Chassis structure of a robot walking in a pipeline

Abstract

The present invention belongs to the field of mechanical mechanism design technology, and specifically relates to a chassis structure of a robot walking in a pipe, comprising a power unit, a support unit and a walking unit, wherein a walking unit is provided on each side of the support unit, and a power unit is provided on the walking unit; the power unit is used to drive the walking unit and make the chassis move forward or backward, the lower end of the walking unit can swing outward and adapt to the inner diameter of the pipe in which it is located, and the support unit is used to set a detection device and can drive the detection device to rise and fall. In addition to its own waterproof and dustproof functions, the present invention can also avoid hazards such as collisions caused by the lower position of the motor in the prior art; when the water level in the pipe is high, after the two electrodes are submerged, the control unit receives a signal, and the control unit drives the lifting mechanism to move, raising the platform plate until the electrodes of the platform plate are raised above the water surface, thereby actively avoiding the detection device from being soaked in water.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical mechanism design, and in particular relates to a chassis structure of a robot walking in a pipeline. Background Art

[0002] The pipeline walking robot is a commonly used device for detecting the status inside the pipeline. It includes a chassis and detection equipment. The detection equipment includes cameras, manipulators, sensors and other equipment. The chassis has a structure that adapts to the inner diameter of the pipeline.

[0003] For example, Chinese patent number "2015210094607" discloses a robot chassis structure with adaptive pipe inner diameter. The patent includes two implementation schemes:

[0004] A swing beam is installed at the front and rear of the upper end surface of each track seat. The upper ends of the two swing beams are hinged in the hinge seat of the bending beam installed on the side of the base on the same side through a hinge shaft. Torsion springs are installed on the hinge shafts between the hinge shaft seats and the two sides of the vertical beam. The torsion springs are used to reset the track seat to the inside of the base after the swing beam swings to the outside of the base.

[0005] The middle part of the swing beam is embedded in the through groove made on the same side of the base, and a positioning rod is installed near the bottom of the through groove of the swing beam and extends from the through hole made in the swing beam. A baffle is installed on the outer end of the positioning rod through a nut. The baffle is used to limit the angle of the swing beam when it swings toward the outside of the base. In order to limit the swing beam from fitting against the bottom of the groove, a hinge seat can be used to limit the inward swing angle of the swing beam.

[0006] A swing beam is installed at the front and rear of the upper end surface of each track seat, and the upper ends of the two swing beams are hinged in the hinge seat of the bending beam installed on the side edge of the base on the same side through a hinge shaft, and the middle parts of the two swing beams are embedded in the through groove made on the same side of the base at intervals, and a positioning rod passing through the through hole made by the swing beam is installed near the bottom of the through groove of the swing beam. The positioning rod is located on the outer edge between the swing beam and the bottom of the through groove, and a tension spring is fitted on the outer edge of the positioning rod between the swing beam and the bottom of the through groove. The two ends of the tension spring are respectively connected to the bottom of the through groove and the swing beam. The tension spring is used to reset the crawler seat to the inside of the base after the swing beam swings toward the outside of the base. A baffle is installed on the outer end of the positioning rod through a nut. The baffle is used to limit the angle of the swing beam when it swings toward the outside of the base.

[0007] After structural analysis, the above patent has the following problems:

[0008] 1. The motor is placed at the bottom and coaxially with the driving wheel of the crawler. This makes the motor vulnerable to collision with debris in the pipeline or soaking by water in the pipeline.

[0009] 2. A swing beam is set at the front and back of each side of the base, which makes the structure too complicated and the installation and maintenance cumbersome.

[0010] 3. When the water level in the pipeline is high, the detection equipment cannot be protected from water.

[0011] 4. The spacing between the tracks is not easy to adjust, which is not conducive to use in pipes with different inner diameters. Summary of the Invention

[0012] In view of the above shortcomings, the purpose of the present invention is to provide a chassis structure for a robot walking in a pipeline, which has a reasonable structure, is easy to install and maintain, can prevent the detection equipment from being immersed in water, and has adjustable track spacing.

