Multifunctional maintenance robot
By designing a multi-functional maintenance robot and integrating detection, cleaning, repair and data collection functions, traditional pipeline maintenance methods are solved and the impact on the environment is affected by the time-consuming and laborious and environmental problems, and efficient and accurate pipeline maintenance and management are achieved.
Patent Information
- Application Number
- CN202510134614.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-07
- Publication Date
- 2025-05-16
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Traditional pipeline maintenance methods require manual excavation and inspection, which is time-consuming and labor-intensive, and may have an impact on the surrounding environment. The pipeline operation needs to be suspended during maintenance, affecting production and life.
A multi-functional maintenance robot is designed to integrate detection, cleaning, repair and data acquisition functions, and the tool head can be replaced quickly through the clamping mechanism. The robotic arm provides a flexible working platform, and the color high-resolution camera and lighting provide omnidirectional monitoring and cleaning functions.
It realizes automated maintenance and management in the pipeline, reduces the time and impact of manual maintenance, improves maintenance efficiency and accuracy, avoids secondary damage to the pipe wall, and provides a stable operating platform.
Smart Images
Figure CN120007900A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of pipeline maintenance, and more specifically, particularly relates to a multifunctional maintenance robot. Background Art
[0002] A multifunctional maintenance robot is a device that can move autonomously inside a pipeline and integrate multiple functions, such as detecting the condition of the inner wall of the pipeline (including cracks, corrosion, deformation, etc.), cleaning blockages and dirt in the pipeline, and performing pipeline repair operations (such as welding and coating treatment). It also has data collection and transmission functions and can provide real-time feedback of information in the pipeline to the operator, thereby achieving efficient maintenance and management of the pipeline.
[0003] Traditionally, the pipeline is dug out manually, and then maintenance personnel carefully inspect and evaluate the damaged parts. This method is not only time-consuming and labor-intensive, but also may have a certain impact on surrounding roads, buildings and other underground pipelines during the excavation and repair process. The normal operation of the pipeline needs to be suspended during the maintenance period, which brings many inconveniences to production and life.
[0004] In view of this, the existing structure and defects are studied and improved to provide a multifunctional maintenance robot. Summary of the invention
[0005] In order to solve the above technical problems, the present invention provides a multifunctional maintenance robot to solve the above problems.
[0006] A multifunctional maintenance robot comprises a base plate, a clamping mechanism is arranged on the top of the base plate, the clamping mechanism comprises a first clamping frame, a rotating drum, a fourth gear, a handle, a fifth gear, a synchronous belt transmission assembly, a threaded rod, a second clamping frame, a sixth gear, a second rack and a sliding block, the rotating drum is rotatably mounted inside the first clamping frame, the fourth gear is fixedly mounted on the side wall of the rotating drum, the handle is fixedly mounted on an end of the rotating drum close to the fourth gear, the fifth gear is rotatably mounted on the side wall of the first clamping frame, the fourth gear is meshed with the fifth gear, the synchronous belt transmission assembly is transmission-mounted on the side wall of the fifth gear, the threaded rod is threadedly mounted inside the rotating drum, the second clamping frame is fixedly mounted on the side wall of the threaded rod, the second clamping frame is slidably mounted on the side wall of the first clamping frame, the sixth gear is rotatably mounted on the side wall of the first clamping frame, the second rack is meshed with the sixth gear, the sliding block is fixedly mounted on the side wall of the second rack, and the sliding block is slidably mounted on the top of the first clamping frame.
[0007] Preferably, a first motor is fixedly mounted on the top of the base plate, a first gear is fixedly mounted on the side wall of the output shaft of the first motor, a second gear is meshingly mounted on the side wall of the first gear, and a first rotating shaft is fixedly mounted inside the second gear.
[0008] Preferably, a second motor is fixedly mounted on the top of the base plate, a third gear is fixedly mounted on the output end of the second motor, a first rack is meshed with a side wall of the third gear, the first rack is rotatably mounted inside the base plate, and a first connecting rod is rotatably mounted on the top of the first rack.
