A walking mechanism for a pipeline robot

Abstract

The present invention discloses a walking mechanism for a pipeline robot, which includes a connecting plate. One end of the connecting plate is provided with a rotating shaft. One end of the rotating shaft is provided with a mounting member fixedly connected to an external robot. The mounting member includes a fixing plate. A stepping motor is provided on the side surface of the fixing plate. The output shaft of the stepping motor is fixedly connected to the rotating shaft. The other end of the rotating shaft is provided with a servo motor, and the rotating shaft is fixedly connected to the output shaft of the servo motor. A caster is provided on the side surface of the servo motor. A connecting member is provided at one end of the rotating shaft close to the servo motor. The other end of the connecting plate is provided with a fixed seat. A first electric push rod is provided inside the fixed seat. This walking mechanism for the pipeline robot can be adjusted, can support the pipeline robot, enable the pipeline robot to move at different height positions inside the pipeline, thereby improving the obstacle-crossing ability of the pipeline robot, and is simple to operate and convenient to use.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a walking mechanism for a pipeline robot. Background Art

[0002] A pipeline robot is a mechatronic system that can automatically walk inside or outside a small pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the remote control of a staff member or computer automatic control.

[0003] When the existing pipeline robots are running, they can only move along the bottom of the pipeline, and their obstacle-crossing ability is relatively poor, making them inconvenient to use. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects, and provide a walking mechanism for a pipeline robot, which can be adjusted, can support the pipeline robot, enable the pipeline robot to move at different height positions inside the pipeline, thereby improving the obstacle-crossing ability of the pipeline robot, with simple operation and convenient use, and can effectively solve the problems in the background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A walking mechanism for a pipeline robot, including a connecting plate, one end of the connecting plate is provided with a rotating shaft, one end of the rotating shaft is provided with a mounting member fixedly connected to an external robot, the mounting member includes a fixing plate, a stepping motor is provided on the side surface of the fixing plate, and the output shaft of the stepping motor is fixedly connected to the rotating shaft.

[0006] The other end of the rotating shaft is provided with a servo motor, and the rotating shaft is fixedly connected to the output shaft of the servo motor. A caster is provided on the side surface of the servo motor, and a connecting member is provided at one end of the rotating shaft close to the servo motor.

[0007] The other end of the connecting plate is provided with a fixed seat, a first electric push rod is provided inside the fixed seat, an auxiliary walking mechanism is provided at the telescopic end of the first electric push rod, the auxiliary walking mechanism includes a support plate fixed to the telescopic end of the first electric push rod, a fixed shaft is provided on the side surface of the support plate, a second bearing is provided on the side surface of the fixed shaft, and a spherical wheel is rotatably connected to the fixed shaft through the second bearing.

[0008] The input ends of the stepping motor, the servo motor, and the first electric push rod are all electrically connected to the output end of an internal controller of an external pipeline robot.

[0009] As a preferred technical solution of the present invention, an installation plate is provided on the side surface of the fixing plate, and installation holes are opened on the upper surface of the installation plate.

[0010] As a preferred technical solution of the present invention, a sleeve is provided on one side of the fixed plate close to the rotating shaft, and a first bearing rotatably connected to the rotating shaft is provided on the inner side surface of the sleeve.

[0011] As a preferred technical solution of the present invention, the connecting member includes an annular plate fixed on the side surface of the rotating shaft. A planar bearing is provided on one side of the annular plate close to the caster, and a connecting rod fixedly connected to the caster is provided on the side surface of the planar bearing.

[0012] As a preferred technical solution of the present invention, a second electric push rod is provided on the side surface of the connecting plate corresponding to the middle part of the side surface of the fixed plate, and a positioning hole for positioning the second electric push rod is provided on the side surface of the fixed plate.

[0013] As a preferred technical solution of the present invention, there are three positioning holes, and the three positioning holes are respectively located at the upper end, the middle part and the lower end of the side surface of the fixed plate.

[0014] As a preferred technical solution of the present invention, the length of the connecting plate is greater than the sum of the radii of the caster and the spherical wheel.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. For the pipeline robot walking mechanism exemplified by the present invention, the servo motor can drive the caster to move, thereby driving the pipeline robot to move; the planar bearing with a connecting rod can connect the rotating shaft and the caster, improving the stability of the caster.

