A lifting frame and a pipe robot

Abstract

The application discloses a lifting frame and a pipeline robot. The lifting frame comprises a base, a driving member, a top plate and two support arm assemblies. The base and the top plate are horizontally arranged along the front-rear direction, and the top plate is located above the base. The driving member is installed at the front end of the base. The two support arm assemblies are arranged on both sides between the base and the top plate along the front-rear direction. The support arm assembly has a first rod body and a second rod body. The middle part of the first rod body is rotationally connected with the middle part of the corresponding second rod body to form an X shape. The front ends of the two first rod bodies are drivingly connected with the driving member. The rear ends of the two first rod bodies are slidingly connected with the rear end of the top plate along the front-rear direction. 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 slidingly connected with the rear end of the base along the front-rear direction. The driving member is rotated to drive the two support arm assemblies to drive the top plate to vertically move up and down. The structure is simple, and the height can be adjusted in a single direction in the vertical direction.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of pipeline robots, in particular to a lifting frame and a pipeline robot. BACKGROUND

[0002] At present, when the scissors-type lifting frame is lifted or stored, the support table at the top will not only change in height, but also will produce a certain displacement in the front-back direction, that is, it does not simply move vertically. When this type of lifting frame is applied to a pipeline robot, although it can also drive the detection instrument to adjust the height, when the detection instrument moves in the running state and simultaneously produces relative displacement in the front-back direction relative to the chassis, it will cause abnormal detection data at this point, ultimately resulting in poor accuracy of the detection data. In addition, the existing lifting frame cannot adjust its coaxiality in the pipeline by itself, it can only be adjusted by the operator when the pipeline robot is lowered into the pipeline, but this cannot avoid the situation that the pipeline shrinks or expands abnormally later, causing the lifting frame to deviate from the axis of the pipeline. If one end of the lifting frame deviates from the axis of the pipeline, it may cause errors in the detection results. SUMMARY

[0003] In order to solve the above technical problems, the purpose of the present application is to provide a lifting frame which has a simple structure and can only adjust the height in the vertical direction.

[0004] In order to achieve the above purpose, the technical scheme of the present application is as follows: a lifting frame, comprising a base, a driving member, a top plate and two support arm assemblies, the base and the top plate are both arranged horizontally along the front-back direction, and the top plate is located above the base, the driving member is installed at the front end of the base, two support arm assemblies are arranged on both sides between the base and the top plate along the front-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 rotationally 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 drivingly connected to the driving member, the rear ends of the two first rod bodies are slidingly connected to the rear end of the top plate along the front-back direction, the front ends of the two second rod bodies are rotationally connected to the front end of the top plate, and the rear ends of the two second rod bodies are slidingly connected to the rear end of the base along the front-back direction, the driving member is rotated to drive the two support arm assemblies to drive the top plate to move vertically up and down; further comprising a coaxiality measuring member arranged on the top plate, the coaxiality measuring member comprises three distance measuring probes arranged in a ring shape, spaced apart and distributed in a circle, one of the distance measuring probes is arranged vertically upward, and the other two distance measuring probes are arranged horizontally, and the detection parts thereof are opposite to each other, the coaxiality measuring member is used to measure whether the top plate is centered in the pipeline.

[0005] The beneficial effects of the above technical solution are as follows: the two first rods swing and rotate under the drive of the drive component to unfold or retract the support arm assembly. At the same time, since the rear ends of the first rods and the rear ends of the second rods are slidably connected to the top plate and the base respectively, the front and rear positions of the top plate do not change when the top plate moves up and down relative to the base. Its height is only adjusted in the vertical direction. By setting a coaxiality measuring component, the height of the top plate in the pipeline can be adjusted to the center by the lifting frame.

[0006] The driving component described in the above technical solution is a dual-output shaft reduction brake motor, and the front ends of the two first rods are respectively connected to the two drive shafts of the driving component.

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

[0008] In the above technical solution, the front end of the first rod is recessed with a through-hole clamping groove, and the two sides of the groove opening are provided with mutually aligned connecting holes. The driving end of the corresponding end of the driving member passes through the clamping groove, and the mutually aligned connecting holes are bolted together by a bolt to clamp the front end of the first rod onto the driving shaft on the corresponding side of the driving member.

[0009] The beneficial effect of the above technical solution is that it makes it easy to connect the front end of the first rod to the drive shaft corresponding to the drive component, and it is not easy to loosen.

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

[0011] The beneficial effect of the above technical solution is that it makes it easier to slide the rear end of the second rod to the rear end of the base.

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

[0013] The beneficial effect of the above technical solution is that it makes it easier to slide the rear end of the first rod to the rear end of the top plate.

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

[0015] The beneficial effects of the above technical solution are that the stability of the top plate when lifting relative to the base is better.

