, and meets the layout requirement of the servo motor at the limited position of the robot.

In this embodiment, the sliding sleeve 234 is further fixed to the sliding groove 221, the sliding sleeve 234 may be made of a nylon material with high smoothness, and the sliding sleeve 234 is made of a modular design, so that the sliding sleeve is convenient to detach and replace, and the guide shaft 211 slides in sliding fit with the sliding sleeve 234, thereby reducing friction.

A mounting bracket 28 is fixed in the inner guide cylinder 21, the mounting bracket 28 is located behind the push plate 22, and the push plate driving member 24 is fixed in the mounting bracket 28 by screws, in this embodiment, the mounting bracket 28 is higher than the transmission shaft 26 and can be spatially arranged in a staggered manner. The push plate drive member 24 is drivingly connected to the drive shaft 26 by a third sprocket assembly 27. Through the transmission of third sprocket assembly 27, be a push pedal driving piece 24 can drive two driving gears 231 simultaneously and rotate, reduce driving piece quantity, both practiced thrift the cost, can guarantee push pedal 22 both sides functioning speed always again, can also lighten robot weight. The third sprocket assembly 27 is a conventional combination of a driving pulley, a driven pulley and a chain, and will not be described in detail herein.

In order to protect the second chain wheel assembly 23, a protective cover 212 is covered outside the sliding groove 211; the drive gear 231, driven gear 232, and chain are all located within the shroud 212. Since the shield 212 has a certain thickness, in order to reduce the distance between the inner guide cylinder 21 and the outer frame member, in this embodiment, a slot is formed in the front side plate 11 at a corresponding position for the shield 212 to pass through, which can not only guide the moving path of the inner guide cylinder 21, but also make the robot structure more compact.

As shown in fig. 9, in this embodiment, at least one auxiliary sliding groove 222 is further formed on the inner guide cylinder 21, and the push plate 22 is additionally provided with a sliding block to cooperate with the auxiliary sliding groove 222 (not shown in fig. 9), so as to form at least three-point support by combining the two sliding grooves, thereby ensuring the stability of the push plate 22 in the sliding process.

The left and right groups of chain wheels are coaxially driven by the single servo motor, so that the left and right chains synchronously move, and the push plate of the air bag 10 stably pushes the air bag 10 to enter a hoistway. The pushing-out speed of the air bag 10 is adjusted by adjusting the rotating speed of the driving motor, so that the pushing-out stability of the air bag 10 is controlled; the stroke of the secondary pushing mechanism is controlled by adjusting the revolution of the servo motor, so that the requirements of airbags 10 with different specifications and sizes on the stroke of the push plate are met.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. An air bag secondary push-out guide device of an air bag plugging robot is characterized by comprising an outer frame component (1) and an inner guide cylinder component (2); the outer frame component (1) is provided with an accommodating cavity for accommodating the inner guide cylinder component (2), and the inner guide cylinder component (2) is sleeved in the outer frame component (1) and drives the inner guide cylinder component (2) to linearly move along the accommodating cavity through a telescopic driving piece (25); the base of the telescopic driving piece (25) is rotatably connected to the rear end of the outer frame assembly (1), the output end of the telescopic driving piece is rotatably connected to the front end of the inner guide cylinder assembly, and the front end of the outer frame assembly (1) is provided with a channel through which the output end of the telescopic driving piece (25) penetrates; the inner guide cylinder assembly comprises a pushing mechanism used for pushing the air bag, the air bag is contained in the inner guide cylinder assembly (2), and the pushing mechanism pushes the air bag to an appointed position.

2. The airbag secondary pushing-out guide device of the airbag plugging robot as claimed in claim 1, wherein the outer frame assembly (1) comprises a front side plate (11), a rear side plate (12), and a plurality of connecting rods (13) connecting the front side plate (11) and the rear side plate (12); a guide sleeve (100) is arranged on at least one connecting rod (13), and the guide sleeve (100) is contacted with the outer wall of the inner guide cylinder (21) component; the base of the telescopic driving piece (25) is rotatably connected with the rear side plate (12).

3. The secondary airbag push-out guide device of the airbag occlusion robot as claimed in claim 1 or 2, wherein the inner guide cylinder assembly (2) comprises an inner guide cylinder (21), a push plate (22), a second chain wheel assembly (23) and a push plate driving member (24), and the inner guide cylinder (21) is of a cylindrical structure; the push plate (22) is positioned in the inner guide cylinder (21), and the push plate driving piece (24) drives the push plate (22) to move back and forth in the inner guide cylinder (21) through the second chain wheel component (23), so that the air bag (10) is pushed out of the inner guide cylinder (21).

4. The airbag secondary push-out guide device of the airbag plugging robot according to claim 3, wherein sliding grooves (211) are formed in the left side and the right side of the inner guide cylinder (21) along the movement direction of the inner guide cylinder, guide shafts (221) are fixed to the left side and the right side of the push plate (22), and the guide shafts (221) extend out of the sliding grooves (211); the second chain wheel assembly (23) is positioned on the outer wall of the inner guide cylinder (21) and comprises a driving gear (231), a driven gear (232) and a chain, wherein the driving gear (231) and the driven gear (232) are respectively fixed at two ends of the sliding groove (211), and the chain is meshed with the driving gear (231) and the driven gear (232); both ends of the chain are fixed with the guide shaft (221) to form a closed loop; the driving gear (231) is located at the rear end of the inner guide cylinder (21), the two driving gears (231) at the rear end of the inner guide cylinder (21) are fixed with the transmission shaft (26), and the push plate driving piece (24) drives the transmission shaft (26) to rotate.

5. The airbag secondary push-out guide device of the airbag plugging robot according to claim 4, wherein both ends of the transmission shaft (26) are fixed with two driving gears (231) through universal joints (29).

6. The airbag secondary push-out guide device of the airbag plugging robot as claimed in claim 5, wherein the push plate driving member (24) is fixed inside the inner guide cylinder (21) and positioned between the rear of the push plate (22) and the transmission shaft (26); the push plate driving piece (24) is in transmission connection with the transmission shaft (26) through a third chain wheel assembly (27).

7. The secondary airbag push-out guide device of the airbag occlusion robot as claimed in claim 4, wherein a sliding sleeve (234) is further fittingly mounted on the sliding groove (211), and the guide shaft (221) is in sliding contact with the sliding sleeve (234).

8. The secondary air bag push-out guide device of the air bag plugging robot according to claim 4, wherein the guide shaft (221) extends out of the sliding groove (211) and is fixed with the guide shaft sliding seat (221-1), and two ends of the second chain 233 are connected with the guide shaft sliding seat (221-1) in series to form a closed loop.

9. The secondary balloon extrusion guide of a balloon occlusion robot of claim 1 or 2, characterized in that the telescopic drive member (25) is an electric push rod.

10. The airbag secondary push-out guide device of the airbag plugging robot as claimed in claim 1 or 2, wherein the contact surface of the guide sleeve (100) with the inner guide cylinder assembly (2) is made smooth.

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