[0013] The technical solutions of the present invention are as follows:

[0014] A chassis structure of a robot walking in a pipeline, comprising a power unit, a support unit and a walking unit, wherein a walking unit is provided on each side of the support unit, and a power unit is provided on the walking unit;

[0015] The power unit is used to drive the walking unit and make the chassis move forward or backward. The lower end of the walking unit can swing outward and adapt to the inner diameter of the pipeline. The support unit is used to set the detection equipment and can drive the detection equipment to rise and fall.

[0016] A chassis structure for a robot walking in a pipeline, wherein the walking unit comprises a base plate, a driving wheel, a driven wheel, and a crawler belt. The driving wheel is provided at the upper end of the outer surface of the base plate, and at least two driven wheels are provided on the base plate surface below the driving wheel. The outer edges of the driving wheel and the driven wheels are wrapped around the crawler belt.

[0017] The inner surface of the base plate and the lower end of the same side of the support unit are hinged to each other, and the inner surface of the base plate is provided with a power unit, which drives the driving wheel;

[0018] The base plate can drive the driving wheel, the driven wheel, the crawler and the power unit to swing outwards of the support unit. Resetting buffer units are provided on the upper ends of the opposite surfaces of the two base plates on both sides of the support unit.

[0019] A chassis structure for a robot walking in a pipe, wherein the support unit includes a support rod, a support plate, a platform plate and a lifting mechanism. The support plate is vertically provided with four support rods, and the lower ends of the two support rods on both sides of the support plate are hinged to the inner surface of the base plate on the same side. A lifting mechanism is provided on the support plate, and the moving end of the lifting mechanism can make the platform plate rise or fall, and the detection equipment can be set on the platform.

[0020] A chassis structure for a robot walking in a pipe, wherein the reset buffer unit includes a shock absorber, the fixed end of the shock absorber is hinged to the inner surface of a substrate on the same side, the moving end of the shock absorber is hinged to the inner surface of the substrate on the same side, and a spring is provided on the shock absorber between the moving end and the fixed end.

[0021] A chassis structure for a robot walking in a pipe, wherein a limit plate is provided at the lower end of the support rod, and the limit plate can support the inner surface of the substrate on the same side and prevent the lower end of the substrate from swinging toward the inside of the support plate.

[0022] A chassis structure for a robot walking in a pipeline, wherein the power unit is a worm gear motor, and the worm gear motor is attached to the inner surface of a base plate, so that the tracks can adjust the distance between each other.

[0023] A chassis structure for a robot walking in a pipeline further includes a control unit connected to the power unit, the lifting mechanism, and two electrodes, the two electrodes being respectively arranged on a base plate and a platform plate;

[0024] The control unit can drive the power unit; the control unit can drive the lifting mechanism when the two electrodes enter the water.

[0025] A chassis structure for a robot walking in a pipeline, wherein transverse guide wheels are provided on both sides of the platform plate.

[0026] The beneficial effects of the present invention are as follows: in the present invention, a crawler and a worm gear motor are arranged on the base plate, and the base plate swings outward as a whole, so that the crawler can adapt to the inner diameter of different pipes, and the worm gear motor is arranged at the upper end of the inner side of the base plate. In addition to its own waterproof and dustproof functions, it can also avoid the hazards such as collision caused by the low position of the motor in the prior art; in addition, an electrode is respectively arranged on the base plate and the platform plate. When the water level in the pipeline is high, after the two electrodes are immersed, the control unit receives a signal, and the control unit drives the lifting mechanism to move, and the platform plate is raised until the electric field of the platform plate is reached. The pole is raised above the water surface, thereby actively avoiding the detection equipment from being soaked in water; furthermore, a shock absorber with a spring is provided between the inner surfaces of the two base plates. When the robot walks in the pipe, due to the influence of the inner diameter, the crawler automatically adheres to the inner wall of the pipe under the action of the gravity of other components. The shock absorber plays a buffering role to prevent the detection equipment from falling too quickly due to vibration damage caused by the rapid swing of the two base plates; finally, the base plate is a whole, on which the driving wheel, driven wheel, crawler and worm gear motor are provided. When a fault occurs, the accessories can be directly replaced, and the installation and maintenance are very convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the present invention;

