Shoe-kicking type electrically-driven double-switching walking pipeline robot

Abstract

The present application discloses a shoe-kicking type electric drive double-switching walking pipeline robot, which comprises a mounting shaft, a forelimb, a hindlimb and a drive motor, the forelimb and the hindlimb are both provided with a shoe-kicking type support and a sliding part, the shoe-kicking type support comprises a support connecting rod and an abutting part, the mounting shaft is provided with a forelimb drive screw and a hindlimb drive screw, the mounting shaft comprises a front mounting shaft and a rear mounting shaft, the front mounting shaft comprises an inner shaft and an outer shaft, the forelimb drive screw comprises an outer rod body and an inner rod body, and the robot further comprises a first cross universal joint, a first electromagnetic valve, a second electromagnetic valve, a second cross universal joint, a third electromagnetic valve, a power supply box for power supply of a circuit and a control box for control of the circuit, the robot adopts a motor screw mode to drive adjustment of the radial width of the abutting part and further drives the forelimb and the hindlimb to crawl, thereby driving the pipeline robot to walk, and the walking amount is controlled through rotation of the screw, so that the walking displacement is relatively easy to control during walking.

Description

Technical Field

[0001] This invention relates to the field of pipeline robot technology, and in particular to a shoe-kick type electrically driven dual-switching walking pipeline robot. Background Technology

[0002] In the existing technology, pipeline robots are used for the repair or survey of some pipelines. However, most existing pipeline robots use rollers to walk, which cannot be applied to vertical pipelines. A pipeline robot that uses webbed claws to grab the inner wall of the pipeline has appeared on the market and can be used in vertical pipelines. However, when this pipeline robot walks, it crawls directly by extending and retracting its arms, which has a large range and high speed, making it difficult to control the displacement of its movement. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a shoe-kick type electrically driven dual-switching walking pipeline robot, which uses a motor screw to drive the adjustment of the radial width of the abutment, and further drives the front and rear limbs to crawl, thereby driving the pipeline robot to walk. The amount of walking is controlled by the rotation of the screw, making it easier to control the displacement during walking.

[0004] This invention discloses a shoe-kick type electrically driven dual-switching walking pipeline robot, including a mounting axis, front limbs, rear limbs, and drive motors for driving the relative extension and retraction of the front and rear limbs. The front and rear limbs are spaced apart along the mounting axis. The robot is characterized by: each front and rear limb being provided with a shoe-kick type support and a sliding component; multiple sets of shoe-kick type supports are spaced apart circumferentially along the mounting axis; each shoe-kick type support includes a support link and a stop component; the sliding component is guided and slids on the mounting axis; the support link includes a driven support rod and a driving support rod; one end of the driven support rod is hinged to the mounting axis, and the other end is hinged to the stop component; one end of the driving support rod is hinged to the sliding component, and the other end is hinged to the stop component; a front limb drive screw and a rear limb drive screw are rotatably mounted on the mounting axis; the front limb drive screw is threadedly engaged with the sliding component on the front limb, and the rear limb drive screw is threadedly engaged with the sliding component on the rear limb; the mounting axis includes a split front mounting axis and a rear mounting axis; the front mounting axis includes an inner shaft and a… An outer shaft and an inner shaft are threaded together to form a telescopic rod structure. The front limb drive screw also includes an outer rod body and an inner rod body. The inner rod body is inserted into the outer rod body to form a telescopic rod structure. The inner rod body and the outer rod body are circumferentially rotated and axially slidably fitted. A drive wheel and a driven wheel are provided on the rear mounting shaft. The drive wheel is linked to the output shaft of the drive motor, and the driven wheel is linked to the drive wheel. The inner rod body is located on one side of the driven wheel, and the rear limb drive screw is located on the other side of the driven wheel. A first solenoid valve for controlling the linkage between the two is provided on the rear mounting shaft between the driven wheel and the inner rod body. A first universal joint is also included. The inner rod body and the first solenoid valve are connected through the first universal joint. A second solenoid valve for controlling the linkage between the two is provided on the rear mounting shaft between the rear limb drive screw and the driven wheel. A second universal joint and a third solenoid valve for controlling the linkage between the inner shaft and the drive wheel are also included. The inner shaft is connected to the third solenoid valve through the second universal joint. A power supply box for powering the circuit and a control box for controlling the circuit are also included.