[0009] Preferably, a second connecting rod is rotatably mounted on the top of the first connecting rod, a rotating rod is fixedly mounted inside the second connecting rod, a third connecting rod is fixedly mounted on the side wall of the rotating rod, and the rotating rod is rotatably mounted inside the bottom plate.
[0010] Preferably, the third connecting rod and the side wall of the first rotating shaft are fixedly mounted with an aluminum alloy wheel hub, the side wall of the aluminum alloy wheel hub is fixedly mounted with a truncated cone column, the top of the base plate is fixedly mounted with a connecting plate, the first rotating shaft is rotatably mounted inside the connecting plate, and a square groove is opened on the top of the connecting plate.
[0011] Preferably, a third motor is fixedly installed inside the connecting plate, the third motor is located inside the square groove, an annular groove is opened on the top of the connecting plate, and a receiving plate is fixedly installed on the output end of the third motor.
[0012] Preferably, a sliding column is fixedly installed on the bottom of the receiving plate, and the sliding column is slidably installed inside the annular groove. A first mounting seat is fixedly installed on the top of the receiving plate, and a mechanical arm is rotatably installed inside the first mounting seat.
[0013] Preferably, a fourth connecting rod is rotatably mounted inside the mechanical arm, a first hydraulic rod is fixedly mounted on a side wall of the fourth connecting rod, a second mounting seat is rotatably mounted on a side wall of the first hydraulic rod, and the second mounting seat is fixedly mounted on the top of the receiving plate.
[0014] Preferably, a second hydraulic rod is rotatably installed on the top of the mechanical arm, hydraulic cylinders are fixedly installed on the side walls of the first hydraulic rod and the second hydraulic rod, the second hydraulic rod is rotatably installed on the mounting block at one end away from the mechanical arm, the mounting block is rotatably installed inside the mechanical arm, and the mounting block is fixedly installed on the first clamping frame at one end away from the mechanical arm.
[0015] Preferably, a cleaning block is fixedly installed inside the sliding block, a spring rod is fixedly installed inside the cleaning block, a mounting plate is fixedly installed on the top of the spring rod, the number of the sliding block, cleaning block, spring rod and mounting plate are two each, a lighting lamp is fixedly installed on the top of the mounting plate on the right side, a color high-resolution camera is fixedly installed on the top of the mounting plate on the left side, baffles are fixedly installed on the top of the lighting lamp and the color high-resolution camera, and a miniature pneumatic breaker is movably installed inside the first clamping frame.
[0016] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, by providing a first clamping frame, after the micro pneumatic breaker is placed in the first clamping frame, the handle is first rotated counterclockwise, the handle drives the rotating drum to rotate counterclockwise, the rotating drum drives the fourth gear to rotate counterclockwise, the fourth gear drives the fifth gear to rotate clockwise, the fifth gear drives the synchronous belt transmission assembly clockwise, and the synchronous belt transmission assembly drives the fifth gear on the other side to rotate clockwise, and performs the same movement. The rotating drum rotates counterclockwise to retract the threaded rod. At this time, the second clamping frame will gradually approach the first clamping frame to clamp the micro pneumatic breaker, and then push the sliding block from both ends to the middle, the sliding block drives the second rack to move from both ends to the middle, the second rack drives the sixth gear to rotate clockwise, and there is damping between the rotation of the sixth gear and the first clamping frame to prevent the sliding block from sliding back and forth during operation. The sliding block will be located above the micro pneumatic breaker to limit the micro pneumatic breaker, thereby achieving quick replacement of the tool head according to the operation scenario.
[0017] In the present invention, a cleaning block is provided. When the micro-pneumatic breaker cleans the blockage inside the pipeline, if the blockage falls, it will fall above the baffle and squeeze the baffle to move from top to bottom. The baffle squeezes the lighting lamp and the color high-resolution camera to move from top to bottom. The spring rod will be compressed by force. At this time, the lighting lamp and the color high-resolution camera will retract into the sliding block. When the lighting lamp and the color high-resolution camera pass through the cleaning block, the cleaning block can wipe the lens of the lighting lamp and the color high-resolution camera to ensure the clarity of the surveillance video, and then the blockage above the baffle will be bounced off by the rebound of the spring rod, thereby achieving the function of cleaning the lighting lamp and the color high-resolution camera lens.