[0028] Figure 2 yes Figure 1 Left view of;

[0029] Figure 3 yes Figure 1 Schematic diagram of adjusting the distance between the two tracks and using different lifting mechanisms;

[0030] Figure 4 yes Figure 1 Schematic diagram after removing the front baseboard and support rods;

[0031] Figure 5 yes Figure 2 Schematic diagram of walking inside the pipe;

[0032] Figure 6 yes Figure 2 Schematic diagram of setting anti-collision wheels on both sides of the platform plate.

[0033] In the figure: 1. Platform plate; 2. Electrode; 3. Support plate; 4. Fixing nut; 5. Support rod; 6. Moving end; 7. Motor end; 8. Track; 9. Driving wheel; 10. Base plate; 11. Driven wheel; 12. Rotating shaft; 13. Rotating seat; 14. Hinge shaft; 15. Fixed end of shock absorber; 16. Shock absorber; 17. Spring; 18. Moving end of shock absorber; 19. Power unit; 20. Hinge shaft seat; 21. Lower end of support rod; 22. Limiting plate; 23. Guide column; 24. Screw; 25. Nut; 26. Worm gear motor; 27. Dotted line part; 28. Water level in the pipeline; 29. Pipeline; 30. Guide wheel; 32. Arc; 33. Detection equipment. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] A chassis structure of a robot walking in a pipeline, such as Figures 1 to 6 As shown, the innovation of the present invention lies in: it includes a power unit 19, a support unit, and a travel unit. A travel unit is provided on each side of the support unit, and the travel unit is provided with a power unit. The power unit is used to drive the travel unit and move the chassis forward or backward. The lower end of the travel unit can swing outward to adapt to the inner diameter of the pipeline in which it is located. The support unit is used to mount the detection device 33 and can drive the detection device to rise and fall.

[0036] In this embodiment, the crawler track is made of rubber to increase friction with the pipe surface. The walking unit includes a base plate 10, a driving wheel 9, a driven wheel 11, and a crawler track 8. The driving wheel 9 is mounted on the upper end of the outer surface of the base plate 10 via a rotating shaft 12. At least two driven wheels 11 are mounted on the base plate 10 below the driving wheel 9. The outer edges of the driving wheel 9 and the driven wheels 11 are wrapped around the crawler track. In the figure, three driven wheels 11 are located at the lower end. The number of driven wheels 11 can be determined according to the volume of the detection equipment.

[0037] The inner surface of the base plate 10 and the lower end 21 of the support rod on the same side of the support unit are hinged in the hinge seat 20 provided on the inner surface of the base plate. The inner surface of the base plate 10 is provided with a power unit, which drives the driving wheel 9.

[0038] The base plate 10 drives the driving wheel 9, driven wheel 11, tracks, and power unit to swing outward from the support unit. Reset buffer units are located on the upper ends of the opposing surfaces of the two base plates on either side of the support unit. The power unit is a worm gear motor that is both waterproof and dustproof, and offers high torque. Because it is attached to the inner surface of the base plate, the tracks can adjust their spacing.

[0039] The support unit includes a support rod 5, a support plate 3, a platform plate 1 and a lifting mechanism. The support plate is vertically provided with four support rods. In the figure, two fixing nuts 4 are respectively sleeved on the outer edges of the support rods located above and below the base plate, and the two fix the support rods to the base plate. The fixing nuts located below can be adjusted so that the base plate can be set at different heights of the support rods. In addition, a plurality of openings are provided on the base plate 10 to adjust the connection position of the upper end of the support rod, such as Figure 2 and Figure 3 In comparison, Figure 2 The track spacing in Figure 3 The track spacing is small, so the width of the chassis can be adjusted according to the actual inner diameter of the pipeline.