[0005] Using the above technical solution, during use, the power supply box provides power to the drive motor, the first solenoid valve, the second solenoid valve, the third solenoid valve, and the control box. At this time, the control box controls the coordinated operation of each component through the control circuit. The drive motor drives the front limb drive screw and the rear limb drive screw to rotate in coordination, thereby achieving the coordinated sliding of the sliding parts. When the sliding part of the front limb slides to the designated position, the abutment on the front limb is driven by the drive support rod to swing, and then supported on the inner wall of the pipe by the driven support rod. Further, the rear limb drive screw drives the sliding part on the rear limb to slide forward, causing the abutment on the rear limb to move forward and approach the inner wall of the pipe. When the sliding part on the rear limb slides to the designated position, the abutment on the rear limb is supported on the inner wall of the pipe. At this time, the front limb drive screw drives the sliding part on the front limb to retract, from... When the inner wall of the pipe is released, the inner shaft rotates relative to the outer shaft. At the same time, the front limb drive screw can restrict the relative rotation of the outer shaft, so that the outer shaft can move forward when the inner shaft rotates. Further, when the inner shaft rotates to the designated position, the front limb drive screw drives the sliding part on the front limb to move forward, thereby opening the corresponding abutment and gripping the inner wall of the pipe. Further, the drive motor drives the rear limb drive screw to rotate, and the sliding part on the rear limb slides, thereby causing the abutment on the rear limb to disengage from the inner wall of the pipe. Further, the drive motor drives the inner shaft to rotate in the opposite direction, thereby dragging the entire rear limb forward. Repeating this operation enables it to walk. The telescopic rod structure facilitates the relative movement of the inner and outer shafts and the relative movement of the inner and outer rod bodies. Moreover, through the cooperation of the first and second universal joints, it can also turn at pipe bends without affecting the rotation of the outer rod body and the inner shaft.

[0006] A further provision of the present invention includes a first connector and a second connector. Two first universal joints are provided and located at both ends of the first connector. The inner rod and the first solenoid valve are connected via the first universal joints at both ends of the first connector. Two second universal joints are provided and located at both ends of the second connector. The inner shaft and the third solenoid valve are connected via the second universal joints at both ends of the second connector. The invention also includes a first elastic reset member for driving the first universal joint and the second universal joint to reset.

[0007] Using the above technical solution, when the front and rear limbs walk to the bend in the pipeline, the front and rear limbs can rotate relative to each other through the universal joint structure, thus making a turn. Furthermore, after passing through the bend, the first elastic reset member drives the front and rear limbs to reset, so that they maintain straight walking. The connecting member serves as the intermediate connecting member, so that both ends are connected by a cross universal joint, avoiding mutual interference between the front and rear limbs when turning, and increasing the range of turning angles.

[0008] A further provision of the present invention: the abutting member includes a base and an abutting plate, the abutting plate is hinged to the base in the middle, and a second elastic reset member is provided on the base on both sides opposite to the abutting plate.

[0009] Using the above technical solution, the abutment plate can swing relative to each other to make adaptive angle adjustments, and be reset by the second elastic reset component, so that it has a buffering and reset force when in use.

[0010] A further feature of the present invention is as follows: the first elastic reset member includes a first mounting base, a second mounting base, a first top pin, a second top pin, a first reset spring, and a second reset spring. The first mounting base is hinged to the hind limb. One side of the second mounting base is hinged to the first mounting base, and the other side is hinged to the forelimb to form a universal joint structure. The first top pin is guided to slide on the first mounting base. One end of the first reset spring acts on the hind limb or the first mounting base, and the other end acts on the first top pin, so that the first top pin extends out and is supported on the second mounting base. The second top pin is guided to slide on the second mounting base. One end of the second reset spring acts on the second mounting base, and the other end acts on the second top pin, so that the second top pin extends out and acts on the forelimb.

