Lifting frame and pipeline robot

Abstract

The lifting frame comprises a base, a driving part, a top plate and two supporting arm assemblies, the base and the top plate are horizontally arranged in the front-back direction, the top plate is located above the base, the driving part is installed at the front end of the base, and the two supporting arm assemblies are arranged on the two sides between the base and the top plate in the front-back direction; the supporting arm assembly is provided with first rod bodies and second rod bodies, the middles of the first rod bodies are rotationally connected with the middles of the corresponding second rod bodies to form an X shape, the front ends of the two first rod bodies are in transmission connection with the driving part, the rear ends of the two first rod bodies are slidably connected with the rear end of the top plate in the front-back direction, and the front ends of the two second rod bodies are rotationally connected with the front end of the top plate. The rear ends of the two second rod bodies are slidably connected with the rear end of the base in the front-back direction, the driving piece rotates to drive the two supporting arm assemblies to drive the top plate to vertically move up and down, the structure is simple, and height adjustment in the single direction in the vertical direction can be conducted.

Description

Technical Field

[0001] The present invention belongs to the field of pipeline robots, and in particular relates to a lifting frame and a pipeline robot. Background Art

[0002] At present, when the scissors-type lifting frame is lifted or stored, not only the height of the supporting table on the top will change, but it will also produce a certain displacement in the front and rear directions, that is, it is not a simple vertical movement. When this type of lifting frame is used on the pipeline robot, although it will also drive the detection instrument to adjust the height, when the detection instrument produces a relative displacement in the front and rear directions relative to the chassis in the running state, it will cause the detection data to be abnormal here, and ultimately lead to poor accuracy of the detection data. In addition, the existing lifting frames cannot adjust their coaxiality in the pipeline by themselves. They can only adjust the coaxiality when the operator lowers the pipeline robot into the pipeline. However, this cannot prevent the lifting frame from deviating from the axis of the pipeline due to abnormal conditions such as shrinkage or expansion of the pipeline in the later stage. If one end of the lifting frame deviates from the axis of the pipeline, it may cause errors in the detection results. Summary of the invention

[0003] In order to solve the above technical problems, an object of the present invention is to provide a lifting frame which has a simple structure and can be height-adjusted only in the vertical direction.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a lifting frame comprises a base, a driving member, a top plate and two support arm assemblies, the base and the top plate are both horizontally arranged along the front-to-back direction, and the top plate is located above the base, the driving member is installed at the front end of the base, and the two support arm assemblies are arranged on both sides between the base and the top plate along the front-to-back direction, the support arm assembly has a first rod body and a second rod body, and the middle part of the first rod body is rotatably connected to the middle part of the corresponding second rod body to form an "X" shape, the front ends of the two first rod bodies are transmission-connected to the driving member, and the rear ends of the two first rod bodies are connected to the rear end of the top plate along The two second rod bodies are slidably connected in the front-to-back direction, the front ends of the two second rod bodies are rotatably connected to the front ends of the top plate, the rear ends of the two second rod bodies are slidably connected to the rear ends of the base along the front-to-back direction, and the driving member rotates to drive the two support arm assemblies to drive the top plate to move vertically up and down; it also includes a coaxiality measuring member arranged on the top plate, the coaxiality measuring member includes three distance measuring probes arranged at annular intervals and distributed in the same circle, the detection part of one of the distance measuring probes is arranged vertically upward, and the remaining two distance measuring probes are arranged horizontally, and their detection parts are away from each other, and the coaxiality measuring member is used to measure whether the top plate is centered in the pipeline.

[0005] The beneficial effect of the above technical solution is that the two first rods are driven by the driving member to swing down and rotate to make the support arm assembly unfold or retract. At the same time, since the rear end of the first rod and the rear end of the second rod are respectively connected to the top plate and the base for front and rear sliding, the front and rear position of the top plate will not change when the top plate moves up and down relative to the base, and its height is only adjusted in the vertical direction. By setting a coaxiality measuring part, the height of the top plate in the pipeline can be adjusted to the center by the lifting frame.

[0006] The driving member in the above technical solution is a double-output shaft reduction brake motor, and the front ends of the two first rod bodies are respectively connected to the two driving shafts of the driving member.

[0007] The beneficial effect of the above technical solution is that the first rod body can rotate slowly under the drive of the driving member, and the first rod body can be braked at any angle within its swing angle range.

