Soft hoof web claw structure of pipeline robot

Abstract

The soft hoof web claw structure of the pipeline robot comprises an assembly frame, web claws rotationally arranged on the assembly frame and a driving part for driving the web claws to rotate, web lips are arranged at the heads of the web claws, pressure cavities are formed in the web lips, the outward sides of the pressure cavities are opened to form adsorption openings, and the adsorption openings are communicated with the assembly frame. The pressure cavity is further provided with an air release valve used for releasing air when the pressure of the pressure cavity is too large, the head of each webbed claw is of a webbed lip structure, the webbed claws are driven by the driving part to rotate, the webbed lips can be extruded and adsorbed into the pipeline, the product can grasp the inner wall of the pipeline, the inner wall of the pipeline cannot be damaged, and the applicability is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline robots, and particularly relates to a soft hoof webbed claw structure of a pipeline robot. Background Art

[0002] In the prior art, pipeline robots walk inside pipelines through walking wheels. However, with walking wheels, they cannot change the width in the radial direction, so they cannot walk on vertical pipelines. Therefore, there is an urgent need for a webbed claw that can grasp the inner wall of the pipeline. Currently, the existing webbed claws have a steel tooth structure, and a driving device is used to push the webbed claw to rotate and abut against the inner wall of the pipeline. However, this structure is prone to damaging the inside of the pipeline and is only suitable for pipelines made of materials that are not easily damaged, such as steel pipes. Therefore, its use has limitations.

[0003] There is a hard hoof webbed claw structure on the market, which drives the webbed claw to rotate and adsorb to the inner wall of the pipeline through a driving member. However, the webbed lip cannot adaptively rotate and adjust relative to the webbed claw, making it relatively rigid during use and having limitations. Summary of the Invention

[0004] Objective of the present invention: To overcome the defects of the prior art, the present invention provides a soft hoof webbed claw structure of a pipeline robot. The head of the webbed claw adopts the structure of a webbed lip, and the webbed claw is driven to rotate by a driving member, so that the webbed lip can be squeezed and adsorbed to the inside of the pipeline, enabling the product to grasp the inner wall of the pipeline without damaging the inner wall of the pipeline, having stronger applicability. Moreover, the webbed lip can further rotate relative to the webbed claw, facilitating the adsorption of the webbed lip to the inner wall of the pipeline, with relatively high flexibility.

[0005] The present invention discloses a soft hoof webbed claw structure of a pipeline robot, including an assembly frame, a webbed claw rotatably arranged on the assembly frame, and a driving member for driving the rotation of the webbed claw. It is characterized in that: a rotating frame is rotatably arranged at the head of the webbed claw, a webbed lip for adsorbing the inner wall of the pipeline is arranged on the rotating frame, a pressure chamber is arranged inside the webbed lip, the side of the pressure chamber facing outward is provided with an opening to form an adsorption port, and a pressure relief valve for venting when the pressure in the pressure chamber is too high is also arranged on the pressure chamber. The output end of the driving member is hinged to the rotating frame, and an elastic reset member for driving the rotating frame to rotate and reset is also arranged on the webbed claw. The elastic reset member is a coil spring, one end of the coil spring is directly or indirectly connected to the rotating frame, and the other end directly or indirectly acts on the webbed claw.

[0006] Adopting the above technical solution, the head of the webbed claw adopts the structure of a webbed lip, and the webbed claw is driven to rotate by a driving member, so that the webbed lip can be squeezed and adsorbed to the inside of the pipeline, enabling the product to grasp the inner wall of the pipeline without damaging the inner wall of the pipeline, having stronger applicability. Moreover, the webbed lip can further rotate relative to the webbed claw, facilitating the adsorption of the webbed lip to the inner wall of the pipeline, with relatively high flexibility. And through the elastic reset member, it can perform buffer adjustment and elastic reset, realizing the function of adaptive adjustment and having stronger practicability.

[0007] A further setting of the present invention: The pressure chamber includes an outer chamber and an inner chamber. A deformable partition is provided between the outer chamber and the inner chamber, and ventilation holes are also provided on the partition.

[0008] With the above technical solution, it can be divided into two inner and outer chambers by the partition, and the gas in the outer chamber can be squeezed into the inner chamber through the ventilation holes, so as to facilitate the discharge through the air release valve.