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

[0017] The beneficial effects of the above technical solution are that the stability of the top plate when lifting relative to the base is further improved.

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

[0019] The beneficial effects of the above technical solution are that the stability of the top plate when lifting is further improved.

[0020] The second purpose of the present application is to provide a pipeline robot with simple structure, and only vertical adjustment of the detection instrument when height adjustment is performed.

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

[0022] The beneficial effects of the above technical solution are that the detection instrument of the pipeline robot has good stability when height adjustment is performed, and only vertical adjustment is performed.

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

[0024] The beneficial effects of the above technical solution are that the pipeline detection robot can communicate with the terminal device on the ground for a long distance, the signal transmission stability is good, and the pipeline detection quality and efficiency are improved. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a front view of the lifting frame described in embodiment 1 of the present application.

[0026] Figure 2 It is a front view of the lifting frame described in embodiment 1 of the present application.

[0027] Figure 3 It is a front view of the lifting frame described in embodiment 1 of the present application.

[0028] Figure 4 Rear view of the lifting frame described in embodiment 1 of the present application;

[0029] Figure 5 Schematic diagram of the transmission connection between the first rod body and the drive shaft in embodiment 1 of the present application;

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

[0031] Figure 7 Elevational view of the lifting frame described in embodiment 1 of the present application in the unfolded state;

[0032] Figure 8 Elevational view of the pipe robot described in embodiment 2 of the present application;

[0033] Figure 9 Schematic diagram of the cooperation between the coaxiality measuring member and the pipe in the embodiment of the present application.

[0034] In the figure: 1 base; 11 first sliding rod; 2 drive member; 21 drive shaft; 3 top plate; 31 second sliding rod; 4 support arm assembly; 41 first rod body; 411 clamping groove; 412 connecting hole; 413 bolted 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 distance measuring probe. DETAILED DESCRIPTION

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

[0036] As Figures 1-7As shown, this embodiment provides a lifting frame, including a base 1, a driving component 2, a top plate 3, and two support arm assemblies 4. The base 1 and top plate 3 are both horizontally arranged in the front-rear direction, with the top plate 3 located above the base 1. The driving component 2 is installed at the front end of the base 1. The two support arm assemblies 4 are arranged on both sides between the base 1 and the top plate 3 in the front-rear direction. Each support arm assembly has a first rod 41 and a second rod 42, with the middle portion of the first rod 41 rotatably connected to the middle portion of the corresponding second rod 42 in an "X" shape. The front ends of the two first rods 41 are connected to the driving component 2, and the rear ends of the two first rods 41... The two first rods 42 are slidably connected to the rear end of the top plate 3 in the front-back direction, and the front ends of the two second rods 42 are rotatably connected to the front end of the top plate 3. The rear ends of the two second rods 42 are slidably connected to the rear end of the base 1 in the front-back direction. The driving member 2 rotates to drive the two support arm assemblies 4 to move the top plate 3 vertically up and down. This allows the two first rods to swing and rotate under the drive of the driving member to unfold or retract the support arm assemblies. At the same time, since the rear ends of the first rods and the rear ends of the second rods are slidably connected to the top plate and the base respectively in the front-back direction, the front-back position of the top plate will not change when the top plate moves up and down relative to the base. Its height is only adjusted in the vertical direction.

[0037] like Figure 3 As shown, the driving component 2 in the above technical solution is a dual-output shaft reduction brake motor. The front ends of the two first rods 41 are respectively connected to the two drive shafts of the driving component 2. In this way, the first rods can rotate slowly under the drive of the driving component, and the first rods can be braked at any angle within their swing angle range.

[0038] like Figure 5 As shown, in the above technical solution, the front end of the first rod 41 is recessed with a through-hole clamping groove 411, and the two side walls of the clamping groove 411 are provided with aligned connecting holes 412. The drive shaft 21 of the corresponding end of the drive member 2 passes through the clamping groove 411, and the aligned connecting holes 412 are bolted together by a bolt 413 to clamp the front end of the first rod 41 onto the drive shaft of the corresponding side of the drive member 2. This makes it convenient to connect the front end of the first rod to the drive shaft of the drive member, and it is not easy to loosen. The bolt includes a bolt and a nut. The bolt passes through the two aligned connecting holes, and the nut is tightened on the threaded end of the bolt. The bolt and nut bolting method is existing technology and will not be described in detail here.