[0008] In the above technical solution, the front end portion of the first rod body is recessed with a hoop groove that passes through on the left and right, and the groove walls on both sides of the hoop groove are provided with mutually aligned connecting holes. The driving end of the corresponding end of the driving member passes through the hoop groove, and the mutually aligned connecting holes are bolted through a bolt to tighten the front end of the first rod body to the driving shaft on the corresponding side of the driving member.

[0009] The beneficial effect of the above technical solution is that: in this way, the front end of the first rod body is conveniently connected to the driving shaft corresponding to the driving member and is not easy to get loose.

[0010] The above technical solution also includes two first sliding bars, which are horizontally arranged on both sides of the rear upper end of the base along the front-to-back direction, and the rear end of each second rod body is slidably connected to the first sliding bar on the corresponding side.

[0011] The beneficial effect of the above technical solution is that it makes it more convenient to slide the rear end of the second rod body into connection with the rear end of the base.

[0012] The above technical solution also includes two second sliding bars, which are horizontally arranged on both sides of the rear lower end of the top plate along the front-to-back direction, and the rear end of each first rod body is slidably connected to the second sliding bar on the corresponding side.

[0013] The beneficial effect of the above technical solution is that it makes it more convenient to slide and connect the rear end of the first rod body with the rear end of the top plate.

[0014] The above technical solution also includes a gas spring rod, which is vertically inclined along the front-to-back direction and arranged between the two support arm assemblies. The lower end of the gas spring rod is swingably connected to the base, and the other end is connected to the top plate.

[0015] The beneficial effect of the above technical solution is that the top plate is more stable when it is raised or lowered relative to the base.

[0016] In the above technical solution, three gas springs are provided, and the three gas spring rods are spaced apart in the left-right direction, and two of the gas spring rods are parallel to each other and cross-distributed with the remaining gas spring rod.

[0017] The beneficial effect of the above technical solution is that the stability of the top plate when it is raised or lowered relative to the base is further improved.

[0018] In the above technical solution, the two gas spring rods parallel to each other are located on both sides of the remaining gas spring rod.

[0019] The beneficial effect of the above technical solution is that it can further improve the stability of the top plate when it is raised or lowered.

[0020] A second object of the present invention is to provide a pipeline robot with a simple structure and which only adjusts the height of the detection instrument in the vertical direction during detection.

[0021] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a pipeline robot comprises a robot chassis and the lifting frame as described above, the base is installed on the robot chassis along the front-back direction, and a detection instrument is installed on the top plate.

[0022] The beneficial effect of the above technical solution is that the detection instrument of the pipeline robot has good stability when adjusting the height, and only adjusts in the vertical direction.

[0023] The above technical solution also includes a long-distance communication module and a control assembly arranged on the robot chassis or base. The long-distance communication module, lifting frame, detection instrument and robot chassis are all electrically connected to the control assembly, and the long-distance communication module is used to communicate with the terminal device.

[0024] The beneficial effect of the above technical solution is that: in this way, the pipeline detection robot can communicate with the terminal equipment on the ground over long distances, and its signal transmission has good stability, which is conducive to improving the quality and efficiency of pipeline detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a vertical view of the lifting frame described in Example 1 of the present invention;

[0026] Figure 2 A top view of the lifting frame described in Example 1 of the present invention;

[0027] Figure 3 It is a front view of the lifting frame described in Example 1 of the present invention;

[0028] Figure 4 It is a rear view of the lifting frame described in Example 1 of the present invention;

[0029] Figure 5 This is a schematic diagram of the transmission connection between the first rod body and the driving shaft in Example 1 of the present invention;

[0030] Figure 6 Schematic diagram of the distribution of three gas spring rods in Example 1 of the present invention;

[0031] Figure 7 This is a vertical view of the lifting frame in the unfolded state according to the first embodiment of the present invention;

[0032] Figure 8 This is a vertical view of the pipeline robot described in Example 2 of the present invention;

[0033] Fig. 9 Schematic diagram of the cooperation between the coaxiality measuring component and the pipeline in an embodiment of the present invention.