[0017] 2. For the pipeline robot walking mechanism exemplified by the present invention, the stepping motor can drive the rotating shaft to rotate. The rotating shaft can drive the fixed seat to move through the connecting plate, and the fixed seat can drive the auxiliary walking mechanism to rotate, so that the auxiliary walking mechanism can support the caster, enabling the caster to contact the upper end of the inner wall of the pipeline, facilitating the walking of the pipeline robot, and thus improving the obstacle-crossing ability of the pipeline robot.

[0018] 3. For the pipeline robot walking mechanism exemplified by the present invention, when the second electric push rod extends, it can be inserted into the positioning hole, thereby fixing the angle between the connecting plate and the fixed plate, avoiding rotation during the movement of the pipeline robot, and improving the stability of the pipeline robot during operation.

[0019] 4. For the pipeline robot walking mechanism exemplified by the present invention, the first electric push rod can push the support plate to move, and the support plate can drive the spherical wheel to move through the fixed shaft, so that the spherical wheel contacts the inner wall of the pipeline, which can play an auxiliary stabilizing role for the pipeline robot.

[0020] 5. The walking mechanism of the pipeline robot according to the embodiment of the present invention is adjustable and can support the pipeline robot, enabling the pipeline robot to move at different height positions inside the pipeline, thereby improving the obstacle-crossing ability of the pipeline robot. It is simple to operate and convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of the present invention;

[0022] Figure 2 It is a schematic structural diagram of the auxiliary walking mechanism in the present invention;

[0023] Figure 3 is Figure 1 the sectional structural diagram;

[0024] Figure 4 is Figure 1 the rear view structural diagram.

[0025] In the figure: 1 connecting plate, 2 rotating shaft, 3 fixing plate, 31 sleeve, 32 first bearing, 33 stepping motor, 34 mounting plate, 35 mounting hole, 4 servo motor, 5 caster, 6 connecting member, 61 annular plate, 62 plain bearing, 63 connecting rod, 7 fixing seat, 71 first electric push rod, 8 auxiliary walking mechanism, 81 support plate, 82 fixed shaft, 83 spherical wheel, 84 second bearing, 9 second electric push rod, 10 positioning hole. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] Please refer to Figures 1-4 , the present invention provides a technical solution: a walking mechanism of a pipeline robot, including a connecting plate 1. One end of the connecting plate 1 is provided with a rotating shaft 2. One end of the rotating shaft 2 is provided with a mounting member fixedly connected to an external robot. The mounting member includes a fixing plate 3. A stepping motor 33 is provided on the side surface of the fixing plate 3. The output shaft of the stepping motor 33 is fixedly connected to the rotating shaft 2.

[0028] A mounting plate 34 is provided on the side surface of the fixing plate 3. Mounting holes 35 are opened on the upper surface of the mounting plate 34. A sleeve 31 is provided on the side of the fixing plate 3 close to the rotating shaft 2. A first bearing 32 rotatably connected to the rotating shaft 2 is provided on the inner side surface of the sleeve 31. The stepping motor 33 can drive the rotating shaft 2 to rotate, and the rotating shaft 2 can drive the fixing seat 7 to move through the connecting plate 1.

[0029] The other end of the rotating shaft 2 is provided with a servo motor 4, and the rotating shaft 2 is fixedly connected to the output shaft of the servo motor 4. A caster 5 is provided on the side of the servo motor 4. A connecting member 6 is provided at one end of the rotating shaft 2 close to the servo motor 4. The servo motor 4 can drive the caster 5 to rotate, so as to move the pipeline robot.

[0030] The connecting member 6 includes an annular plate 61 fixed on the side of the rotating shaft 2. A plain bearing 62 is provided on the side of the annular plate 61 close to the caster 5. A connecting rod 63 fixedly connected to the caster 5 is provided on the side of the plain bearing 62. The servo motor 4 can drive the caster 5 to move, so as to drive the pipeline robot to move; the plain bearing 62 with the connecting rod 63 can connect the rotating shaft 2 and the caster 5, improving the stability of the caster 5.