[0009] A further setting of the present invention: An extrusion column for deforming the partition is also provided on the outer chamber corresponding to the position of the partition.

[0010] With the above technical solution, when the positive pressure acting on the webbed claw makes the webbed lip completely fit the pipe wall, the further increase of the positive pressure will cause the columnar body to be compressed, deforming the partition and prompting the volume of the pressure chamber to increase, so that suction can be generated and increased.

[0011] A further setting of the present invention: The adsorption port is arc-shaped.

[0012] With the above technical solution, when the positive pressure acting on the webbed claw is removed, under the action of the elastic reset of its body, gas can be quickly sucked, so that the claw body can be separated from the pipe wall in time.

[0013] A further setting of the present invention: A thimble is provided on the rotating frame corresponding to the trigger end position of the air release valve. The thimble is located below the extrusion column, and the extrusion column can move to extrude the thimble to open the air release valve.

[0014] With the above technical solution, the air release valve can be easily driven to open through the thimble, and the structural layout is relatively reasonable.

[0015] A further setting of the present invention: A support column is provided on the assembly frame. The webbed claw is rotatably arranged on the support column. An auxiliary support arm axially slidable on the support column is also included. The auxiliary support arms are arranged on both opposite sides of the webbed claw. An elastic member for driving the auxiliary support arms to abut against the inner wall of the pipe is also included.

[0016] With the above technical solution, when the webbed claw withdraws from grasping the inner wall of the pipe, the auxiliary support arms can play a role in buffering and auxiliary support, which can not only protect the device, but also prevent the pipe robot from deflecting.

[0017] A further setting of the present invention: The elastic member is a spring sleeved on the support column. A sliding seat is provided on the support column. The auxiliary support arm is arranged on the sliding seat. One end of the spring abuts against the sliding seat, and the other end abuts against the assembly frame or the support column.

[0018] With the above technical solution, a spring reset is adopted. It can be sleeved on the support column, and has relatively good stability and is also convenient to install.

[0019] A further setting of the present invention: A roller is rotatably provided at the outer end of the auxiliary support arm, and the roller can abut against the inner wall of the pipeline.

[0020] With the above technical solution, by abutting the roller against the inner wall of the pipeline, the friction can be reduced when it moves, and the structural layout is relatively reasonable.

[0021] A further setting of the present invention: There are two webbed claws arranged one before and one after. One end of the webbed claw is a hinged end, and the other end is a movable end provided with a rotating frame. The movable ends of the two webbed claws can rotate close to or away from each other, and a plug-in structure that can be rotatably inserted is also provided on the two webbed claws.

[0022] With the above technical solution, the stability can be increased by the adsorption of the two webbed claws, and through the cooperation of the plug-in structure, the two webbed claws can avoid each other when rotating, and the structural layout is relatively reasonable.

[0023] A further setting of the present invention: A plurality of groups of the webbed claws are arranged at intervals along the circumferential direction of the assembly frame.

[0024] With the above technical solution, the adsorption force on the inside of the pipeline can be increased, thereby increasing the stability and making it more stable during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of a partial structure of the present invention; Figure 3 is a schematic diagram of the webbed claw structure of the present invention; Figure 4 is Figure 3 a sectional view. DETAILED DESCRIPTION OF THE INVENTION

[0026] The following further details the specific embodiments of the present invention with reference to the drawings: In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0027] The present invention discloses a soft hoof webbed claw structure of a pipeline robot, comprising an assembly frame 1, a webbed claw 2 rotatably arranged on the assembly frame 1, and a driving member 3 for driving the webbed claw 2 to rotate (the driving member 3 is most preferably a cylinder or an oil cylinder, which can drive the webbed claw 2 to rotate by telescoping). In the embodiment of the present invention, the head of the webbed claw 2 is rotatably provided with a rotating frame 60, and the rotating frame 60 is provided with a webbed lip 4 for adsorbing the inner wall of the pipeline. The webbed lip 4 has a built-in pressure chamber 41, and the side of the pressure chamber 41 facing outward is opened to form a suction port 42. The pressure chamber 41 is also provided with a suction port 42 for adsorption. The output end of the driving member 3 is hingedly provided on the rotating frame 60, and the webbed claw 2 is also provided with an elastic reset member 70 for driving the rotating frame 60 to rotate and reset. The elastic reset member 70 is a coil spring, one end of which is directly or indirectly connected to the rotating frame 60, and the other end directly or indirectly acts on the webbed claw 2. A limit block is also provided along the circumferential direction on the outer side of the corresponding coil spring on the rotating frame 60.