[0018] In the present invention, by providing a first rack, if steering is required, the second motor is started, and when the second motor rotates counterclockwise, the second motor drives the third gear to rotate counterclockwise, and the third gear drives the first rack to swing clockwise, the first rack drives the first connecting rod to move from left to right, the first connecting rod drives the second connecting rod to move in a clockwise circular motion, the second connecting rod drives the rotating rod to rotate clockwise, the rotating rod drives the third connecting rod to swing clockwise, the third connecting rod drives the aluminum alloy wheel hub to swing clockwise, and the aluminum alloy wheel hub drives the truncated cone column to swing clockwise, and at the same time, the first motor drives the first gear to rotate counterclockwise, the first gear drives the second gear to rotate clockwise, the second gear drives the first rotating shaft to rotate clockwise, and the first rotating shaft drives the aluminum alloy wheel hub and the truncated cone column to rotate clockwise, thereby realizing the forward, backward and left and right deflection functions.
[0019] In the present invention, by providing a receiving plate, when the robot arm needs to look up, look down or turn to operate, the third motor is started, the third motor drives the receiving plate to rotate counterclockwise, the receiving plate drives the sliding column to make counterclockwise circular motion inside the annular groove, the receiving plate drives the second mounting seat and the first mounting seat to make counterclockwise circular motion, the first hydraulic rod will push the fourth connecting rod to move from the lower left to the upper right, the fourth connecting rod drives the robot arm to move from the lower left to the upper right, the robot arm will flip clockwise inside the first mounting seat, at this time the second hydraulic rod contracts, the second hydraulic rod drives the mounting block to move clockwise in a circular motion, so that the first clamping frame performs an upward movement, which can realize 360-degree omnidirectional operation in the pipeline, and provide a flexible and stable working platform for high-power tool heads for maintenance in the pipeline, and can still maintain precise control under high-load operation.
[0020] In the present invention, a color high-resolution camera is provided, and lighting lamps and color high-resolution cameras are installed inside the two sliding blocks respectively to provide the operator with an omnidirectional monitoring and recording field of view of the working environment during the movement and operation of the robot, so that the operator can accurately monitor and record the working point of the tool head, realize precise operation, and avoid secondary damage to the pipe wall. In addition, a frustum column is designed on the outer side of the aluminum alloy wheel hub, which can increase the bonding surface between the device and the inner wall of the pipe, and provide stable support for the high-intensity operation of the device. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic structural diagram of a first mounting base of the present invention; Figure 3 It is a structural schematic diagram of the connecting plate of the present invention; Figure 4 is a schematic structural diagram of the first rack of the present invention; Figure 5 It is a structural schematic diagram of the mechanical arm of the present invention; Figure 6 It is a structural schematic diagram of the mounting block of the present invention; Figure 7 is a schematic structural diagram of the sixth gear of the present invention; Figure 8 It is a structural schematic diagram of a color high-resolution camera of the present invention.
