High-strength protection structure of pipeline robot control unit

Abstract

The invention provides a high-strength protection structure of a pipeline robot control unit, and relates to the technical field of pipeline robots, the high-strength protection structure comprises a mechanical chassis, the mechanical chassis is provided with an adjusting mechanism facilitating cleaning of a pipeline, and the mechanical chassis is provided with a protection mechanism facilitating protection; the adjusting mechanism comprises a steering wheel, a mechanical arm and an installation head, the protection mechanism comprises a fixed bottom plate, a protection outer shell, an inner protection shell and a fixed side plate, and the steering wheel is fixedly installed at the upper end of the mechanical chassis. According to the device, the protective outer shell and the inner protective shell are arranged for dual protection, a buffer plate on the protective outer shell can firstly bear impact of external force such as collision and extrusion from the interior of a pipeline, when the impact force is large, the inner protective shell further absorbs and disperses residual energy, the impact strength directly borne by the control unit is greatly reduced, and the service life of the control unit is prolonged. And internal electronic components are effectively protected from being damaged.

Description

Technical Field

[0001] This invention belongs to the field of pipeline robot technology, and more specifically, relates to a high-strength protective structure for a pipeline robot control unit. Background Technology

[0002] Pipe cleaning robots are automated devices specifically designed for cleaning pipes. They are typically designed to be small enough to access pipes of various diameters. They can move flexibly in confined spaces and adapt to different types of pipe structures.

[0003] Pipeline robots generally include: The traveling mechanism mainly consists of guide wheels, track wheels, and track rollers; Cleaning equipment: typically includes a protective hammer, cleaning brush, and rinsing water gun, etc. Control system: This is the core control part of the robot, and it usually consists of a microprocessor, memory, sensor interface, etc. Battery system: Provides power to the robot.

[0004] The Chinese patent publication number is CN111043448A, which describes a pipeline robot. This robot will adopt a composite strategy of helical propulsion and crawling drive to carry out the research and development of an amphibious robot for the operation and maintenance of rainwater and sewage pipelines, endowing it with the ability to move, position and stabilize its posture under different water conditions and silt conditions inside the pipe.

[0005] Existing pipeline robots have the following drawbacks when in use: 1. Existing pipeline robots only use a single-layer protective structure to protect the control unit. When faced with external impacts inside the pipeline, such as collisions with hard objects or squeezing caused by pipeline deformation, the single-layer protective structure has relatively weak resistance and can easily damage the electronic components inside the control unit, affecting the normal operation of the pipeline robot. 2. Existing pipeline robots do not use a buffer structure to protect the control unit. When encountering an impact, the impact force is directly transmitted to the control unit, which is a rigid contact. This can easily cause physical damage to internal electronic components, such as circuit boards and chips.

[0006] In view of this, we have studied and improved the existing structure and its defects, and provided a high-strength protective structure for the pipeline robot control unit, in order to achieve a more practical purpose. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a high-strength protective structure for a pipeline robot control unit.