[0028] By adopting the above technical solution, the head of the webbed claw 2 adopts the structure of the webbed lip 4, and the webbed claw 2 is driven to rotate by the driving member 3, so that the webbed lip 4 can be squeezed and adsorbed to the inner wall of the pipe, so that the product can grasp the inner wall of the pipe without damaging the inner wall of the pipe, and has stronger applicability. The webbed lip 4 can be further rotated relative to the webbed claw 2 to facilitate the webbed lip 4 to be adsorbed on the inner wall of the pipe, and has relatively high flexibility. The elastic reset member 70 can be used to perform buffering adjustment and elastic reset, realizing the function of adaptive adjustment, and has stronger practicality.

[0029] The pressure chamber 41 includes an outer chamber 411 and an inner chamber 412. A deformable separator 6 is provided between the outer chamber 411 and the inner chamber 412, and a vent 61 is provided on the separator 6. The separator 6 can be used to separate the pressure chamber into two inner and outer chambers, and the vent 61 can be used to squeeze the gas in the outer chamber 411 into the inner chamber 412, so that it can be discharged through the air release valve 5.

[0030] An extrusion column 7 for squeezing the separator 6 to deform is also provided on the outer cavity 411 at the position corresponding to the separator 6. When the positive pressure acting on the webbed claw 2 makes the webbed lip 4 completely fit against the pipe wall, the positive pressure will further increase, which will compress the extrusion column 7 and squeeze the separator 6 to deform, causing the volume of the pressure chamber 41 to increase, thereby generating and increasing suction.

[0031] The adsorption port 42 is arranged in an arc shape, which is conducive to the rapid absorption of gas under the elastic restoration of the body when the positive pressure acting on the webbed claw 2 is removed, so that the webbed claw can be separated from the tube wall in time.

[0032] A thimble 8 is arranged on the rotary frame 60 corresponding to the trigger end position of the air release valve 5. The thimble 8 is located below the extrusion column 7, and the extrusion column 7 can move to extrude the thimble 8 so as to open the air release valve 5. The thimble 8 can facilitate driving the air release valve 5 to open, and the structural layout is relatively reasonable.

[0033] A support column 9 is arranged on the assembly frame 1. The webbed claw 2 is rotatably arranged on the support column 9. It also includes an auxiliary support arm 10 axially slidably arranged on the support column 9. The auxiliary support arm 10 is arranged on both opposite sides of the webbed claw 2. It also includes an elastic member 20 that drives the auxiliary support arm 10 to abut against the inner wall of the pipeline. When the webbed claw 2 withdraws from the inner wall of the pipeline, the auxiliary support arm 10 can play a role in buffering and auxiliary support, which can not only protect the device but also prevent the pipeline robot from deflecting.

[0034] The elastic member 20 is a spring sleeved on the support column 9. A sliding seat 30 is arranged on the support column 9. The auxiliary support arm 10 is arranged on the sliding seat 30. One end of the spring abuts against the sliding seat 30, and the other end abuts against the assembly frame 1 or the support column 9. Using spring reset, it can be sleeved on the support column 9, and the stability is relatively good and it is also relatively convenient to install. Of course, the elastic member 20 can also be a volute spring or a torsion spring.

[0035] A roller 40 is rotatably arranged at the outer end of the auxiliary support arm 10. The roller 40 can abut against the inner wall of the pipeline. By abutting the roller 40 against the inner wall of the pipeline, the friction can be reduced when it walks, and the structural layout is relatively reasonable.

[0036] Two webbed claws 2 are arranged one in front of the other. Along their front-back distribution, they are the front webbed claw and the rear webbed claw. One end of the webbed claw 2 is a hinged end 21, and the other end is a movable end 22 provided with a rotary frame 60. The movable ends 22 of the two webbed claws 2 can rotate close to or away from each other, and a plug-in structure 50 that can be rotatably inserted is also arranged on the two webbed claws 2 (it can be realized by the cooperation of a plug-in groove and a plug-in block for rotational avoidance. Of course, the two can also be avoided by being arranged in a staggered manner). By adsorbing with two webbed claws 2, the stability can be increased, and through the cooperation of the plug-in structure, the two webbed claws 2 can avoid each other when rotating, and the structural layout is relatively reasonable.