[0034] In the figure: 1 base; 11 first slide bar; 2 driving member; 21 driving shaft; 3 top plate; 31 second slide bar; 4 support arm assembly; 41 first rod body; 411 hoop groove; 412 connecting hole; 413 bolting member; 42 second rod body; 5 gas spring rod; 100 lifting frame; 200 robot chassis; 300 detection instrument; 400 long-distance communication module; 500 control assembly; 600 coaxiality measuring member; 610 ranging probe. DETAILED DESCRIPTION

[0035] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention is described in more detail by way of example with reference to the accompanying drawings in the following paragraphs. According to the following description and claims, the advantages and features of the present invention will be more clearly described. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to facilitate and clearly assist in explaining the purpose of the embodiments of the present invention.

[0036] like Figure 1-Figure 7As shown, this embodiment provides a lifting frame, including a base 1, a driving member 2, a top plate 3 and two support arm assemblies 4, the base 1 and the top plate 3 are both arranged horizontally along the front-to-back direction, and the top plate 3 is located above the base 1, the driving member 2 is installed at the front end of the base 1, and the two support arm assemblies 4 are arranged on both sides between the base 1 and the top plate 3 along the front-to-back direction. The support arm assembly has a first rod body 41 and a second rod body 42, and the middle part of the first rod body 41 is rotatably connected to the middle part of the corresponding second rod body 42 to form an "X" shape, the front ends of the two first rod bodies 41 are transmission-connected to the driving member 2, and the rear ends of the two first rod bodies 41 The two second rods 42 are connected to the rear end of the top plate 3 in a sliding manner along the front-to-back direction, the front ends of the two second rods 42 are connected to the front end of the top plate 3 in a rotational manner, the rear ends of the two second rods 42 are connected to the rear end of the base 1 in a sliding manner along the front-to-back direction, the driving member 2 rotates to drive the two support arm assemblies 4 to drive the top plate 3 to move vertically up and down, so that the two first rods are driven by the driving member to swing the support arm assemblies to be unfolded or retracted, and at the same time, since the rear ends of the first rods and the second rods are respectively connected to the top plate and the base in a front-to-back sliding manner, when the top plate moves up and down relative to the base, the front and rear position of the top plate will not change, and its height is only adjusted in the vertical direction.

[0037] like Figure 3 As shown, the driving member 2 in the above technical solution is a double-output shaft reduction brake motor, and the front ends of the two first rod bodies 41 are respectively connected to the two driving shafts of the driving member 2, so that the first rod body can rotate slowly under the drive of the driving member, and the first rod body can be braked at any angle within its swing angle range.

[0038] like Figure 5 As shown, in the above technical solution, the front end portion of the first rod body 41 is recessed with a clamping groove 411 that passes through the left and right sides, and the groove walls on both sides of the notch of the clamping groove 411 are provided with mutually aligned connecting holes 412, the driving shaft 21 at the corresponding end of the driving member 2 passes through the clamping groove 411, and the mutually aligned connecting holes 412 are bolted through a bolting member 413 to clamp the front end of the first rod body 41 on the driving shaft on the corresponding side of the driving member 2, so that the front end of the first rod body is conveniently connected to the driving shaft corresponding to the driving member and is not easy to loosen, wherein the bolting member includes a bolt and a nut, wherein the bolt passes through two mutually aligned connecting holes, and the nut is tightened on the threaded end of the bolt, and the bolting method using bolts and nuts belongs to the prior art and will not be described here.

[0039] like Figure 1 and Figure 4As shown, the above technical scheme also includes two first sliding bars 11, and the two first sliding bars 11 are horizontally arranged on both sides of the rear upper end of the base 1 along the front-to-back direction, and the rear end of each second rod body 42 is slidably connected to the first sliding bar 11 on the corresponding side, so that the rear end of the second rod body is more convenient to be slidably connected to the rear end of the base; this embodiment also includes two second sliding bars 31, and the two second sliding bars 31 are horizontally arranged on both sides of the rear lower end of the top plate 3 along the front-to-back direction, and the rear end of each first rod body 41 is slidably connected to the second sliding bar 31 on the corresponding side, so that the rear end of the first rod body is more convenient to be slidably connected to the rear end of the top plate.

[0040] The first slide bar and the second slide bar have the same length and are aligned at both ends, and the sliding stroke of the first rod body on the second slide bar is consistent with the sliding stroke of the second rod body on the first slide bar.

[0041] See Figure 2 As shown, the top plate in this embodiment can be a hollow rod, which can reduce the weight of the top plate so that the lifting frame can be lightweight.