[0008] A high-strength protective structure for a pipeline robot control unit includes a mechanical chassis. The mechanical chassis has an adjustment mechanism for facilitating pipeline cleaning and a protective mechanism for facilitating protection. The adjustment mechanism includes a steering wheel, a robotic arm, and a mounting head. The protective mechanism includes a fixed base plate, a protective outer shell, an inner protective shell, and fixed side plates. The steering wheel is fixedly mounted on the upper end of the mechanical chassis. The fixed base plate is fixedly mounted on the lower end of the mechanical chassis and on the upper end of the protective outer shell. The inner protective shell is fixedly mounted on the inner side wall of the protective outer shell. There are four fixed side plates, each fixedly mounted on one of the four sides of the inner protective shell. Each of the four sides of the protective outer shell has a through-hole groove, and the inner side wall of each through-hole groove has a buffer plate. A robotic arm is fixedly mounted on the upper end of the steering wheel, and a mounting head is fixedly mounted on the side end of the robotic arm. A bottom bracket is fixedly mounted on the lower end of the protective outer shell, and the bottom bracket has four drive wheels. A water guide plate is fixedly installed on the outer end of the fixed base plate. The end of the water guide plate is arc-shaped. A control assembly is fixedly installed on the upper end of the inner sidewall of the protective shell. The control assembly is located on the inner sidewall of the inner protective shell. Two rectangular slide grooves are opened on the side end of each fixed side plate. Rubber pads are fixedly installed on both sides of the inner sidewall of each rectangular slide groove. The end face of each rubber pad is arc-shaped. Two L-shaped sliders are slidably installed on the inner sidewall of each rectangular slide groove. Each L-shaped slider is located between two rubber pads and is in contact with each rubber pad. A buffer spring is fixedly installed between each L-shaped slider and the rectangular slide groove. A first circular groove is opened through the side end of each L-shaped slider. Two C-shaped fasteners are fixedly installed on the side end of each buffer plate. A round shaft is fixedly installed on the inner sidewall of each C-shaped fastener. Two buffer rods are provided on the side end of each C-shaped fastener. The buffer rods are in pairs. A second circular groove is opened through the side end of each buffer rod.

[0009] Preferably, each of the buffer rods is rotatably mounted on the circumferential end of the circular shaft via a second circular groove, and a fixed shaft is fixedly mounted on the side end of each of the buffer rods.

[0010] Preferably, the fixed shafts in each group are oriented in opposite directions, and each fixed shaft is rotatably mounted on the inner sidewall of the first circular groove.

[0011] Compared with the prior art, the present invention has the following beneficial effects: In this invention, a double protection system is provided by a protective outer shell and an inner protective shell. The buffer plate on the protective outer shell can first withstand the impact of external forces such as collisions and compression from inside the pipe. When the impact force is large, the inner protective shell further absorbs and disperses the remaining energy, which greatly reduces the impact intensity directly received by the control unit and effectively protects the internal electronic components from damage.

[0012] In this invention, by using a fixed base plate and a water guide plate in combination, the outer and inner protective shells are sealed and waterproofed, and water is guided away. This prevents water seepage from the pipes from flowing directly to the protective shell, and avoids short circuits, corrosion, or damage to the control assembly due to moisture. When the protective shell inevitably comes into contact with moisture, the water guiding function on the water guide plate can quickly guide the moisture away, preventing moisture from accumulating on the outside of the protective shell. This helps to maintain a dry environment around the outer and inner protective shells, further reducing the risk of water ingress.

[0013] In this invention, by using a buffer plate, a buffer rod, and a buffer spring in combination, the control assembly is protected when the equipment is impacted. It can absorb and disperse energy when an impact occurs, reducing the impact force on the inner protective shell and the control assembly. Moreover, the buffer spring has a certain elastic range and can be compressed and stretched to different degrees according to the magnitude of the impact. This allows the protective device to adapt to impacts of various intensities, providing effective buffering whether it is a slight vibration or a relatively strong collision.

[0014] In this invention, a rubber pad is also provided on the inner side wall of the rectangular slide. When the L-shaped slider moves, it will come into contact with the rubber pad and rub against it. When the buffer spring is impacted and deformed, it will generate vibration. Releasing the friction with the rubber pad can quickly consume the vibration energy, allowing the buffer spring to return to a stable state as soon as possible and reducing the impact of vibration on the control unit.

[0015] In this invention, by causing the L-shaped slider and the rubber pad to rub against each other when impacted, if no resistance is applied, the buffer spring may generate a large rebound force after being impacted, which may cause secondary impact to the inner protective shell and the control assembly. The rubber pad can effectively control the rebound of the buffer spring, allowing it to smoothly return to its initial position after absorbing the impact, thus avoiding additional damage to the control assembly and the inner protective shell. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the mechanical chassis of the present invention; Figure 2 This is a schematic diagram of the exploded structure of the protective shell of the present invention; Figure 3 This is an exploded structural diagram of the fixed base plate of the present invention; Figure 4This is a schematic diagram of the structure of the inner protective shell of the present invention; Figure 5 This is a schematic diagram of the structure of the fixed side plate of the present invention; Figure 6 This is a schematic diagram of the exploded structure of the inner protective shell of the present invention; Figure 7 This is an exploded structural diagram of the buffer plate of the present invention; Figure 8 This is a schematic diagram of the structure of the fixed side plate of the present invention.