[0031] The other end of the connecting plate 1 is provided with a fixed seat 7. A first electric push rod 71 is provided inside the fixed seat 7. An auxiliary walking mechanism 8 is provided at the telescopic end of the first electric push rod 71. The auxiliary walking mechanism 8 includes a support plate 81 fixed at the telescopic end of the first electric push rod 71. A fixed shaft 82 is provided on the side of the support plate 81. A second bearing 84 is provided on the side of the fixed shaft 82. The fixed shaft 82 is rotatably connected with a spherical wheel 83 through the second bearing 84. The first electric push rod 71 can push the support plate 81 to move, and the support plate 81 can drive the spherical wheel 83 to move through the fixed shaft 82, so that the spherical wheel 83 contacts the inner wall of the pipeline, which can play an auxiliary stabilizing role for the pipeline robot.

[0032] The stepping motor 33 can drive the rotating shaft 2 to rotate. The rotating shaft 2 can drive the fixed seat 7 to move through the connecting plate 1. The fixed seat 7 can drive the auxiliary walking mechanism 8 to rotate, so that the auxiliary walking mechanism 8 can support the caster 5, making the caster 5 contact the upper end of the inner wall of the pipeline, facilitating the walking of the pipeline robot, and thus improving the obstacle-crossing ability of the pipeline robot.

[0033] The side of the connecting plate 1 corresponding to the middle part of the side of the fixing plate 3 is provided with a second electric push rod 9. A positioning hole 10 for positioning the second electric push rod 9 is provided on the side of the fixing plate 3. There are three positioning holes 10, and the three positioning holes 10 are respectively located at the upper end, the middle part and the lower end of the side of the fixing plate 3. When the second electric push rod 9 extends, it can be inserted into the positioning hole 10, so as to fix the angle between the connecting plate 1 and the fixing plate 3, avoiding rotation during the movement of the pipeline robot and improving the stability of the pipeline robot during operation.

[0034] The length of the connecting plate 1 is greater than the sum of the radii of the caster 5 and the spherical wheel 83, so that the spherical wheel 83 can rotate outside the caster 5.

[0035] The input ends of the stepping motor 33, the servo motor 4 and the first electric push rod 71 are all electrically connected to the output end of the internal controller of the external pipeline robot.

[0036] The internal controller of the pipeline robot controls the stepping motor 33, the servo motor 4, the first electric push rod 71 and the second electric push rod 9 in the common methods in the prior art, and the stepping motor 33, the servo motor 4, the first electric push rod 71 and the second electric push rod 9 are all common electrical components in the prior art.

[0037] The entire walking mechanism of the pipeline robot can be adjusted, which can support the pipeline robot and enable the pipeline robot to move at different height positions inside the pipeline, thereby improving the obstacle-crossing ability of the pipeline robot. It is simple to operate and convenient to use.

[0038] When in use:

[0039] 1. Insert the external bolt into the mounting hole 35 and fix the mounting plate 34 to the body of the pipeline robot through the external bolt;

[0040] 2. Place the pipeline robot inside the pipeline and control the servo motor 4 to work through the internal controller of the pipeline robot. The servo motor 4 drives the caster 5 to rotate, so that the pipeline robot moves inside the pipeline;

[0041] 3. When the pipeline robot encounters an obstacle:

[0042] 31. Control the second electric push rod 9 to shorten through the internal controller of the pipeline robot, and the second electric push rod 9 is separated from the positioning hole 10;

[0043] 32. Rotate the stepping motor 33 by 90 degrees through the internal controller of the pipeline robot. The stepping motor 33 drives the rotating shaft 2 to rotate by 90 degrees. The rotating shaft 2 drives the connecting plate 1 to rotate by 90 degrees. The connecting plate 1 drives the first electric push rod 71 to rotate through the fixing seat 7. The first electric push rod 71 drives the fixed shaft 82 to rotate through the support plate 81. The fixed shaft 82 drives the spherical wheel 83 to rotate by 90 degrees. At this time, the spherical wheel 83 contacts the lower end of the pipeline inner wall;

[0044] 33. Control the first electric push rod 71 to extend through the internal controller of the pipeline robot. The first electric push rod 71 drives the fixed shaft 82 to move through the support plate 81. The fixed shaft 82 drives the spherical wheel 83 to move and makes the spherical wheel 83 contact the pipeline inner wall;