[0011] With the above technical solution, when the forelimbs and hindlimbs turn relative to each other, adaptive adjustment can be made through the relative rotation of the first mounting base and the second mounting base, without affecting their normal turning, and with greater flexibility.

[0012] A further feature of the present invention is that an auxiliary support arm, a floating component on the auxiliary support arm, and an elastic support component for adapting to the floating of the floating component are provided on the mounting shaft corresponding to the positions of the front and rear limbs, and a support roller is rotatably provided on the floating component.

[0013] The above technical solution can play an auxiliary support role when the abutment part is separated from the inner wall of the pipe, further preventing the robot using this structure from deviating.

[0014] A further feature of the present invention is that the outer side of the abutment plate is arc-shaped to form an abutment surface that can fit against the inner wall of the pipe.

[0015] By adopting the above technical solution, the contact area can be increased, making it more stable when supported. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 for Figure 1 Sectional view; Figure 3 for Figure 1 Another perspective structural diagram; Figure 4 This is a partial structural diagram of the present invention; Figure 5 This is a diagram showing the assembly of components such as the rear drive motor, the first solenoid valve, the second solenoid valve, and the third solenoid valve of the present invention. Figure 6 This is a schematic diagram of the overall structure of the present invention; Figure 7 This is a schematic diagram of the structure after the first and second mounting bases of the present invention have been removed; Figure 8 for Figure 4 Enlarged view of part a; Figure 9 for Figure 7 Enlarged view of part b; Figure 10 This is a schematic diagram of the structure after the first and second mounting bases of the present invention have been removed. Detailed Implementation

[0017] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings: In the description of this invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0018] This invention discloses a shoe-kick type electrically driven dual-switching walking pipeline robot, including a mounting axis 1, a front limb 2, a rear limb 3, and a drive motor 4 for driving the relative extension and retraction of the front and rear limbs 3. The front limbs 2 and the rear limbs 3 are spaced apart along the axial direction of the mounting axis 1. In this embodiment, both the front limbs 2 and the rear limbs 3 are provided with shoe-kick type support members 5 and sliding members 6. Multiple sets of shoe-kick type support members 5 are spaced apart circumferentially along the mounting axis 1. Each shoe-kick type support member 5 includes a support link 51 and a stop member 52. The sliding member 6 guides and slides on the mounting axis 1. The support link 51 includes a driven support rod 511 and a driving support rod 512. One end of the driven support rod 511 is hinged to the mounting axis. 1. One end of the drive support rod 512 is hinged to the sliding member 6, and the other end is hinged to the abutment member 52. A forelimb drive screw 7 and a hindlimb drive screw 8 are rotatably mounted on the mounting shaft 1. The forelimb drive screw 7 is threadedly engaged with the sliding member 6 on the forelimb 2, and the hindlimb drive screw 8 is threadedly engaged with the sliding member 6 on the hindlimb 3. The mounting shaft 1 includes a split front mounting shaft 11 and a rear mounting shaft 12. The front mounting shaft 11 includes an inner shaft 111 and an outer shaft 112. The inner shaft 111 and the outer shaft 112 are threadedly engaged to form a telescopic rod structure. The forelimb drive screw 7 also includes an outer rod body 72. The inner rod 71 is partially inserted into the outer rod 72 to form a telescopic rod structure. The inner rod 71 and the outer rod 72 are circumferentially rotated and axially slidably fitted. The rear mounting shaft 12 is provided with a driving wheel 91 and a driven wheel 92. The driving wheel 91 is linked to the output shaft of the drive motor 4, and the driven wheel 92 is linked to the driving wheel 91 (preferably a belt pulley linkage, but it can also be achieved through gear meshing). The inner rod 71 is located on one side of the driven wheel 92, and the rear drive screw 8 is located on the other side of the driven wheel 92. A first solenoid valve 100 is provided on the rear mounting shaft 12 between the driven wheel 92 and the inner rod 71 to control the linkage between the two. It also includes a first universal joint 200, with the inner rod 71 and the first solenoid valve 100 connected via the first universal joint 200. A second solenoid valve 300 for controlling the linkage between the rear drive screw 8 and the driven wheel 92 is provided on the rear mounting shaft 12. It also includes a second universal joint 400 and a third solenoid valve 500 for controlling the linkage between the inner shaft 111 and the drive wheel 91. The inner shaft 111 is connected to the third solenoid valve 500 via the second universal joint 400. It also includes a power supply box 600 for powering the circuit and a control box 700 for controlling the circuit. The specific control method of the control box 700 is prior art and will not be described in detail in this article.