[0017] In the figure, the correspondence between the component names and the attached drawing numbers is as follows: 1. Mechanical chassis; 11. Steering wheel; 12. Mechanical arm; 13. Mounting head; 2. Fixed base plate; 21. Water guide plate; 3. Protective shell; 31. Hollowed-out groove; 4. Inner protective shell; 41. Control assembly; 5. Fixed side plate; 51. Rectangular slide; 52. Rubber pad; 53. L-shaped slider; 54. Buffer spring; 55. First circular groove; 6. Buffer plate; 61. C-shaped fastener; 62. Circular shaft; 7. Buffer rod; 71. Second circular groove; 72. Fixed shaft; 8. Drive wheel; 81. Bottom bracket. Detailed Implementation

[0018] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0019] Please see Figure 1 - Figure 8This invention provides a high-strength protective structure for a pipeline robot control unit, including a mechanical chassis 1. The mechanical chassis 1 has an adjustment mechanism for easy pipeline cleaning and a protective mechanism for easy protection. The adjustment mechanism includes a steering wheel 11, a robotic arm 12, and a mounting head 13. The protective mechanism includes a fixed base plate 2, a protective outer shell 3, an inner protective shell 4, and fixed side plates 5. The steering wheel 11 is fixedly mounted on the upper end of the mechanical chassis 1, the fixed base plate 2 is fixedly mounted on the lower end of the mechanical chassis 1, and the fixed base plate 2 is fixedly mounted on the upper end of the protective outer shell 3. The inner protective shell 4 is fixedly mounted on the inner side wall of the protective outer shell 3. There are four fixed side plates 5, each fixedly mounted on one of the four sides of the inner protective shell 4. A perforated groove 31 is provided through each of the four sides of the protective outer shell 3, and a buffer plate 6 is provided on the inner side wall of each perforated groove 31. The upper end of the steering wheel 11 is fixedly mounted... The device includes a robotic arm 12 with a mounting head 13 fixedly installed on its side. When cleaning the pipe, the user typically controls the drive wheel 8 to move via the control assembly 41, thereby moving the entire device within the pipe and enabling forward, backward, and left / right turning functions. Simultaneously, the control assembly 41 drives the steering wheel 11 on the mechanical chassis 1 to turn. The robotic arm 12 uses a hybrid electric and hydraulic system, enabling axial rotation and pitch functions. It can perform 360-degree omnidirectional operations within the pipe, providing a flexible and stable working platform for high-power tool heads used in pipe repairs. Even under high load operation, it can maintain precise control. The mounting head 13 can be equipped with various modular tool heads, allowing for the replacement of tool heads such as pneumatic cutting motor modules, miniature pneumatic breakers, and electric robotic arms according to the work scenario. It can quickly remove cement slurry, tree roots, reinforcing bars, scale, and blockages from the pipe. A bottom bracket 81 is fixedly installed at the lower end of the protective shell 3. Four drive wheels 8 are provided on the bottom bracket 81. A water guide plate 21 is fixedly installed at the outer end of the fixed base plate 2. The end of the water guide plate 21 is arc-shaped. A control assembly 41 is fixedly installed at the upper end of the inner wall of the protective shell 3. The control assembly 41 is located on the inner wall of the inner protective shell 4. The inner protective shell 4 is set outside the control assembly 41. The inner