Crawler-type pipeline robot walking device

Abstract

The invention discloses a crawler-type pipeline robot walking device, and relates to the technical field of pipeline polishing robots, the crawler-type pipeline robot walking device comprises a mounting box, a driving device and a crawler-type walking device; the driving device comprises a driving motor, a lead screw, a lead screw sleeve, an auxiliary shaft and a clamping device, the driving motor is fixedly mounted in the mounting box, the lead screw is rotatably connected in the mounting box, the lead screw sleeve is in threaded connection with the lead screw, the lead screw is connected with an output shaft of the driving motor, and the auxiliary shaft is fixedly connected with the driving motor and is coaxial with the lead screw; the clamping device is arranged on the auxiliary shaft in a sleeving manner; three crawler walking devices are uniformly arranged on the mounting box in the circumferential direction by taking the lead screw as the center; the crawler walking device comprises a crawler walking mechanism and two damping opening assemblies, and the front end and the rear end of the crawler walking mechanism are each connected with one damping opening assembly. The movement stability and the supporting stability of the pipeline inner wall grinding robot can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline polishing robots, and in particular to a crawler-type pipeline robot traveling device. Background Art

[0002] Currently, most steel pipe inner wall grinding robots are fixed-point grinding, and their walking devices cannot provide sufficient support capacity to resist the reaction force generated during grinding. Additional supporting components are required during grinding operations to ensure grinding stability, and continuous grinding cannot be achieved. In order to improve the support stability and movement smoothness of the steel pipe inner wall grinding robot and achieve continuous grinding of the steel pipe inner wall, the field urgently needs to design a steel pipe robot walking device to solve the problems existing in the above-mentioned prior art. Summary of the invention

[0003] The purpose of the present invention is to provide a crawler-type pipeline robot traveling device to solve the problems existing in the above-mentioned prior art, to improve the movement smoothness and support stability of the pipeline inner wall grinding robot, and to achieve continuous grinding of the inner wall of the steel pipe.

[0004] To achieve the above object, the present invention provides the following solutions: The present invention provides a crawler-type pipeline robot traveling device, comprising a mounting box, a driving device and a crawler traveling device; The driving device comprises a driving motor, a lead screw, a lead screw sleeve, an auxiliary shaft and a clamp, wherein the driving motor is fixedly installed in the installation box, the lead screw is rotatably connected in the installation box, the lead screw sleeve is threadedly connected to the lead screw, the lead screw is connected to the output shaft of the driving motor through a coupling, the auxiliary shaft is fixedly connected to the driving motor and is coaxially arranged with the lead screw, and the clamp is sleeved on the auxiliary shaft; The installation box is provided with three crawler travel devices evenly arranged along the circumferential direction with the lead screw as the center; The crawler traveling device comprises a crawler traveling mechanism and two shock-absorbing and spreading assemblies, the front and rear ends of the crawler traveling mechanism are respectively connected to one of the shock-absorbing and spreading assemblies, the shock-absorbing and spreading assemblies comprise a shock absorber, a support rod and a connecting pedal, the two ends of the shock absorber are respectively hinged to the mounting box and the connecting pedal, and the connecting pedal is fixed to the frame of the crawler traveling mechanism; one end of the support rod in one of the shock-absorbing and spreading assemblies is hinged to the housing of the shock absorber, and the other end is hinged to the lead screw sleeve; one end of the support rod in the other shock-absorbing and spreading assembly is hinged to the housing of the shock absorber, and the other end is hinged to the clamp; the mounting box is provided with a window allowing each of the support rods to move; The crawler traveling mechanism includes two crawler traveling assemblies and a crawler driving device arranged in a V shape, and the crawler traveling assembly includes side plates, a driving wheel and a driven wheel rotatably connected to the side plates, and a crawler belt that transmission connects the driving wheel and the driven wheel; the two side plates are fixedly connected by a supporting plate, and the two side plates and the supporting plate constitute the frame of the crawler traveling mechanism; the driving wheel axles of the two driving wheels are connected by a universal joint, and the driven wheel axles of the two driven wheels are connected by a universal joint; the crawler belt driving device is used to drive the driving wheel to rotate.