[0039] like Figure 1 and Figure 4As shown in the above technical solution, the technical solution further comprises two first sliding rods 11, both of which are horizontally arranged at the two sides of the rear upper end of the base 1 along the front-rear direction, and the rear end of each second rod body 42 is in sliding connection with the first sliding rod 11 on the corresponding side, so that the rear end of the second rod body is more convenient to be in sliding connection with the rear end of the base. The embodiment further comprises two second sliding rods 31, both of which are horizontally arranged at the two sides of the rear lower end of the top plate 3 along the front-rear direction, and the rear end of each first rod body 41 is in sliding connection with the second sliding rod 31 on the corresponding side, so that the rear end of the first rod body is more convenient to be in sliding connection with the rear end of the top plate.

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

[0041] For details Figure 2 As shown in the above technical solution, the top plate in the embodiment can be a hollow rod, so that the weight of the top plate can be reduced to make the lifting frame lightweight.

[0042] As Figure 2 and Figure 6 As shown in the above technical solution, the technical solution further comprises a gas spring rod 5, which is vertically and obliquely arranged between the two support arm assemblies 4 along the front-rear direction, the lower end of the gas spring rod 5 is in swing connection with the base 1, and the other end is connected with the top plate 3, so that the stability of the top plate when being raised and lowered relative to the base is better. Specifically, the gas spring is provided with three gas spring rods 5, which are distributed in the left-right direction at intervals, and two of the gas spring rods 5 are parallel to each other and cross the remaining one gas spring rod 5, so that the stability of the top plate when being raised and lowered relative to the base is further improved. Further specifically, the two parallel gas spring rods 5 are located on both sides of the remaining one gas spring rod 5, so that the stability of the top plate when being raised and lowered is further improved.

[0043] Embodiment 2

[0044] As Figure 8 As shown in the above technical solution, the technical solution further comprises a gas spring rod 5, which is vertically and obliquely arranged between the two support arm assemblies 4 along the front-rear direction, the lower end of the gas spring rod 5 is in swing connection with the base 1, and the other end is connected with the top plate 3, so that the stability of the top plate when being raised and lowered relative to the base is better. Specifically, the gas spring is provided with three gas spring rods 5, which are distributed in the left-right direction at intervals, and two of the gas spring rods 5 are parallel to each other and cross the remaining one gas spring rod 5, so that the stability of the top plate when being raised and lowered relative to the base is further improved. Further specifically, the two parallel gas spring rods 5 are located on both sides of the remaining one gas spring rod 5, so that the stability of the top plate when being raised and lowered is further improved.

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

[0046] The technical solution further 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 electrically connected with the control assembly 500, the long-distance communication module 400 is used to communicate with a terminal device, so that the pipeline detection robot can communicate with the terminal device on the ground over a long distance, and the signal transmission has good stability, which is beneficial to improve the pipeline detection quality and efficiency. The pipeline robot can communicate with the terminal device on the ground over a long distance, and the signal transmission has good stability, which is beneficial to improve the pipeline detection quality and efficiency. In the embodiment, the long-distance communication module can use an 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 the embodiment, the driving member of the lifting frame is electrically connected with 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] As shown in Figure 9 The technical solution further includes a coaxiality measuring member 600 arranged on the top plate 3, the coaxiality measuring member 600 is electrically connected with the control assembly 500, the coaxiality measuring member 600 is used to measure the coaxiality of the detection instrument 300 in the pipeline relative to the pipeline, and the control assembly 500 controls the robot chassis 200 and the lifting frame 100 to run cooperatively 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 when moving in the pipeline.

[0048] The coaxiality measuring member 600 in the technical solution includes three distance measuring probes 610 arranged in a ring shape, spaced apart and distributed in a circle, and electrically connected with the control assembly 500, and the axis of the circle on which the three distance measuring probes 610 are distributed is coaxially distributed with the detection instrument 300, wherein the detection part of one of the distance measuring probes 610 is arranged vertically upward, and the detection parts of the remaining two distance measuring probes 610 are arranged horizontally and away from each other. At this time, when the distances measured by the three distance measuring probes to the inner wall of the pipeline are consistent and equivalent to the inner diameter of the pipeline, it can be defaulted that the detection instrument and the pipeline are coaxially distributed.

[0049] Among them, Figure 9The middle dotted line circle schematically shows the inner wall of the pipeline, and the three dotted arrows show the distance of the three ranging probes to the inner wall of the pipeline. When the pipeline is detected, the inner diameter of the pipeline is input in advance through the control assembly, so that the distance of the pipeline robot to the inner wall of the pipeline can be measured in real time by the ranging probe when the pipeline robot moves in the pipeline, and the coaxiality deviation of the detection instrument to the inner wall of the pipeline is calculated in real time. When the deviation exceeds the threshold value (the threshold value can also be set in advance through the control assembly), the coaxiality of the detection instrument to the pipeline can be corrected by the lifting frame and the robot chassis 200 (wherein the lifting frame is mainly for vertical correction, and the robot chassis is mainly for lateral correction). The ranging probe in the embodiment can use an ultrasonic ranging radar, so that it has strong anti-interference ability.