[0022] In the figure, the corresponding relationship between the component names and the figure numbers is: 11, bottom plate; 12, first motor; 13, first gear; 14, second gear; 15, first rotating shaft; 16, second motor; 17, third gear; 18, first rack; 19, first connecting rod; 21, second connecting rod; 22, rotating rod; 23, third connecting rod; 24, aluminum alloy wheel hub; 25, round cone column; 26, connecting plate; 27, square groove; 28, third motor; 29, annular groove; 31, receiving plate; 32, sliding column; 33, first mounting seat; 34, mechanical arm ; 35. fourth connecting rod; 36. first hydraulic rod; 37. second mounting seat; 38. second hydraulic rod; 39. mounting block; 41. first clamping frame; 42. rotating drum; 43. fourth gear; 44. handle; 45. fifth gear; 46. synchronous belt drive assembly; 47. threaded rod; 48. second clamping frame; 49. sixth gear; 51. second rack; 52. sliding block; 53. cleaning block; 54. spring rod; 55. mounting plate; 56. lighting lamp; 57. color high-resolution camera; 58. baffle; 59. micro pneumatic breaker. DETAILED DESCRIPTION
[0023] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0024] See also Figure 1-Figure 8The present invention provides a multifunctional maintenance robot, including a base plate 11, a clamping mechanism is arranged on the top of the base plate 11, and the clamping mechanism includes a first clamping frame 41, a rotating drum 42, a fourth gear 43, a handle 44, a fifth gear 45, a synchronous belt transmission assembly 46, a threaded rod 47, a second clamping frame 48, a sixth gear 49, a second rack 51 and a sliding block 52, the rotating drum 42 is rotatably mounted inside the first clamping frame 41, the fourth gear 43 is fixedly mounted on the side wall of the rotating drum 42, the handle 44 is fixedly mounted on one end of the rotating drum 42 close to the fourth gear 43, and the fifth gear 45 is rotatably mounted on the first clamping frame 41 The fourth gear 43 is meshed with the fifth gear 45, the synchronous belt transmission assembly 46 is transmission-mounted on the side wall of the fifth gear 45, the threaded rod 47 is threadedly mounted inside the rotating drum 42, the second clamping frame 48 is fixedly mounted on the side wall of the threaded rod 47, the second clamping frame 48 is slidably mounted on the side wall of the first clamping frame 41, the sixth gear 49 is rotatably mounted on the side wall of the first clamping frame 41, the second rack 51 is meshed with the sixth gear 49, the sliding block 52 is fixedly mounted on the side wall of the second rack 51, and the sliding block 52 is slidably mounted on the first clamping frame 41 At the top, after the micro-pneumatic breaker 59 is placed inside the first clamping frame 41, the handle 44 is rotated counterclockwise first, the handle 44 drives the drum 42 to rotate counterclockwise, the drum 42 drives the fourth gear 43 to rotate counterclockwise, the fourth gear 43 drives the fifth gear 45 to rotate clockwise, the fifth gear 45 drives the synchronous belt transmission assembly 46 to rotate clockwise, the synchronous belt transmission assembly 46 drives the fifth gear 45 on the other side to rotate clockwise, and the same movement is performed. The drum 42 rotates counterclockwise to retract the threaded rod 47, and at this time the second clamping frame 48 will move to the first A clamping frame 41 gradually approaches to clamp the micro pneumatic breaker 59, and then pushes the sliding block 52 from both ends to the middle, the sliding block 52 drives the second rack 51 to move from both ends to the middle, the second rack 51 drives the sixth gear 49 to rotate clockwise, and there is damping between the rotation of the sixth gear 49 and the first clamping frame 41 to prevent the sliding block 52 from sliding back and forth during operation. The sliding block 52 will be located above the micro pneumatic breaker 59 to limit the micro pneumatic breaker 59, so as to achieve quick replacement of the tool head according to the operation scenario.