protective shell 4 is made of carbon fiber composite material, which has extremely high strength and rigidity and is lighter than metal material. It also has very high strength and can effectively protect the control assembly 41. A fixed base plate 2 is set at the upper end of the inner protective shell 4. Water guide plates 21 are fixedly installed at the four sides of the fixed base plate 2. The water guide plates 21 can play a good role in guiding water and prevent water seepage in the pipe from flowing directly to the protective shell 3. It waterproofs the control assembly 41 inside the protective shell 3 and the inner protective shell 4. Each fixed side plate 5 has two rectangular slide grooves 51 at its side end. Rubber pads 52 are fixedly installed on both sides of the inner wall of each rectangular slide groove 51. The end face of each rubber pad 52 is arc-shaped. Two L-shaped sliders 53 are slidably installed on the inner wall of each rectangular slide groove 51. Each L-shaped slider 53 is located between two rubber pads 52 and each L-shaped slider 53 is in contact with each rubber pad 52, so that the L-shaped slider 53 and the rubber pad 52 rub against each other. If there is no resistance limitation, the buffer spring 54 may generate a large rebound force after being impacted, which may cause secondary impact to the inner protective shell 4 and the control assembly 41. The setting of the rubber pads 52 can effectively control the rebound of the buffer spring 54, so that it can smoothly return to the initial position after absorbing the impact, avoiding additional damage to the control assembly 41 and the inner protective shell 4. A buffer spring 54 is fixedly installed between each L-shaped slider 53 and the rectangular groove 51. A first circular groove 55 is formed through the side end of each L-shaped slider 53. Two C-shaped fasteners 61 are fixedly installed through the side end of each buffer plate 6. A circular shaft 62 is fixedly installed on the inner wall of each C-shaped fastener 61. Two buffer rods 7 are provided on the side end of each C-shaped fastener 61, arranged in pairs. A second circular groove 71 is formed through the side end of each buffer rod 7. Each buffer rod 7 is rotatably mounted on the circumferential end of the circular shaft 62 through the second circular groove 71. A fixed shaft 72 is fixedly installed on the side end of each buffer rod 7. The fixed shafts 72 in each pair face opposite directions and are rotatably mounted on the inner wall of the first circular groove 55. In actual impact... The external impact force will first contact the buffer plate 6. After being impacted, the buffer plate 6 will move inward into the protective shell 3. The movement of the buffer plate 6 will drive each C-shaped fastener 61 to move, and the movement of each C-shaped fastener 61 will drive each round shaft 62 to move. The movement of the round shaft 62 will drive each buffer rod 7 to move. That is, every two buffer rods 7 will rotate in opposite directions around the round shaft 62. The rotation of the buffer rods 7 will drive the two L-shaped sliders 53 to move away from each other through the two fixed shafts 72. The buffer springs 54 on both sides will be compressed. When the buffer springs 54 are compressed, they will provide a certain resistance, thereby absorbing part of the impact force. When the L-shaped sliders 53 move, they will also rub against the rubber pads 52 on both sides, thereby further absorbing the impact force and preventing the impact force from directly affecting the fixed side plate 5 and the inner protective shell 4.