[0005] Preferably, the track drive device comprises a track drive motor and a gear assembly, and the track drive motor is drivingly connected to one of the driving wheel shafts via the gear assembly.

[0006] Preferably, the gear assembly includes a driving bevel gear, a driven bevel gear, a first transmission gear and a second transmission gear, the driving bevel gear is fixed to the output shaft of the track drive motor, the driven bevel gear and the first transmission gear are fixed to a first wheel shaft, the first wheel shaft is rotatably connected to the frame, the driven bevel gear is meshed with the driving bevel gear, and the second transmission gear is fixed to one of the driving wheel shafts and meshed with the first transmission gear.

[0007] Preferably, a control board is fixedly connected in the installation box, and the control board is signal-connected to the drive motor and the track drive motor.

[0008] Preferably, the installation box comprises a box body and a box cover, and the box cover is fixedly mounted on the box body by screws.

[0009] Preferably, a support frame is fixedly connected inside the installation box, one end of the lead screw is rotatably connected to the support frame, and the other end is rotatably connected to the side wall of the installation box.

[0010] Preferably, a connecting sleeve is interference-connected on the housing of the shock absorber, and one end of the support rod is hinged to the connecting sleeve.

[0011] Preferably, one end of the shock absorber is hinged to the mounting box via an angle bracket.

[0012] Preferably, the two side plates in the crawler traveling mechanism are also connected via an auxiliary pedal.

[0013] Compared with the prior art, the present invention has achieved the following technical effects: The crawler-type pipeline robot running device provided by the present invention adopts a V-shaped crawler arrangement to improve the support stability of the robot during grinding operations, uses a universal joint to adjust the V-shaped arrangement angle of the crawler, and adjusts the contact between the crawler and the inner wall of the steel pipe through a shock-absorbing and propping assembly to adapt to different pipe diameters within a certain range. The flexible characteristics of the crawler can increase the contact area between the running device and the inner wall of the steel pipe, further improving the robot's movement stability and support stability. Therefore, the running device can provide sufficient support capacity to resist the reaction force generated by the grinding operation of the inner wall of the steel pipe, while maintaining the smooth movement of the robot, thereby achieving continuous grinding of the inner walls of steel pipes of different diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 Schematic diagram of the structure of the crawler-type pipeline robot traveling device in an embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the structure after removing the box cover and a corresponding crawler travel device; Figure 3 for Figure 2 A partial enlarged schematic diagram of part A; Figure 4 It is a structural schematic diagram of a crawler traveling mechanism in an embodiment of the present invention; Figure 5 for Figure 4 The schematic diagram of the structure after removing one track; Figure 6 for Figure 5 A structural diagram from another perspective; Figure 7 It is a schematic structural diagram of the shock-absorbing and propping-up assembly in an embodiment of the present invention.

[0016] In the figure: 1-installation box, 2-drive device, 3-crawler travel device, 4-drive motor, 5-screw, 6-screw sleeve, 7-auxiliary shaft, 8-clamp, 9-crawler travel mechanism, 10-shock-absorbing and propping assembly, 11-shock absorber, 12-support rod, 13-connecting pedal, 14-window, 15-crawler travel assembly, 16-crawler drive device, 17-side plate, 18-driving wheel, 19-driven wheel, 20-crawler, 21-support plate, 22-universal joint, 23-crawler drive motor, 24-driving bevel gear, 25-driven bevel gear, 26-first transmission gear, 27-second transmission gear, 28-first wheel shaft, 29-control board, 30-box, 31-box cover, 32-support frame, 33-connecting sleeve, 34-angle code, 35-auxiliary pedal. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] The purpose of the present invention is to provide a crawler-type pipeline robot traveling device to solve the problems existing in the prior art, to improve the movement smoothness and support stability of the pipeline inner wall grinding robot, and to achieve continuous grinding of the inner wall of the steel pipe.