[0025] A first motor 12 is fixedly installed on the top of the base plate 11, a first gear 13 is fixedly installed on the side wall of the output shaft of the first motor 12, a second gear 14 is meshed with the side wall of the first gear 13, a first rotating shaft 15 is fixedly installed inside the second gear 14, a second motor 16 is fixedly installed on the top of the base plate 11, a third gear 17 is fixedly installed on the output end of the second motor 16, a first rack 18 is meshed with the side wall of the third gear 17, the first rack 18 is rotatably installed inside the base plate 11, a first connecting rod 19 is rotatably installed on the top of the first rack 18, a second connecting rod 21 is rotatably installed on the top of the first connecting rod 19, a rotating rod 22 is fixedly installed inside the second connecting rod 21, a third connecting rod 23 is fixedly installed on the side wall of the rotating rod 22, the rotating rod 22 is rotatably installed inside the base plate 11, an aluminum alloy wheel hub 24 is fixedly installed on the side wall of the third connecting rod 23 and the first rotating shaft 15, a frustum column 25 is fixedly installed on the side wall of the aluminum alloy wheel hub 24, a connecting plate 26 is fixedly installed on the top of the base plate 11, and a third connecting rod 21 is rotatably installed on the top of the first connecting rod 19. A rotating shaft 15 is rotatably installed inside the connecting plate 26. If steering is required, the second motor 16 is started. When the second motor 16 rotates counterclockwise, the second motor 16 drives the third gear 17 to rotate counterclockwise, and the third gear 17 drives the first rack 18 to swing clockwise. The first rack 18 drives the first connecting rod 19 to move from left to right, and the first connecting rod 19 drives the second connecting rod 21 to move in a clockwise circular motion. The second connecting rod 21 drives the rotating rod 22 to rotate clockwise, and the rotating rod 22 drives the third connecting rod 23 to swing clockwise. The third connecting rod 23 drives the aluminum alloy wheel hub 24 to swing clockwise, and the aluminum alloy wheel hub 24 drives the round cone column 25 to swing clockwise. At the same time, the first motor 12 drives the first gear 13 to rotate counterclockwise, the first gear 13 drives the second gear 14 to rotate clockwise, and the second gear 14 drives the first rotating shaft 15 to rotate clockwise. The first rotating shaft 15 drives the aluminum alloy wheel hub 24 and the round cone column 25 to rotate clockwise, thereby realizing the forward, backward and left and right deflection functions.
[0026] A square groove 27 is provided on the top of the connecting plate 26, a third motor 28 is fixedly installed inside the connecting plate 26, the third motor 28 is located inside the square groove 27, an annular groove 29 is provided on the top of the connecting plate 26, a receiving plate 31 is fixedly installed on the output end of the third motor 28, a sliding column 32 is fixedly installed on the bottom of the receiving plate 31, the sliding column 32 is slidably installed inside the annular groove 29, a first mounting seat 33 is fixedly installed on the top of the receiving plate 31, a mechanical arm 34 is rotatably installed inside the first mounting seat 33, a fourth connecting rod 35 is rotatably installed inside the mechanical arm 34, a first hydraulic rod 36 is fixedly installed on the side wall of the fourth connecting rod 35, a second mounting seat 37 is rotatably installed on the side wall of the first hydraulic rod 36, the second mounting seat 37 is fixedly installed on the top of the receiving plate 31, a second hydraulic rod 38 is rotatably installed on the top of the mechanical arm 34, hydraulic cylinders are fixedly installed on the side walls of the first hydraulic rod 36 and the second hydraulic rod 38, and one end of the second hydraulic rod 38 away from the mechanical arm 34 is connected to the mounting block 39 Rotational installation, the mounting block 39 is rotationally installed inside the mechanical arm 34. When the mechanical arm 34 needs to look up, look down or turn to operate, the third motor 28 is started, and the third motor 28 drives the receiving plate 31 to rotate counterclockwise, and the receiving plate 31 drives the sliding column 32 to make counterclockwise circular motion inside the annular groove 29, and the receiving plate 31 drives the second mounting seat 37 and the first mounting seat 33 to make counterclockwise circular motion, and the first hydraulic rod 36 will push the fourth connecting rod 35 to move from the lower left to the upper right, and the fourth connecting rod 35 drives the mechanical arm 34 to move from the lower left to the upper right, and the mechanical arm 34 will flip clockwise inside the first mounting seat 33. At this time, the second hydraulic rod 38 contracts, and the second hydraulic rod 38 drives the mounting block 39 to move clockwise in a circular motion, so that the first clamping frame 41 performs an upward movement, which can realize 360-degree omnidirectional operation in the pipeline, and provide a flexible and stable working platform for high-power tool heads for maintenance in the pipeline, and can still maintain precise control under high-load operation.