[0019] Using the above technical solution, during use, the power supply box 600 provides power to the drive motor 4, the first solenoid valve 100, the second solenoid valve 300, the third solenoid valve 500, and the control box 700. At this time, the control box 700 can control the cooperation of each component through the control circuit. The drive motor 4 can drive the forelimb drive screw 7 and the hindlimb drive screw 8 to rotate in coordination, thereby realizing the sliding of the sliding part 6. When the sliding part 6 of the forelimb 2 slides to the designated position, the abutment 52 on the forelimb 2 drives the support rod 512. The drive screw 8 causes the pipe to swing, and then, through the cooperation of the driven support rod 511, it supports the pipe against the inner wall. Further, the rear limb drive screw 8 drives the sliding member 6 on the rear limb 3 to slide forward, thereby causing the abutment member 52 on the rear limb 3 to move forward and approach the inner wall of the pipe. When the sliding member 6 on the rear limb 3 slides to the designated position, the abutment member 52 on the rear limb 3 can support the inner wall of the pipe. At this time, the front limb drive screw 7 drives the sliding member 6 on the front limb 2 to retract, thereby releasing the inner wall of the pipe. At this time, the inner shaft 111... Simultaneously, the front limb drive screw 7 can restrict the relative rotation of the outer shaft 112, so that when the inner shaft 111 rotates, the outer shaft 112 can be driven forward through the threaded engagement. Furthermore, when the inner shaft 111 rotates to the designated position, the front limb drive screw 7 drives the sliding member 6 on the front limb 2 to move forward, thereby opening the corresponding abutment 52 and gripping the inner wall of the pipe. Further, the drive motor 4 drives the rear limb drive screw 8 to rotate, and the sliding member 6 on the rear limb 3 slides, thereby causing the abutment 52 on the rear limb 3 to disengage from the pipe. The inner wall is further driven by the motor 4, which drives the inner shaft 111 to rotate in the opposite direction. Because the abutment 52 of the front limb 2 is supported on the inner wall of the pipe, the entire rear limb 3 is dragged forward. By repeating this operation, it can walk. The telescopic rod structure facilitates the relative movement of the inner shaft 111 and the outer shaft 112, as well as the relative movement of the inner rod body 71 and the outer rod body 72. Furthermore, through the cooperation of the first universal joint 200 and the second universal joint 400, it can also turn at the bend of the pipe without affecting the rotation of the outer rod body 72 and the inner shaft 111.

[0020] It also includes a first connector 800 and a second connector 900. Two first universal joints 200 are provided and located at both ends of the first connector 800. The inner rod 71 and the first solenoid valve 100 are connected via the first universal joints 200 at both ends of the first connector 800. Two second universal joints 400 are provided and located at both ends of the second connector 900. The inner shaft 111 and the third solenoid valve 500 are connected via the second universal joints 400 at both ends of the second connector 900. It also includes a mechanism for driving the first universal joints 200 and... The first elastic reset member 1000 resets the second universal joint 400. When the front limb 2 and the rear limb 3 walk to the bend in the pipe, the front limb 2 and the rear limb 3 can rotate relative to each other through the universal joint structure, thus making a turn. Furthermore, after passing through the bend, the first elastic reset member 1000 drives the front limb 2 and the rear limb 3 to reset, so that they can maintain straight walking. Through the connector as the intermediate connecting member, both ends are connected by a universal joint, which avoids mutual interference between the front and rear limbs when turning, and can also increase the range of turning angles.