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] like Figure 1-Figure 7 As shown, this embodiment provides a crawler-type pipeline robot traveling device, including an installation box 1, a driving device 2 and a crawler traveling device 3; The driving device 2 includes a driving motor 4, a lead screw 5, a lead screw sleeve 6, an auxiliary shaft 7 and a clamp 8. The driving motor 4 is fixedly installed in the installation box 1, the lead screw 5 is rotatably connected in the installation box 1, the lead screw sleeve 6 is threadedly connected to the lead screw 5, the lead screw 5 is connected to the output shaft of the driving motor 4 through a coupling (claw coupling), the auxiliary shaft 7 is fixedly connected to the driving motor 4, and is coaxially arranged with the lead screw 5, and the clamp 8 is sleeved on the auxiliary shaft 7; Three crawler travel devices 3 are evenly arranged on the installation box 1 along the circumferential direction with the lead screw 5 as the center; The crawler travel device 3 includes a crawler travel mechanism 9 and two shock-absorbing and stretching assemblies 10. The front and rear ends of the crawler travel mechanism 9 are respectively connected to a shock-absorbing and stretching assembly 10. The shock-absorbing and stretching assembly 10 includes a shock absorber 11, a support rod 12 and a connecting pedal 13. The two ends of the shock absorber 11 are respectively hinged to the installation box 1 and the connecting pedal 13. The connecting pedal 13 is fixed to the frame of the crawler travel mechanism 9 by bolts; one end of the support rod 12 in one of the shock-absorbing and stretching assemblies 10 is hinged to the housing of the shock absorber 11, and the other end is hinged to the screw sleeve 6; one end of the support rod 12 in the other shock-absorbing and stretching assembly 10 is hinged to the housing of the shock absorber 11, and the other end is hinged to the clamp 8; the installation box 1 is provided with a window 14 that allows each support rod 12 to move; The crawler travel mechanism 9 includes two crawler travel assemblies 15 arranged in a V shape and a crawler drive device 16. The crawler travel assembly 15 includes a side plate 17, a driving wheel 18 and a driven wheel 19 rotatably connected to the side plate 17, and a crawler 20 that is transmission-connected to the driving wheel 18 and the driven wheel 19. The crawler 20 is transmission-engaged with the driving wheel 18 and the driven wheel 19 in a gear meshing manner; the two side plates 17 are fixedly connected by a support plate 21, and the two side plates 17 and the support plate 21 constitute the frame of the crawler travel mechanism 9; the driving wheel axles of the two driving wheels 18 are connected by a universal joint 22, and the driven wheel axles of the two driven wheels 19 are connected by a universal joint 22; the crawler drive device 16 is used to drive the driving wheel 18 to rotate.

[0021] This device adopts a V-shaped crawler arrangement to improve the support stability of the robot during grinding operations, uses a universal joint to adjust the V-shaped arrangement angle of the crawler, and adjusts the contact between the crawler 20 and the inner wall of the steel pipe through the shock-absorbing support component 10, so as to adapt to different pipe diameters within a certain range. The flexible characteristics of the crawler 20 can increase the contact area between the running device and the inner wall of the steel pipe, further improving the robot's movement stability and support stability. Therefore, the running device can provide sufficient support capacity to resist the reaction force generated by the grinding operation of the inner wall of the steel pipe, and at the same time can maintain the smooth movement of the robot, so as to achieve continuous grinding of the inner walls of steel pipes with different diameters.

[0022] The crawler 20 is made of high temperature resistant flexible material, which can increase the contact area between the running device and the inner wall of the steel pipe and avoid damage to the crawler structure caused by the high temperature generated during the grinding operation of the inner wall of the steel pipe. The clamp 8 can slide along the auxiliary shaft 7 to support the rear end support rod 12, and can brake so that the clamp 8 and the auxiliary shaft 7 are relatively locked.

[0023] In this embodiment, the crawler drive device 16 includes a crawler drive motor 23 and a gear assembly, and the crawler drive motor 23 is connected to one of the driving wheel shafts through the gear assembly. The gear transmission method is adopted, and the transmission is reliable and efficient. The driving wheel shaft is driven to rotate by the crawler drive motor 23 and the gear assembly, thereby driving the driving wheel 18 to rotate.