[0040] The lower ends 21 of the two support rods on either side of the support plate are hingedly mounted in hinge seats 20 on the inner surface of the base plate on the same side, thereby enabling the lower end of the base plate to swing. A lifting mechanism is installed on the support plate, and the movable end of the lifting mechanism can raise or lower the platform plate, and the platform can be equipped with detection equipment.

[0041] The lifting mechanism can use a structure in the prior art that can achieve rising or falling, and two examples are used here to illustrate:

[0042] 1. Lifting mechanism such as Figure 1 、 2 As shown in Figures 4, 5, and 6, the lifting mechanism is an electric push rod, with the motor end 7 arranged on the base plate and the upwardly arranged moving end 6 connected to the platform plate. When it is necessary to rise, the motor end rotates, causing the moving end to drive the platform plate to rise.

[0043] 2. Lifting mechanism such as Figure 3 As shown, the lifting mechanism is a screw nut, the screw 24 is rotatably set on the base plate and driven by a worm gear motor 26, a nut 25 is engaged and sleeved on the outer edge of the screw, the nut is provided with a platform plate, and a guide column 23 is installed on the base plate, and the guide column can be passed through the nut or the platform.

[0044] The reset buffer unit includes a shock absorber 16, the fixed end 15 of the shock absorber is hinged to the rotating seat 13 provided on the inner surface of the substrate on the same side through a hinge shaft 14, and the moving end 18 of the shock absorber is hinged to the rotating seat provided on the inner surface of the substrate on the same side through a hinge shaft. A spring 17 is provided on the shock absorber between the moving end and the fixed end.

[0045] A limit plate 22 is provided at the lower end of the support rod, which can support the inner surface of the substrate on the same side and prevent the lower end of the substrate from swinging toward the inside of the support plate.

[0046] In order to realize the above-mentioned various movements, a control unit is further provided, which is connected to the power unit, the lifting mechanism and the two electrodes 2, which are respectively provided on the base plate and the platform plate.

[0047] In order to avoid the detection equipment or other components from colliding with the inner wall of the pipeline, the platform plate can be appropriately extended, and horizontal guide wheels 30 are set at both ends through the rotating shaft, and the outer edge of the guide wheel is set to be arc-shaped 32.

[0048] The control of the power unit is completed by a control unit installed in the chassis or detection equipment. The control unit can receive remote control signals wirelessly and drive the power unit to make the robot move forward or backward. The control unit can also control cameras, manipulators and other equipment, and can also receive sensor output and transmit it to the remote control end.

[0049] The working process of the present invention is:

[0050] 1. Chassis is located Figure 5 When inside the pipe 29 shown, the outer side of the crawler is in contact with the pipe wall, and the inner side is suspended in the air. Under the action of the gravity of other components, the inner side of the crawler is also in contact with the inner wall of the pipe, thereby causing the base plate to swing outward as a whole, and compressing the shock absorber. Under the action of the shock absorber itself and the spring, the swinging action of the base plate is slowed down, avoiding the vibration hazard caused by the rapid descent of the components above the support rod due to rapid swinging.

[0051] 2. When walking to Figure 2 When the pipe is flat or has a low curvature as shown, the shock absorber and the spring are reset to reset the base plate, and the base plate is reset under the blockage of the limit plate. Figure 2 Normal position shown.

[0052] 3. The location of the platform plate is as follows Figure 3 As shown in the dotted part 27 in the figure, when the water level 28 in the pipe is high, the two electrodes are in contact with the water at the same time, and the two electrodes are conductive and send signals to the control unit connected thereto. After receiving the signal, the control unit drives the lifting mechanism to rise. Figure 3 The middle dotted line position rises to the position of the upper end of the screw, so that the detection equipment is away from the water surface.

[0053] 4. When the robot leaves the water, the lifting mechanism can drive the detection equipment down to the platform plate. Figure 3 The position of the dotted line.