[0037] Several groups of the webbed claws 2 are arranged at intervals along the circumferential direction of the assembly frame 1, which can increase the adsorption force on the inner wall of the pipeline, thereby increasing the stability and making it more stable during use.

Claims

1. A soft flipper claw structure of a pipeline robot, comprising an assembly frame (1), a flipper claw (2) rotatably arranged on the assembly frame (1), and a driving member (3) for driving the flipper claw (2) to rotate, characterized in that: The head of the webbed claw (2) is rotatably provided with a rotating frame (60). A webbed lip (4) for adsorbing the inner wall of the pipeline is arranged on the rotating frame (60). A pressure chamber (41) is arranged inside the webbed lip (4). One side of the pressure chamber (41) facing outward is open to form an adsorption port (42). A pressure relief valve (5) for relieving pressure when the pressure in the pressure chamber (41) is too high is also arranged on the pressure chamber (41). The output end of the driving member (3) is hinged to the rotating frame (60). An elastic reset member (70) for driving the rotating frame (60) to rotate and reset is also arranged on the webbed claw (2).

2. The soft flipper claw structure of a pipeline robot according to claim 1, characterized in that: The elastic reset member (70) is a coil spring. One end of the coil spring is directly or indirectly connected to the rotating frame (60), and the other end directly or indirectly acts on the webbed claw (2).

3. The soft hoof web claw structure of a pipeline robot according to claim 1 or 2, characterized in that: The pressure chamber (41) includes an outer chamber (411) and an inner chamber (412). A deformable partition (6) is arranged between the outer chamber (411) and the inner chamber (412). A ventilation hole (61) is also arranged on the partition (6). An extrusion column (7) for extruding the partition (6) to deform is also arranged on the outer chamber (411) at the position corresponding to the partition (6).

4. The soft hoof webbed claw structure of a pipeline robot according to claim 3, characterized in that: The adsorption port (42) is arranged in an arc shape.

5. The soft hoof web claw structure of a pipeline robot according to claim 4, characterized in that: A thimble (8) is arranged on the rotating frame (60) at the position corresponding to the trigger end of the pressure relief valve (5). The thimble (8) is located below the extrusion column (7), and the extrusion column (7) can move to extrude the thimble (8) so as to open the pressure relief valve (5).

6. The soft flipper claw structure of a pipeline robot according to claim 5, characterized in that: A support column (9) is arranged on the assembly frame (1). The webbed claw (2) is rotatably arranged on the support column (9). An auxiliary support arm (10) axially slidably arranged on the support column (9) is also included. The auxiliary support arms (10) are arranged on both opposite sides of the webbed claw (2). An elastic member (20) for driving the auxiliary support arm (10) to abut against the inner wall of the pipeline is also included.

7. The soft hoof webbed claw structure of a pipeline robot according to claim 6, characterized in that: The elastic member (20) is a spring sleeved on the support column (9). A sliding seat (30) is arranged on the support column (9). The auxiliary support arm (10) is arranged on the sliding seat (30). One end of the spring abuts against the sliding seat (30), and the other end abuts against the assembly frame (1) or the support column (9).

8. The soft hoof webbed claw structure of a pipeline robot according to claim 6 or 7, characterized in that: A roller (40) is rotatably arranged at the outer end of the auxiliary support arm (10), and the roller (40) can abut against the inner wall of the pipeline.

9. The soft hoof webbed claw structure of a pipeline robot according to claim 1 or 2, characterized in that: Two webbed claws (2) are arranged one in front of the other. One end of the webbed claw (2) is a hinged end (21), and the other end is a movable end (22) provided with a rotating frame (60). The movable ends (22) of the two webbed claws (2) can rotate closer to or away from each other. A plugging structure (50) that can be rotatably plugged is also arranged on the two webbed claws (2).

10. The soft flipper claw structure of a pipeline robot according to claim 9, characterized in that: Several groups of the webbed claws (2) are arranged at intervals along the circumferential direction of the assembly frame (1).

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