[0042] like Figure 2 and Figure 6 As shown, the above technical scheme also includes a gas spring rod 5, which is vertically inclined along the front-to-back direction and arranged between the two support arm assemblies 4, the lower end of the gas spring rod 5 is swingably connected to the base 1, and the other end thereof is connected to the top plate 3, so that the stability of the top plate when it is lifted or lowered relative to the base is better; specifically, three gas springs are provided, and the three gas spring rods 5 are spaced apart in the left-right direction, and two of the gas spring rods 5 are parallel to each other and cross-distributed with the remaining gas spring rod 5, so that the stability of the top plate when it is lifted or lowered relative to the base is further improved; further specifically, the two gas spring rods 5 parallel to each other are located on both sides of the remaining gas spring rod 5, so that the stability of the top plate when it is lifted or lowered can be further improved.

[0043] Example 2

[0044] like Figure 8 As shown, this embodiment provides a pipeline robot, including a robot chassis 200 and the lifting frame 100 as described above, the base 1 is installed on the robot chassis 200 along the front-back direction, and a detection instrument 300 is installed on the top plate 3. The detection instrument of the pipeline robot has good stability when adjusting the height, and only adjusts in the vertical direction. In this embodiment, the detection instrument can be a camera (can be a fisheye lens), a sonar or a radar probe (can be a laser radar), etc. arranged on the top plate.

[0045] The robot chassis 200 described in the above technical solution is an electric wheeled chassis or an electric crawler chassis (both of which are mature products currently on the market and will not be described in detail here) and has good mobility.

[0046] The above technical solution also includes a long-distance communication module 400 and a control assembly 500 arranged on the robot chassis 200 or the base 1. The long-distance communication module 400, the lifting frame 100, the detection instrument 300 and the robot chassis 200 are all electrically connected to the control assembly 500. The long-distance communication module 400 is used to communicate with the terminal device, so that the pipeline detection robot can communicate with the terminal device on the ground over a long distance, and the stability of its signal transmission is good, which is conducive to improving the quality and efficiency of pipeline detection. In this way, the pipeline robot can communicate with the terminal device on the ground over a long distance, and the stability of its signal transmission is good, which is conducive to improving the quality and efficiency of pipeline detection. In this embodiment, the long-distance communication module can adopt the existing VDS L2 communication module, the control assembly can be an ARM series single-chip microcomputer, and the terminal device can be a computer. In this embodiment, the driving member of the lifting frame is electrically connected to the control assembly (specifically, the control assembly can be arranged on the base 1, and the long-distance communication module can be arranged on the robot chassis).

[0047] like Fig. 9 As shown, the above technical solution also includes a coaxiality measuring component 600 arranged on the top plate 3, and the coaxiality measuring component 600 is electrically connected to the control assembly 500. The coaxiality measuring component 600 is used to measure the coaxiality of the detection instrument 300 relative to the pipeline in the pipeline, and the control assembly 500 controls the robot chassis 200 and the lifting frame 100 to operate in coordination to correct the coaxiality of the detection instrument 300 relative to the pipeline, so that the pipeline robot can calibrate and correct the coaxiality of the detection instrument by itself when moving in the pipeline.

[0048] The coaxiality measuring part 600 in the above technical solution includes three ranging probes 610 which are arranged at an interval in annular direction, distributed in the same circle and electrically connected to the control assembly 500, and the axis of the circle where the three ranging probes 610 are located is coaxially distributed with the detection instrument 300, the detection part of one of the ranging probes 610 is arranged vertically upward, and the remaining two ranging probes 610 are arranged horizontally, and their detection parts are away from each other. At this time, when the distances measured by the three ranging probes to the inner wall of the pipeline are consistent and are all equivalent to the inner diameter of the pipeline, it can be assumed that the detection instrument and the pipeline are in a coaxial distribution state.

[0049] in, Fig. 9The middle dotted circle represents the inner wall of the pipeline, and the three dotted arrows represent the distances between the three ranging probes and the inner wall of the pipeline. When detecting the pipeline, the inner diameter of the pipeline needs to be input in advance through the control assembly, so that when the pipeline robot moves in the pipeline, the ranging probe can measure the distance from the inner wall of the pipeline in real time, and calculate the coaxiality deviation from the detection instrument to the inner wall of the pipeline in real time. When the deviation exceeds the threshold (the threshold can also be set in advance by the control assembly), the lifting frame and the robot chassis 200 can cooperate to correct the coaxiality of the detection instrument relative to the pipeline (where the lifting frame mainly performs vertical correction, and the robot chassis mainly performs lateral correction). The ranging probe described in this embodiment can use an ultrasonic ranging radar, which has strong anti-interference ability.