[0021] The abutment 52 includes a base 521 and an abutment plate 522. The abutment plate 522 is hinged to the base 521 in the middle. The base 521 is provided with second elastic reset members 523 on opposite sides of the abutment plate 522. The abutment plate 522 can swing relative to each other to make adaptive angle adjustment and be reset by the second elastic reset members 523, so that it has a buffer and reset force when in use. The second elastic reset member 523 is preferably a spring, but it can also be a spring sheet, etc.

[0022] The first elastic reset member 1000 includes a first mounting base 1001, a second mounting base 1002, a first top pin 1003, a second top pin 1004, a first reset spring 1005, and a second reset spring 1006. The first mounting base 1001 is hinged to the rear limb 3. One side of the second mounting base 1002 is hinged to the first mounting base 1001, and the other side is hinged to the front limb 2 to form a universal joint structure. The first top pin 1003 is guided and slidably moved on the first mounting base 1001. One end of the first reset spring 1005 acts on the rear limb 3 or the first mounting base 1001, and the other end acts on the first top pin 1003, so that the first top pin 1003 extends out and is supported on the second mounting base 1002. The second top pin 1004 is guided... The second return spring 1006 slides on the second mounting base 1002. One end of the second return spring 1006 acts on the second mounting base 1002, and the other end acts on the second top pin 1004, so that the second top pin 1004 extends and acts on the front limb 2. When the front limb 2 and the rear limb 3 turn relative to each other, the relative rotation of the first mounting base 1001 and the second mounting base 1002 can make adaptive adjustments without affecting its normal turning, and the flexibility is stronger. Of course, the first return spring 1005 and the second return spring 1006 can be replaced by spring sheets, etc. Preferably, the first top pin 1003 and the second top pin 1004 are provided with support rollers to prevent the first mounting base 1001 and the second mounting base 1002 from scratching the parts when they rotate.

[0023] The mounting shaft 1 is also provided with an auxiliary support arm 2000, a floating component 3000 on the auxiliary support arm 2000, and an elastic support component 4000 for adapting to the floating component 3000. The floating component 3000 is rotatably provided with a support roller 5000, which can play an auxiliary support role when the abutment 52 is separated from the inner wall of the pipe, further preventing the robot using this structure from deflecting. The support roller 5000 can also prevent scratching the inner wall of the pipe.

[0024] The outer side of the abutment plate 522 is arc-shaped to form an abutment surface that can fit against the inner wall of the pipe, which can increase the contact area and make it more stable when supported.