[0054] In the present invention, a crawler and a worm gear motor are arranged on the base plate, and the base plate swings outward as a whole, so that the crawler can adapt to the inner diameter of different pipes, and the worm gear motor is arranged at the upper end of the inner side of the base plate. In addition to its own waterproof and dustproof functions, it can also avoid the hazards such as collision caused by the low position of the motor in the prior art; in addition, an electrode is respectively arranged on the base plate and the platform plate. When the water level in the pipeline is high, after the two electrodes are immersed, the control unit receives a signal, and the control unit drives the lifting mechanism to move, and the platform plate is raised until the electrode of the platform plate is raised to the water level. above the surface, thereby actively preventing the detection equipment from being soaked in water; furthermore, a shock absorber with a spring is provided between the inner surfaces of the two substrates. When the robot walks in the pipe, due to the influence of the inner diameter, the crawler track automatically adheres to the inner wall of the pipe under the action of the gravity of other components. The shock absorber plays a buffering role to prevent the detection equipment from falling too quickly due to vibration damage caused by the rapid swinging of the two substrates; finally, the substrate is a whole, on which the driving wheel, driven wheel, crawler track and worm gear motor are provided. When a fault occurs, the accessories can be directly replaced, and the installation and maintenance are very convenient.

Claims

1. A chassis structure for a robot walking in a pipeline, characterized by: It includes a power unit, a support unit and a walking unit. A walking unit is provided on each side of the support unit, and a power unit is provided on the walking unit. The power unit is used to drive the walking unit and make the chassis structure move forward or backward. The lower end of the walking unit can swing outward and adapt to the inner diameter of the pipeline. The support unit is used to set the detection equipment and can drive the detection equipment to rise and fall. The walking unit includes a base plate, a driving wheel, a driven wheel and a crawler belt. The driving wheel is provided on the upper end of the outer surface of the base plate, and at least two driven wheels are provided on the base plate surface below the driving wheel. The outer edges of the driving wheel and the driven wheels are wrapped around the crawler belt. The inner surface of the base plate and the lower end of the same side of the support unit are hinged to each other, and the inner surface of the base plate is provided with a power unit, which drives the driving wheel; The base plate can drive the driving wheel, the driven wheel, the crawler and the power unit to swing outward from the support unit. A reset buffer unit is provided on the upper ends of the opposite surfaces of the two base plates on both sides of the support unit. The power unit is a worm gear motor, which is attached to the inner surface of the base plate, so that the tracks can adjust the distance between each other; The crawler track is made of rubber.

2. The chassis structure of a robot walking in a pipeline according to claim 1, characterized in that: The support unit includes a support rod, a support plate, a platform plate and a lifting mechanism. The support plate is vertically provided with four support rods. The lower ends of the two support rods on both sides of the support plate are hinged to the inner surface of the base plate on the same side. A lifting mechanism is provided on the support plate. The moving end of the lifting mechanism can make the platform plate rise or fall, and the detection equipment can be placed on the platform.

3. The chassis structure of the robot walking in a pipeline according to claim 2, characterized in that: The reset buffer unit includes a shock absorber, the fixed end of the shock absorber is hinged to the inner surface of the substrate on the same side, the moving end of the shock absorber is hinged to the inner surface of the substrate on the same side, and a spring is provided on the shock absorber between the moving end and the fixed end.

4. The chassis structure of the robot walking in a pipeline according to claim 3, characterized in that: A limiting plate is provided at the lower end of the support rod, and the limiting plate can support the inner surface of the substrate on the same side and prevent the lower end of the substrate from swinging toward the inside of the support plate.

5. The chassis structure of the robot walking in a pipeline according to claim 4, characterized in that: It also includes a control unit, which is connected to the power unit, the lifting mechanism and the two electrodes, and the two electrodes are respectively arranged on the base plate and the platform plate; The control unit can drive the power unit; the control unit can drive the lifting mechanism when the two electrodes enter the water.

6. The chassis structure of the robot walking in a pipeline according to claim 4, characterized in that: Transverse guide wheels are provided on both sides of the platform plate.

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