[0027] The end of the mounting block 39 away from the mechanical arm 34 is fixedly mounted on the first clamping frame 41, a cleaning block 53 is fixedly mounted inside the sliding block 52, a spring rod 54 is fixedly mounted inside the cleaning block 53, and a mounting plate 55 is fixedly mounted on the top of the spring rod 54. When the micro pneumatic breaker 59 cleans the blockage inside the pipeline, if the blockage falls, it falls above the baffle 58, squeezing the baffle 58, so that the baffle 58 moves from top to bottom, and the baffle 58 squeezes the lighting lamp 56 and the color high-resolution camera 57, so that the lighting lamp 56 and the color high-resolution camera 57 are When the high-resolution camera 57 moves from top to bottom, the spring rod 54 will be compressed, and the lighting lamp 56 and the color high-resolution camera 57 will retract into the sliding block 52. When the lighting lamp 56 and the color high-resolution camera 57 pass through the cleaning block 53, the cleaning block 53 can wipe the lenses of the lighting lamp 56 and the color high-resolution camera 57 to ensure the clarity of the surveillance video, and then the spring rod 54 rebounds to bounce off the blockage above the baffle 58, thereby achieving the function of cleaning the lighting lamp 56 and the lens of the color high-resolution camera 57.
[0028] There are two sliding blocks 52, cleaning blocks 53, spring rods 54 and mounting plates 55. A lighting lamp 56 is fixedly installed on the top of the right mounting plate 55, and a color high-resolution camera 57 is fixedly installed on the top of the left mounting plate 55. Baffles 58 are fixedly installed on the top of the lighting lamp 56 and the color high-resolution camera 57. A micro-pneumatic breaker 59 is movably installed inside the first clamping frame 41. Lights 56 and color high-resolution cameras 57 are respectively installed inside the two sliding blocks 52 to provide operators with omnidirectional monitoring and video viewing of the working environment during the movement and operation of the robot, so that the operator can accurately monitor and record the working point of the tool head, realize precise operation, and avoid secondary damage to the pipe wall. A round cone column 25 is designed on the outer side of the aluminum alloy wheel hub 24 to increase the bonding surface between the device and the inner wall of the pipeline, providing stable support for high-intensity operation of the device.
[0029] Working principle: In the first step, after the micro-pneumatic breaker 59 is placed inside the first clamping frame 41, the handle 44 is rotated counterclockwise first, the handle 44 drives the drum 42 to rotate counterclockwise, the drum 42 drives the fourth gear 43 to rotate counterclockwise, the fourth gear 43 drives the fifth gear 45 to rotate clockwise, the fifth gear 45 drives the synchronous belt transmission assembly 46 to rotate clockwise, the synchronous belt transmission assembly 46 drives the fifth gear 45 on the other side to rotate clockwise, and the same movement is performed. The drum 42 rotates counterclockwise to retract the threaded rod 47, and at this time the second clamping frame 48 will move to the first clamping frame 48. A clamping frame 41 gradually approaches to clamp the micro pneumatic breaker 59, and then pushes the sliding block 52 from both ends to the middle. The sliding block 52 drives the second rack 51 to move from both ends to the middle, and the second rack 51 drives the sixth gear 49 to rotate clockwise. There is damping between the rotation of the sixth gear 49 and the first clamping frame 41 to prevent the sliding block 52 from sliding back and forth during operation. The sliding block 52 will be located above the micro pneumatic breaker 59 to limit the micro pneumatic breaker 59, so as to achieve quick replacement of the tool head according to the operation scenario.
[0030] The second step, if steering is required, start the second motor 16, when the second motor 16 rotates counterclockwise, the second motor 16 drives the third gear 17 to rotate counterclockwise, the third gear 17 drives the first rack 18 to swing clockwise, the first rack 18 drives the first connecting rod 19 to move from left to right, the first connecting rod 19 drives the second connecting rod 21 to move in a clockwise circular motion, the second connecting rod 21 drives the rotating rod 22 to rotate clockwise, the rotating rod 22 drives the third connecting rod 23 to swing clockwise, the third connecting rod 23 drives the aluminum alloy wheel hub 24 to swing clockwise, the aluminum alloy wheel hub 24 drives the round cone column 25 to swing clockwise, and at the same time the first motor 12 drives the first gear 13 to rotate counterclockwise, the first gear 13 drives the second gear 14 to rotate clockwise, the second gear 14 drives the first rotating shaft 15 to rotate clockwise, the first rotating shaft 15 drives the aluminum alloy wheel hub 24 and the round cone column 25 to rotate clockwise, thereby realizing the forward, backward and left and right deflection functions.