[0045] 34. Rotate the stepping motor 33 reversely by 180 degrees through the internal controller of the pipeline robot. As known from step 32, the caster 5 moves directly above the spherical wheel 83;

[0046] 35. Adjust the lengths of the first electric push rods 71 on both sides according to step 33 to keep the distance between the spherical wheels 83 on both sides of the pipeline robot unchanged. At the same time, make the body of the pipeline robot drive the caster 5 to move and make the caster 5 on one side of the pipeline robot contact the pipeline inner wall;

[0047] 36. Control the second electric push rod 9 to extend through the internal controller of the pipeline robot, and insert the second electric push rod 9 into the positioning hole 10, so that the fixing plate 3 and the connecting plate 1 cannot rotate relative to each other.

[0048] 4. Control the servo motor 4 to work through the internal controller of the pipeline robot. The servo motor 4 drives the caster wheels 5 to rotate. The pipeline robot moves inside the pipeline through the cooperation of the caster wheels 5 and the spherical wheels 83, so that the pipeline robot can drive over obstacles.

[0049] The present invention can be adjusted, can support the pipeline robot, enable the pipeline robot to move at different height positions inside the pipeline, thereby improving the obstacle-crossing ability of the pipeline robot, with simple operation and convenient use.

[0050] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline robot walking mechanism, including a connecting plate (1), Characterized in that: One end of the connecting plate (1) is provided with a rotating shaft (2), one end of the rotating shaft (2) is provided with a mounting member fixedly connected to an external robot, the mounting member includes a fixing plate (3), the side of the fixing plate (3) is provided with a stepping motor (33), the output shaft of the stepping motor (33) is fixedly connected to the rotating shaft (2), and the side of the connecting plate (1) corresponding to the middle part of the side of the fixing plate (3) is provided with a second electric push rod (9), and the side of the fixing plate (3) is provided with a positioning hole (10) for positioning the second electric push rod (9); The other end of the rotating shaft (2) is provided with a servo motor (4), and the rotating shaft (2) is fixedly connected to the output shaft of the servo motor (4). A caster (5) is provided on the side of the servo motor (4). A connecting member (6) is provided at one end of the rotating shaft (2) close to the servo motor (4). The connecting member (6) includes an annular plate (61) fixed on the side of the rotating shaft (2). A plain bearing (62) is provided on the side of the annular plate (61) close to the caster (5), and a connecting rod (63) fixedly connected to the caster (5) is provided on the side of the plain bearing (62); The other end of the connecting plate (1) is provided with a fixed seat (7). A first electric push rod (71) is provided inside the fixed seat (7). An auxiliary walking mechanism (8) is provided at the telescopic end of the first electric push rod (71). The auxiliary walking mechanism (8) includes a support plate (81) fixed at the telescopic end of the first electric push rod (71). A fixed shaft (82) is provided on the side of the support plate (81). A second bearing (84) is provided on the side of the fixed shaft (82), and a spherical wheel (83) is rotatably connected to the fixed shaft (82) through the second bearing (84); The input ends of the stepping motor (33), the servo motor (4), and the first electric push rod (71) are all electrically connected to the output end of the internal controller of the external pipeline robot.

2. The pipeline robot walking mechanism according to claim 1, Characterized in that: The side of the fixing plate (3) is provided with a mounting plate (34), and mounting holes (35) are opened on the upper surface of the mounting plate (34).

3. The pipeline robot walking mechanism according to claim 1, Characterized in that: A sleeve (31) is provided on the side of the fixing plate (3) close to the rotating shaft (2), and a first bearing (32) rotatably connected to the rotating shaft (2) is provided on the inner side of the sleeve (31).

4. The pipeline robot walking mechanism according to claim 1, Characterized in that: There are three positioning holes (10), and the three positioning holes (10) are respectively located at the upper end, the middle part, and the lower end of the side of the fixing plate (3).

5. The pipeline robot walking mechanism according to claim 1, Characterized in that: The length of the connecting plate (1) is greater than the sum of the radii of the caster (5) and the spherical wheel (83).

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