[0024] In this embodiment, the gear assembly includes a driving bevel gear 24, a driven bevel gear 25, a first transmission gear 26 and a second transmission gear 27. The driving bevel gear 24 is fixed on the output shaft of the crawler drive motor 23, the driven bevel gear 25 and the first transmission gear 26 are fixed on the first wheel shaft 28, the first wheel shaft 28 is rotatably connected to the frame, the driven bevel gear 25 is meshed with the driving bevel gear 24, and the second transmission gear 27 is fixed on one of the driving wheel shafts and meshed with the first transmission gear 26. Among them, the first wheel shaft 28 is installed on the frame through a bearing and a bearing cover structure, and the two driving wheel shafts and the two driven wheel shafts are installed on the frame through bearings and bearing cover structures respectively. The driving bevel gear 24 and the output shaft of the crawler drive motor 23 are connected by a flat key, the driven bevel gear 25 and the first transmission gear 26 are connected by a flat key, the driving wheel 18 and the driving wheel shaft are connected by a flat key, and the driven wheel 19 and the driven wheel shaft are connected by a flat key.

[0025] In this embodiment, a control board 29 is fixedly connected in the installation box 1, and the control board 29 is signal-connected to the drive motor 4 and the crawler drive motor 23. The drive motor 4 and the crawler drive motor 23 are controlled by the control board 29.

[0026] In this embodiment, the installation box 1 includes a box body 30 and a box cover 31, and the box cover 31 is fixedly mounted on the box body 30 by screws. It is convenient to open the box cover 31 to repair and replace the internal parts.

[0027] In this embodiment, a support frame 32 is fixedly connected to the installation box 1, and the support frame 32 is fixed to the installation box 1 by screws. One end of the screw 5 is rotatably connected to the support frame 32, and the other end is rotatably connected to the side wall of the installation box 1 to ensure the rotation stability of the screw 5.

[0028] In this embodiment, a connecting sleeve 33 is interference-connected on the housing of the shock absorber 11 , and one end of the support rod 12 is hinged on the connecting sleeve 33 .

[0029] In this embodiment, one end of the shock absorber 11 is hinged to the installation box 1 through an angle bracket 34. The shock absorber 11 is hinged to the angle bracket 34, and the angle bracket 34 is fixedly connected to the installation box 1 through screws.

[0030] In this embodiment, the two side plates 17 in the crawler travel mechanism 9 are further connected by an auxiliary pedal 35 to improve the stability of the connection between the side plates 17. Both ends of the auxiliary pedal 35 are connected to the two side plates 17 by screws.

[0031] When in use, the control panel 29 is used to control the operation of the overall running device. First, the driving motor 4 is started, and the output end of the driving motor 4 is driven by a claw coupling to drive the screw 5 to rotate. The screw 5 and the screw sleeve 6 are spirally matched, so when the screw 5 rotates, it drives the screw sleeve 6 to move forward, and then drives the shock-absorbing and propping assembly 10 to expand outward through the support rod 12. The shock-absorbing and propping assembly 10 connected to the clamp 8 at the rear end also expands outward, driving the clamp 8 to move. When the crawler 20 contacts the inner wall of the steel pipe, the driving motor 4 stops running, and then the crawler driving motor 23 is started, driving the output end active bevel gear 24 to rotate, and driving the driving wheel 18 to rotate through the gear transmission. The driving wheel 18 is meshed with the crawler 20 and cooperates with the driven wheel 19 to drive the crawler 20 to rotate, so as to realize the overall movement on the inner wall of the steel pipe. After the task is completed, the crawler driving motor 23 stops, the driving motor 4 is reversed, driving the screw 5 to rotate in the opposite direction, and the screw sleeve 6 drives the shock-absorbing and propping assembly 10 to retract to the initial position.

[0032] The crawler-type pipeline robot traveling device provided by the present invention is not only suitable for steel pipe grinding and polishing operations, but also suitable for other operations in pipelines.