[0031] The third step, when the robot arm 34 needs to look up, look down or turn to operate, start the third motor 28, the third motor 28 drives the receiving plate 31 to rotate counterclockwise, the receiving plate 31 drives the sliding column 32 to make counterclockwise circular motion inside the annular groove 29, the receiving plate 31 drives the second mounting seat 37 and the first mounting seat 33 to make counterclockwise circular motion, the first hydraulic rod 36 will push the fourth connecting rod 35 to move from the lower left to the upper right, the fourth connecting rod 35 drives the robot arm 34 to move from the lower left to the upper right, the robot arm 34 will flip clockwise inside the first mounting seat 33, at this time the second hydraulic rod 38 contracts, the second hydraulic rod 38 drives the mounting block 39 to move clockwise, so that the first clamping frame 41 moves upward, which can realize 360-degree omnidirectional operation in the pipeline, providing a flexible and stable working platform for high-power tool heads for maintenance in the pipeline, and maintaining precise control under high-load operation.
[0032] In the fourth step, lighting lamps 56 and color high-resolution cameras 57 are respectively installed inside the two sliding blocks 52 to provide the operator with an omnidirectional monitoring and recording field of view of the working environment during the movement and operation of the robot, so that the operator can accurately monitor and record the working point of the tool head, realize precise operation, and avoid secondary damage to the pipe wall. In addition, a frustum column 25 is designed on the outer side of the aluminum alloy wheel hub 24 to increase the bonding surface between the device and the inner wall of the pipe, providing stable support for the high-intensity operation of the device.
[0033] The fifth step, when the micro pneumatic breaker 59 is cleaning the blockage inside the pipeline, if the blockage falls, it will fall onto the baffle 58, squeezing the baffle 58 to move from top to bottom. The baffle 58 squeezes the lighting lamp 56 and the color high-resolution camera 57 to move from top to bottom, and the spring rod 54 will be compressed. At this time, the lighting lamp 56 and the color high-resolution camera 57 will retract into the sliding block 52. When the lighting lamp 56 and the color high-resolution camera 57 pass through the cleaning block 53, the cleaning block 53 can wipe the lens of the lighting lamp 56 and the color high-resolution camera 57 to ensure the clarity of the surveillance video, and then the spring rod 54 rebounds to bounce off the blockage above the baffle 58, thereby achieving the function of cleaning the lighting lamp 56 and the color high-resolution camera 57 lens.
[0034] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.
Claims
1. A multifunctional maintenance robot, comprising a base plate (11), characterized in that: A clamping mechanism is provided on the top of the bottom plate (11), and the clamping mechanism comprises a first clamping frame (41), a rotating drum (42), a fourth gear (43), a handle (44), a fifth gear (45), a synchronous belt transmission assembly (46), a threaded rod (47), a second clamping frame (48), a sixth gear (49), a second rack (51) and a sliding block (52); the rotating drum (42) is rotatably mounted inside the first clamping frame (41); the fourth gear (43) is fixedly mounted on a side wall of the rotating drum (42); the handle (44) is fixedly mounted on an end of the rotating drum (42) close to the fourth gear (43); and the fifth gear (45) is rotatably mounted on the side wall of the first clamping frame (41). The fourth gear (43) is meshed with the fifth gear (45), the synchronous belt transmission assembly (46) is transmission-mounted on the side wall of the fifth gear (45), the threaded rod (47) is threadedly mounted inside the rotating drum (42), the second clamping frame (48) is fixedly mounted on the side wall of the threaded rod (47), the second clamping frame (48) is slidably mounted on the side wall of the first clamping frame (41), the sixth gear (49) is rotatably mounted on the side wall of the first clamping frame (41), the second rack (51) is meshed with the sixth gear (49), the sliding block (52) is fixedly mounted on the side wall of the second rack (51), and the sliding block (52) is slidably mounted on the top of the first clamping frame (41).