[0050] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A lifting frame, characterized in that: The invention comprises a base (1), a driving member (2), a top plate (3) and two arm support assemblies (4), wherein the base (1) and the top plate (3) are both arranged horizontally in the front-to-back direction, and the top plate (3) is located above the base (1), the driving member (2) is installed at the front end of the base (1), and the two arm support assemblies (4) are arranged on both sides between the base (1) and the top plate (3) in the front-to-back direction, and the arm support assembly comprises a first rod body (41) and a second rod body (42), and the middle part of the first rod body (41) is rotatably connected to the middle part of the corresponding second rod body (42) to form an "X" shape, the front ends of the two first rod bodies (41) are transmission-connected to the driving member (2), and the rear ends of the two first rod bodies (41) are slidingly connected to the rear end of the top plate (3) in the front-to-back direction. The front ends of the two second rod bodies (42) are rotatably connected to the front end of the top plate (3), and the rear ends of the two second rod bodies (42) are slidably connected to the rear end of the base (1) along the front-to-back direction. The driving member (2) rotates to drive the two support arm assemblies (4) to drive the top plate (3) to move vertically up and down. It also includes a coaxiality measuring member (600) arranged on the top plate (3), and the coaxiality measuring member (600) includes three distance measuring probes (610) arranged at intervals in the annular direction and distributed in the same circle. The detection part of one of the distance measuring probes (610) is arranged vertically upward, while the remaining two distance measuring probes (610) are arranged horizontally, and their detection parts are separated from each other. The coaxiality measuring member (600) is used to measure whether the top plate (3) is centered in the pipeline.

2. The lifting frame according to claim 1, characterized in that: The driving member (2) is a double-output shaft reduction brake motor, and the front ends of the two first rod bodies (41) are respectively connected to the two driving shafts of the driving member (2) in a transmission manner.

3. The lifting frame according to claim 2, characterized in that: The front end of the first rod body (41) is provided with a clamping groove (411) extending therethrough, and the groove walls on both sides of the groove opening of the clamping groove (411) are provided with mutually aligned connecting holes (412). The driving end of the corresponding end of the driving member (2) passes through the clamping groove (411), and the mutually aligned connecting holes (412) are bolted via a bolting member (413) to clamp the front end of the first rod body (41) onto the driving shaft on the corresponding side of the driving member (2).

4. The lifting frame according to claim 1, characterized in that: It also includes two first sliding rods (11), which are horizontally arranged on both sides of the rear upper end of the base (1) along the front-to-back direction, and the rear end of each second rod body (42) is slidably connected to the first sliding rod (11) on the corresponding side.

5. The lifting frame according to claim 1, characterized in that: It also includes two second sliding rods (31), which are horizontally arranged on both sides of the rear lower end of the top plate (3) along the front-to-back direction, and the rear end of each first rod body (41) is slidably connected to the second sliding rod (31) on the corresponding side.

6. The lifting frame according to claim 1, characterized in that: It also comprises a gas spring rod (5), which is arranged vertically and tilted along the front-back direction between the two support arm assemblies (4), the lower end of the gas spring rod (5) is swingably connected to the base (1), and the other end is connected to the top plate (3).

7. The lifting frame according to claim 6, characterized in that: Three gas springs are provided, and the three gas spring rods (5) are spaced apart in the left-right direction, and two of the gas spring rods (5) are parallel to each other and cross-distributed with the remaining gas spring rod (5).

8. The lifting frame according to claim 7, characterized in that: The two mutually parallel gas spring rods (5) are located on both sides of the remaining gas spring rod (5).

9. A pipeline robot, characterized in that: It comprises a robot chassis (200) and a lifting frame (100) as described in any one of claims 1 to 8, wherein the base (1) is installed on the robot chassis (200) along the front-to-back direction, and a detection instrument (300) is installed on the top plate (3).

10. The pipeline robot according to claim 9, characterized in that: It also includes a long-distance communication module (400) and a control assembly (500) arranged on the robot chassis (200) or the base (1); the long-distance communication module (400), the lifting frame (100), the detection instrument (300) and the robot chassis (200) are all electrically connected to the control assembly (500); and the long-distance communication module (400) is used to communicate with a terminal device.

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