[0033] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A crawler-type pipeline robot traveling device, characterized in that: It includes a mounting box, a driving device and a crawler traveling device; The driving device comprises a driving motor, a lead screw, a lead screw sleeve, an auxiliary shaft and a clamp, wherein the driving motor is fixedly installed in the installation box, the lead screw is rotatably connected in the installation box, the lead screw sleeve is threadedly connected to the lead screw, the lead screw is connected to the output shaft of the driving motor through a coupling, the auxiliary shaft is fixedly connected to the driving motor and is coaxially arranged with the lead screw, and the clamp is sleeved on the auxiliary shaft; The installation box is provided with three crawler travel devices evenly arranged along the circumferential direction with the lead screw as the center; The crawler traveling device comprises a crawler traveling mechanism and two shock-absorbing and spreading assemblies, the front and rear ends of the crawler traveling mechanism are respectively connected to one of the shock-absorbing and spreading assemblies, the shock-absorbing and spreading assemblies comprise a shock absorber, a support rod and a connecting pedal, the two ends of the shock absorber are respectively hinged to the mounting box and the connecting pedal, and the connecting pedal is fixed to the frame of the crawler traveling mechanism; one end of the support rod in one of the shock-absorbing and spreading assemblies is hinged to the housing of the shock absorber, and the other end is hinged to the lead screw sleeve; one end of the support rod in the other shock-absorbing and spreading assembly is hinged to the housing of the shock absorber, and the other end is hinged to the clamp; the mounting box is provided with a window allowing each of the support rods to move; The crawler traveling mechanism includes two crawler traveling assemblies and a crawler driving device arranged in a V shape, and the crawler traveling assembly includes side plates, a driving wheel and a driven wheel rotatably connected to the side plates, and a crawler belt that transmission connects the driving wheel and the driven wheel; the two side plates are fixedly connected by a supporting plate, and the two side plates and the supporting plate constitute the frame of the crawler traveling mechanism; the driving wheel axles of the two driving wheels are connected by a universal joint, and the driven wheel axles of the two driven wheels are connected by a universal joint; the crawler belt driving device is used to drive the driving wheel to rotate.

2. The crawler-type pipeline robot travel device according to claim 1, characterized in that: The crawler track driving device comprises a crawler track driving motor and a gear assembly, and the crawler track driving motor is drivingly connected to one of the driving wheel shafts through the gear assembly.

3. The crawler-type pipeline robot travel device according to claim 2 is characterized in that: The gear assembly includes a driving bevel gear, a driven bevel gear, a first transmission gear and a second transmission gear. The driving bevel gear is fixed to the output shaft of the track drive motor, the driven bevel gear and the first transmission gear are fixed to the first wheel shaft, the first wheel shaft is rotatably connected to the frame, the driven bevel gear is meshed with the driving bevel gear, and the second transmission gear is fixed to one of the driving wheel shafts and meshed with the first transmission gear.

4. The crawler-type pipeline robot travel device according to claim 2, characterized in that: A control board is fixedly connected in the installation box, and the control board is connected to the drive motor and the crawler drive motor by signal.

5. The crawler-type pipeline robot travel device according to claim 1, characterized in that: The installation box comprises a box body and a box cover, and the box cover is fixedly mounted on the box body by screws.

6. The crawler-type pipeline robot travel device according to claim 1, characterized in that: A support frame is fixedly connected inside the installation box, one end of the lead screw is rotatably connected to the support frame, and the other end is rotatably connected to the side wall of the installation box.

7. The crawler-type pipeline robot travel device according to claim 1, characterized in that: A connecting sleeve is interference-connected on the housing of the shock absorber, and one end of the support rod is hinged on the connecting sleeve.

8. The crawler-type pipeline robot travel device according to claim 1, characterized in that: One end of the shock absorber is hinged to the installation box through an angle code.

9. The crawler-type pipeline robot travel device according to claim 1, characterized in that: The two side plates in the crawler traveling mechanism are also connected via an auxiliary pedal.

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