2. A multifunctional maintenance robot as claimed in claim 1, characterized in that: A first motor (12) is fixedly mounted on the top of the bottom plate (11), and a first gear (13) is fixedly mounted on the side wall of the output shaft of the first motor (12); The second gear (14) is meshedly mounted on the side wall of the first gear (13), and the first rotating shaft (15) is fixedly mounted inside the second gear (14).
3. A multifunctional maintenance robot as claimed in claim 2, characterized in that: A second motor (16) is fixedly mounted on the top of the bottom plate (11), and a third gear (17) is fixedly mounted on the output end of the second motor (16); The side wall of the third gear (17) is meshed with a first rack (18), the first rack (18) is rotatably mounted inside the bottom plate (11), and a first connecting rod (19) is rotatably mounted on the top of the first rack (18).
4. A multifunctional maintenance robot as claimed in claim 3, characterized in that: A second connecting rod (21) is rotatably mounted on the top of the first connecting rod (19), and a rotating rod (22) is fixedly mounted inside the second connecting rod (21); A third connecting rod (23) is fixedly mounted on the side wall of the rotating rod (22), and the rotating rod (22) is rotatably mounted inside the bottom plate (11).
5. A multifunctional maintenance robot as claimed in claim 4, characterized in that: An aluminum alloy wheel hub (24) is fixedly mounted on the side wall of the third connecting rod (23) and the first rotating shaft (15), and a truncated cone column (25) is fixedly mounted on the side wall of the aluminum alloy wheel hub (24); A connecting plate (26) is fixedly mounted on the top of the bottom plate (11), the first rotating shaft (15) is rotatably mounted inside the connecting plate (26), and a square groove (27) is provided on the top of the connecting plate (26).
6. A multifunctional maintenance robot as claimed in claim 5, characterized in that: A third motor (28) is fixedly mounted inside the connecting plate (26), and the third motor (28) is located inside the square groove (27); The top of the connecting plate (26) is provided with an annular groove (29), and the output end of the third motor (28) is fixedly mounted with a receiving plate (31).
7. A multifunctional maintenance robot as claimed in claim 6, characterized in that: A sliding column (32) is fixedly mounted on the bottom of the receiving plate (31), and the sliding column (32) is slidably mounted inside the annular groove (29); A first mounting seat (33) is fixedly mounted on the top of the receiving plate (31), and a mechanical arm (34) is rotatably mounted inside the first mounting seat (33).
8. A multifunctional maintenance robot as claimed in claim 7, characterized in that: A fourth connecting rod (35) is rotatably mounted inside the mechanical arm (34), and a first hydraulic rod (36) is fixedly mounted on a side wall of the fourth connecting rod (35); A second mounting seat (37) is rotatably mounted on the side wall of the first hydraulic rod (36), and the second mounting seat (37) is fixedly mounted on the top of the receiving plate (31).
9. A multifunctional maintenance robot as claimed in claim 8, characterized in that: A second hydraulic rod (38) is rotatably mounted on the top of the mechanical arm (34); hydraulic cylinders are fixedly mounted on the side walls of the first hydraulic rod (36) and the second hydraulic rod (38); and an end of the second hydraulic rod (38) away from the mechanical arm (34) is rotatably mounted on a mounting block (39); The mounting block (39) is rotatably mounted inside the mechanical arm (34), and one end of the mounting block (39) away from the mechanical arm (34) is fixedly mounted to the first clamping frame (41).
10. A multifunctional maintenance robot as claimed in claim 9, characterized in that: A cleaning block (53) is fixedly mounted inside the sliding block (52), a spring rod (54) is fixedly mounted inside the cleaning block (53), a mounting plate (55) is fixedly mounted on the top of the spring rod (54), the sliding block (52), the cleaning block (53), the spring rod (54) and the mounting plate (55) are each two in number, a lighting lamp (56) is fixedly mounted on the top of the right mounting plate (55), and a color high-resolution camera (57) is fixedly mounted on the top of the left mounting plate (55); Wherein, baffles (58) are fixedly mounted on the tops of the lighting lamp (56) and the color high-resolution camera (57), and a miniature pneumatic breaker (59) is movably mounted inside the first clamping frame (41).