[0050] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Those skilled in the art can easily implement the present application according to the drawings and the above description. However, those skilled in the art can make some changes, modifications and equivalent changes to the above-mentioned technical content without departing from the scope of the present application.

Claims

1. A lifting frame, characterized in that The utility model provides a kind of pipe inspection device, including base (1), driving part (2), top plate (3) and two bracing arm assemblies (4), the base (1) and top plate (3) are horizontally arranged along front-back direction, and the top plate (3) is above the base (1), the driving part (2) is installed in the front end of the base (1), two bracing arm assemblies (4) are arranged along front-back direction between the base (1) and top plate (3) two sides, the bracing arm assembly has first rod body (41) and second rod body (42), and the middle part of the first rod body (41) is rotationally connected with the middle part of the corresponding second rod body (42) into "X shape, the front end of two first rod bodies (41) is drivingly connected with the driving part (2), the rear end of two first rod bodies (41) is slidingly connected with the rear end of the top plate (3) along front-back direction, the front end of two second rod bodies (42) is rotationally connected with the front end of the top plate (3), the rear end of two second rod bodies (42) is slidingly connected with the rear end of the base (1) along front-back direction, the driving part (2) rotates to drive two bracing arm assemblies (4) to drive the top plate (3) vertically up and down movement;Further comprising coaxiality measuring element (600) arranged on the top plate (3), the coaxiality measuring element (600) includes three ring-shaped spaced and same circle distributed ranging probes (610), wherein the detection part of one of the ranging probes (610) is vertically upwardly arranged, and the detection part of the remaining two ranging probes (610) is horizontally arranged, and the detection part thereof is away from each other, the coaxiality measuring element (600) is used to measure whether the top plate (3) is centered in the pipeline; Wherein, the coaxiality measuring element (600) is used to measure whether the top plate (3) is centered in the pipeline, comprising: each ranging probe (610) measures the distance from the inner wall of the pipeline in real time;Real-time calculation of the coaxiality deviation of the detection instrument to the inner wall of the pipeline, when the deviation exceeds the threshold value, the coaxiality correction of the top plate (3) and the pipeline is carried out.

2. The lift frame of claim 1, wherein, The driving part (2) is a double-output shaft deceleration brake motor, and the front ends of the two first rod bodies (41) are drivingly connected with the two driving shafts of the driving part (2) respectively.

3. The lift frame of claim 2, wherein, The front end of the first rod body (41) is recessed with a left-right penetrating hoop slot (411), and the two side slot walls at the slot opening of the hoop slot (411) are provided with mutually aligned connecting holes (412), the driving end of the corresponding end of the driving part (2) penetrates the hoop slot (411), and the mutually aligned connecting holes (412) are bolted by a bolted element (413) to clamp the front end of the first rod body (41) on the driving shaft of the corresponding side of the driving part (2).

4. The lift frame of claim 1, wherein, Further comprising two first sliding rods (11), two first sliding rods (11) are horizontally arranged along front-back direction on the two sides of the rear upper end of the base (1), and the rear end of each second rod body (42) is slidingly connected with the first sliding rod (11) on the corresponding side.

5. The lift frame of claim 1, wherein, Two second slide rods (31) are further included, both of which are horizontally arranged at the two sides of the lower rear end of the top plate (3) along the front-rear direction, and the rear end of each first rod body (41) is in sliding connection with the second slide rod (31) on the corresponding side.

6. The lift frame of claim 1, wherein, A gas spring rod (5) is further included, which is vertically and obliquely arranged between the two support arm assemblies (4) along the front-rear direction, the lower end of the gas spring rod (5) is in swing connection with the base (1), and the other end is connected with the top plate (3).

7. The lift frame of claim 6, wherein, The gas spring is provided with three gas spring rods (5), which are distributed in the left-right direction at intervals, and two of the gas spring rods (5) are parallel to each other and cross-distributed with the remaining one gas spring rod (5).

8. The lift frame of claim 7, wherein, The two gas spring rods (5) parallel to each other are located on the two sides of the remaining one gas spring rod (5).

9. A pipe robot, characterized in that A robot chassis (200) and the lifting frame (100) as claimed in any one of claims 1-8 are included, the base (1) is mounted on the robot chassis (200) along the front-rear direction, and a detection instrument (300) is mounted on the top plate (3).

10. The pipe robot of claim 9, wherein, A long-distance communication module (400) and a control assembly (500) arranged on the robot chassis (200) or the base (1) are further included, the long-distance communication module (400), the lifting frame (100), the detection instrument (300), and the robot chassis (200) are all in electrical connection with the control assembly (500), and the long-distance communication module (400) is used to communicate with a terminal device.

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