Claims

1. A shoe-kick type electrically driven dual-switching walking pipeline robot, comprising a mounting axis (1), a front limb (2), a rear limb (3), and a drive motor (4) for driving the relative extension and retraction of the front and rear limbs, wherein the front limb (2) and the rear limb (3) are spaced apart along the axial direction of the mounting axis (1), characterized in that: Both the forelimb (2) and the hindlimb (3) are provided with a kick-type support (5) and a sliding member (6). The kick-type support (5) is distributed in multiple sets at intervals along the circumference of the mounting shaft (1). The kick-type support (5) includes a support link (51) and a stop member (52). The sliding member (6) slides on the mounting shaft (1). The support link (51) includes a driven support rod (511) and a driving support rod (512). One end of the driven support rod (511) is hinged to the mounting shaft (1), and the other end is hinged to the stop member (52). One end of the driving support rod (512) is hinged to the sliding member (6), and the other end is hinged to the stop member (52). On the mounting shaft (1), a forelimb drive screw (7) and a hindlimb drive screw (8) are rotatably mounted. The forelimb drive screw (7) is threadedly engaged with a sliding member (6) on the forelimb (2), and the hindlimb drive screw (8) is threadedly engaged with a sliding member (6) on the hindlimb (3). The mounting shaft (1) includes a split front mounting shaft (11) and a rear mounting shaft (12). The front mounting shaft (11) includes an inner shaft (111) and an outer shaft (112). The inner shaft (111) and the outer shaft (112) are threadedly engaged to form a telescopic rod structure. The forelimb drive screw (7) also includes an outer rod body (72) and an inner rod body (71). 71) Partially inserted into the outer rod body (72) to form a telescopic rod structure, and the inner rod body (71) and the outer rod body (72) are circumferentially rotated and axially slidably matched. The rear mounting shaft (12) is provided with a driving wheel (91) and a driven wheel (92). The driving wheel (91) is linked with the output shaft of the drive motor (4), and the driven wheel (92) is linked with the driving wheel (91). The inner rod body (71) is located on one side of the driven wheel (92), and the rear limb drive screw (8) is located on the other side of the driven wheel (92). The rear mounting shaft (12) is provided with a first solenoid valve (100) for controlling the linkage between the two between the driven wheel (92) and the inner rod body (71). It includes a first universal joint (200), an inner rod (71) and a first solenoid valve (100) connected by the first universal joint (200), a second solenoid valve (300) for controlling the linkage between the rear limb drive screw (8) and the driven wheel (92) on the rear mounting shaft (12), a second universal joint (400) and a third solenoid valve (500) for controlling the linkage between the inner shaft (111) and the drive wheel (91), the inner shaft (111) being connected to the third solenoid valve (500) via the second universal joint (400), a power supply box (600) for powering the circuit and a control box (700) for controlling the circuit.It also includes a first connector (800) and a second connector (900). Two first universal joints (200) are provided and located at both ends of the first connector (800). The inner rod (71) and the first solenoid valve (100) are connected via the first universal joints (200) at both ends of the first connector (800). Two second universal joints (400) are provided and located at both ends of the second connector (900). The inner shaft (111) and the third solenoid valve (500) are connected via the second universal joints (400) at both ends of the second connector (900). It also includes a first elastic reset member for driving the first universal joint (200) and the second universal joint (400) to reset. The first elastic reset member includes a first mounting base (1001), a second mounting base (1002), a first top pin (1003), a second top pin (1004), a first reset spring (1005), and... The second return spring (1006) is hinged to the first mounting base (1001) on the rear limb (3). One side of the second mounting base (1002) is hinged to the first mounting base (1001), and the other side is hinged to the front limb (2) to form a universal joint structure. The first top pin (1003) slides on the first mounting base (1001). One end of the first return spring (1005) acts on the rear limb (3) or the first mounting base (1001), and the other end acts on the first top pin (1003) so that the first top pin (1003) extends out and is supported on the second mounting base (1002). The second top pin (1004) slides on the second mounting base (1002). One end of the second return spring (1006) acts on the second mounting base (1002), and the other end acts on the second top pin (1004) so ​​that the second top pin (1004) extends out and acts on the front limb (2).

2. The shoe-kick type electrically driven dual-switching walking pipeline robot according to claim 1, characterized in that: The abutment (52) includes a base (521) and an abutment plate (522). The abutment plate (522) is hinged to the base (521) in the middle, and a second elastic reset member (523) is provided on the base (521) on the opposite sides of the abutment plate (522).

3. A shoe-kick type electrically driven dual-switching walking pipeline robot according to claim 1 or 2, characterized in that: The mounting shaft (1) is also provided with an auxiliary support arm (2000), a floating component (3000) on the auxiliary support arm (2000), and an elastic support component (4000) for adapting the floating component (3000) to float. A support roller (5000) is rotatably provided on the floating component (3000).

4. The shoe-kick type electrically driven dual-switching walking pipeline robot according to claim 2, characterized in that: The outer side of the abutment plate (522) is arc-shaped to form an abutment surface that can fit against the inner wall of the pipe.

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