[0020] Working principle: In the first step, when the user cleans the pipeline, the control assembly 41 controls the drive wheel 8 to move, thereby moving the entire device inside the pipeline and realizing forward, backward and left and right turning functions. At the same time, the control assembly 41 drives the steering wheel 11 on the mechanical chassis 1 to turn. The robotic arm 12 adopts electric and hydraulic hybrid power and can realize axial rotation and vertical tilting functions. It can realize 360-degree omnidirectional operation inside the pipeline, providing a flexible and stable working platform for high-power tool heads for pipeline maintenance. It can still maintain precise control under high load operation. The mounting head 13 can install a variety of modular tool heads. It can replace tool heads such as pneumatic cutting motor module, mini pneumatic breaker, electric robotic arm, etc. according to the operation scenario. It can quickly remove cement slurry blocks, tree roots, steel bar penetrations, scale, blockages, etc. in the pipeline. In actual pipeline operation, the control assembly 41 that controls multiple modules needs to be protected. The second step involves installing an inner protective shell 4 on the outside of the control assembly 41. The inner protective shell 4 is made of carbon fiber composite material, which has extremely high strength and rigidity and is lighter than metal. It also has very high strength and can effectively protect the control assembly 41. A fixed base plate 2 is installed at the upper end of the inner protective shell 4. Water guide plates 21 are fixedly installed on the four sides of the fixed base plate 2. The water guide plates 21 can play a good role in guiding water and prevent water seepage in the pipe from flowing directly to the protective shell 3, thus waterproofing the control assembly 41 inside the protective shell 3 and the inner protective shell 4. This device provides double protection by setting up a protective outer shell 3 and an inner protective shell 4. The buffer plate 6 on the protective outer shell 3 can first withstand the impact of external forces such as collision and squeezing from inside the pipe. When the impact force is large, the inner protective shell 4 further absorbs and disperses the remaining energy, which greatly reduces the impact intensity directly received by the control unit and effectively protects the internal electronic components from damage. This device uses a fixed base plate 2 and a water guide plate 21 to seal and waterproof the protective outer shell 3 and the inner protective shell 4, and to guide water. This prevents water seepage from the pipe from flowing directly to the protective outer shell 3, and prevents the control assembly 41 from short-circuiting, corroding or being damaged due to moisture. When the protective outer shell 3 inevitably comes into contact with water, the water guide plate 21 can quickly guide the water away, preventing water from accumulating on the outside of the protective outer shell 3. This helps to maintain a dry environment around the protective outer shell 3 and the inner protective shell 4, and further reduces the risk of water ingress. Thirdly, when an actual impact occurs, the external impact force will first contact the buffer plate 6. After being impacted, the buffer plate 6 will move inward into the protective shell 3. The movement of the buffer plate 6 will cause each C-shaped fixing part 61 to move, and the movement of each C-shaped fixing part 61 will cause each round shaft 62 to move. The movement of the round shaft 62 will cause each buffer rod 7 to move. That is, every two buffer rods 7 will rotate in opposite directions around the round shaft 62. The rotation of the buffer rods 7 will cause the two L-shaped sliders 53 to move away from each other through the two fixed shafts 72. The buffer springs 54 on both sides will be compressed. When the buffer springs 54 are compressed, they will provide a certain resistance, thereby absorbing part of the impact force. When the L-shaped sliders 53 move, they will also rub against the rubber pads 52 on both sides, thereby further absorbing the impact force and preventing the impact force from directly affecting the fixed side plate 5 and the inner protective shell 4. This device, through the combination of a buffer plate 6, a buffer rod 7, and a buffer spring 54, protects the control assembly 41 when the equipment is impacted. It can absorb and disperse energy when an impact occurs, reducing the impact force on the inner protective shell 4 and the control assembly 41. Furthermore, the buffer spring 54 has a certain elastic range and can be compressed and extended to different degrees according to the magnitude of the impact. This allows the protective device to adapt to impacts of various intensities, providing effective buffering whether it is a slight vibration or a relatively strong collision. The device also has a rubber pad 52 on the inner wall of the rectangular slide 51. When the L-shaped slider 53 moves, it will also come into contact with the rubber pad 52 and rub against it. When the buffer spring 54 is impacted and deformed, it will vibrate. Releasing the friction with the rubber pad 52 can quickly consume the vibration energy, allowing the buffer spring 54 to return to a stable state as soon as possible and reducing the impact of vibration on the control unit. This device causes friction between the L-shaped slider 53 and the rubber pad 52 when impacted. Without resistance, the buffer spring 54 may generate a large rebound force after being impacted, which may cause secondary impact to the inner protective shell 4 and the control assembly 41. The rubber pad 52 can effectively control the rebound of the buffer spring 54, allowing it to smoothly return to its initial position after absorbing the impact, thus avoiding additional damage to the control assembly 41 and the inner protective shell 4.

[0021] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A high-strength protective structure for a pipeline robot control unit, comprising a mechanical chassis (1), characterized in that: The mechanical chassis (1) is provided with an adjustment mechanism for easy cleaning of the pipeline, and the mechanical chassis (1) is provided with a protective mechanism for easy protection. The adjustment mechanism includes a steering wheel (11), a robotic arm (12), and a mounting head (13). The protective mechanism includes a fixed base plate (2), a protective shell (3), an inner protective shell (4), and fixed side plates (5). The steering wheel (11) is fixedly installed on the upper end of the mechanical chassis (1). The fixed base plate (2) is fixedly installed on the lower end of the mechanical chassis (1). The fixed base plate (2) is fixedly installed on the upper end of the protective shell (3). The inner protective shell (4) is fixedly installed on the inner side wall of the protective shell (3). There are four fixed side plates (5). Each fixed side plate (5) is fixedly installed on the four sides of the inner protective shell (4). The four sides of the protective shell (3) are provided with a perforated groove (31). Each perforated groove (31) has a buffer plate (6) on its inner side wall.

2. The high-strength protective structure of the pipeline robot control unit as described in claim 1, characterized in that, A mechanical arm (12) is fixedly installed on the upper end of the steering wheel (11), and an installation head (13) is fixedly installed on the side end of the mechanical arm (12). The lower end of the protective shell (3) is fixedly installed with a bottom bracket (81), and the bottom bracket (81) is provided with four drive wheels (8).

3. The high-strength protective structure of the pipeline robot control unit as described in claim 2, characterized in that, A water guide plate (21) is fixedly installed on the outer end of the fixed base plate (2), and the end of the water guide plate (21) is arc-shaped; The upper end of the inner wall of the protective shell (3) is fixedly installed with a control assembly (41), which is located on the inner wall of the inner protective shell (4).

4. The high-strength protective structure of the pipeline robot control unit as described in claim 3, characterized in that, Two rectangular slide grooves (51) are provided at the side ends of each of the fixed side plates (5), and rubber pads (52) are fixedly installed at both ends of the inner sidewall of each rectangular slide groove (51). The end face of each of the rubber pads (52) is arc-shaped.

5. The high-strength protective structure of the pipeline robot control unit as described in claim 4, characterized in that, Two L-shaped sliders (53) are slidably installed on the inner sidewall of each rectangular groove (51), and each L-shaped slider (53) is located between two rubber pads (52); Each of the L-shaped sliders (53) is in contact with each rubber pad (52).

6. The high-strength protective structure of the pipeline robot control unit as described in claim 5, characterized in that, A buffer spring (54) is fixedly installed between each L-shaped slider (53) and the rectangular groove (51), and a first circular groove (55) is opened through the side end of each L-shaped slider (53).

7. The high-strength protective structure of the pipeline robot control unit as described in claim 6, characterized in that, Two C-shaped fasteners (61) are fixedly installed on the side end of each of the buffer plates (6), and a round shaft (62) is fixedly installed on the inner side wall of each of the C-shaped fasteners (61).

8. The high-strength protective structure of the pipeline robot control unit as described in claim 7, characterized in that, Each of the C-shaped fasteners (61) has two buffer rods (7) on its side end. The buffer rods (7) are in pairs, and each of the buffer rods (7) has a second circular groove (71) through its side end.

9. The high-strength protective structure of the pipeline robot control unit as described in claim 8, characterized in that, Each of the buffer rods (7) is rotatably mounted on the circumferential end of the circular shaft (62) via the second circular groove (71), and a fixed shaft (72) is fixedly mounted on the side end of each of the buffer rods (7).

10. The high-strength protective structure of the pipeline robot control unit as described in claim 9, characterized in that, The fixed shafts (72) of each group are oriented in opposite directions, and each fixed shaft (72) is rotatably mounted on the inner sidewall of the first circular groove (55).

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