Efficient trundle structure of pipeline maintenance robot

Abstract

The invention provides an efficient trundle structure of a pipeline maintenance robot, and relates to the technical field of pipeline maintenance robots, the efficient trundle structure of the pipeline maintenance robot comprises the pipeline maintenance robot, and three driving wheel sets are arranged on the outer ring of the pipeline maintenance robot; a first connecting frame, a second connecting frame and a fourth connecting frame are arranged between each driving wheel set and the pipeline maintenance robot, and the first connecting frames, the second connecting frames and the fourth connecting frames are connected with the front side outer wall, the middle side outer wall and the rear side outer wall of the pipeline maintenance robot correspondingly. The driving wheel set is connected with the pipeline maintenance robot through the first connecting frame, the second connecting frame, the third connecting frame and the fourth connecting frame, so that the driving wheel set can be well attached to the inner wall of a pipeline when moving, multi-angle movement of the driving wheel set can be achieved through the first connecting frame, the second connecting frame, the third connecting frame and the fourth connecting frame, the driving capacity is high, and the service life is long. Meanwhile, the crawler belt on the surface of the driving wheel set can be detached, so that follow-up maintenance and replacement can be facilitated.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline maintenance robots, and more particularly relates to a high-efficiency caster structure of a pipeline maintenance robot. Background Art

[0002] In the field of pipeline maintenance, the application of pipeline maintenance robots is gradually becoming popular. However, existing pipeline maintenance robots have many problems in terms of driving wheel sets.

[0003] The driving wheel group of traditional pipeline maintenance robots has insufficient anti-slip ability and is prone to slipping when moving on the inner wall of the pipeline, affecting the normal movement and work efficiency of the robot.

[0004] Furthermore, the connection between the drive wheel assembly and the robot body is relatively fixed, lacking the ability to flexibly adjust at multiple angles. This makes it difficult to adapt to the complex and changing terrain and working environment within the pipeline, resulting in poor driving performance. Existing drive wheel assemblies are usually integral structures, and the tracks are either non-detachable or difficult to disassemble. This greatly inconveniences subsequent maintenance, replacement, and cleaning, increasing repair costs and time. Existing track connections are not stable enough and are prone to disconnection and other failures during operation, affecting the stable operation of the robot. Furthermore, gaps between the tracks and the connecting components can easily lead to drive discontinuity and reduce drive stability. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a high-efficiency caster structure for a pipeline maintenance robot to solve the above problems.

[0006] A high-efficiency caster structure for a pipeline maintenance robot includes a pipeline maintenance robot, wherein the outer ring of the pipeline maintenance robot is provided with three groups of drive wheel groups, two first connecting frames, a second connecting frame and a fourth connecting frame are respectively provided between each of the drive wheel groups and the pipeline maintenance robot, and the first connecting frame, the second connecting frame and the fourth connecting frame are respectively connected to the front, middle and rear outer walls of the pipeline maintenance robot, a drive assembly is provided inside each of the drive wheel groups, a gear is fixedly mounted on the surface of each of the drive assemblies, a track is mounted on the outer ring of each of the drive wheel groups, and each of the tracks is driven by a gear phase.

[0007] Preferably, a third connecting frame is slidably provided at one end of each of the fourth connecting frames facing the driving wheel group, a spring is provided between each of the third connecting frames and the fourth connecting frame, a connecting shaft is provided on the side walls of each of the pipeline maintenance robot and the driving wheel group, each of the first connecting frame, the second connecting frame, the third connecting frame, the fourth connecting frame is rotatably connected to the pipeline maintenance robot and the driving wheel group through a connecting shaft, each of the first connecting frame is located at the front side of the driving wheel group, each of the third connecting frame is located in the middle of the driving wheel group, each of the second connecting frame is located at the rear side of the driving wheel group, and each of the second connecting frame and the third connecting frame is distributed in an inner and outer cross pattern.

[0008] Preferably, each of the driving wheel groups is provided with at least two rotating wheels, each of the crawlers is supported by multiple rotating wheels and gears, the inner wall of each crawler is fixedly mounted with at least two inner teeth, the outer wall of each crawler is fixedly mounted with at least two outer teeth, each of the inner teeth is engaged with the gear, a separation groove is provided in the middle of each crawler, a first groove is provided at both ends of each crawler, and a second groove is provided on the side wall of each first groove.

[0009] Preferably, when the two ends of the track are connected, a connecting rod is provided inside the separation groove, and both sides of the connecting rod are located in the first groove, and the inner wall of each connecting rod is fixedly installed with a rubber protrusion, and the rubber protrusion is flush with the inner tooth surface, and the front and rear walls of each connecting rod are respectively fixedly installed with a second rubber strip and a third rubber strip, and the second rubber strip is flush with the inner wall surface of the track, and the third rubber strip is flush with the outer wall surface of the track, and the left and right sides of each connecting rod are fixedly installed with an outer support block, and an inner groove is opened inside each outer support block, and the front and rear walls of each connecting rod are fixedly installed with a first rubber strip, and each first rubber strip is located in the second groove opened in the first groove, and a magnetic block is fixedly installed on the surface of each first rubber strip, and each magnetic block is magnetically connected to the inner wall of the second groove.

[0010] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, the pipeline maintenance robot is placed in the pipeline, and the motor at the end of the driving component is started. The driving component starts to drive the gear to rotate, and the gear rotation drives the inner teeth on the inner wall of the crawler. The inner teeth are subjected to force to drive the crawler to rotate, and rotate outside the multiple wheels. The rotation of the crawler drives the outer teeth on the surface to rotate, and the crawler and the outer teeth contact the inner wall of the pipeline to drive the pipeline maintenance robot to move. The outer teeth can have good anti-slip ability. The driving wheel group is connected to the pipeline maintenance robot through the first connecting frame, the second connecting frame, the third connecting frame and the fourth connecting frame. Therefore, the driving wheel group can fit well with the inner wall of the pipeline when moving. The first connecting frame, the second connecting frame, the third connecting frame and the fourth connecting frame can realize multi-angle movement of the driving wheel group, and the driving ability is strong. At the same time, the crawler on the surface of the driving wheel group can be removed, which can facilitate subsequent maintenance and replacement.

[0011] In the present invention, when the pipeline maintenance robot moves in the pipeline, the first connecting frame, the second connecting frame, the third connecting frame and the fourth connecting frame can provide more angle changes for the driving wheel group. At the same time, the three driving wheel groups are all separately arranged. Therefore, when the pipeline maintenance robot is driven by the three driving wheel groups, changes to different positions can be achieved. At the same time, each third connecting frame cooperates with the fourth connecting frame to improve the impact resistance of the driving wheel group during movement, and the spring can improve the stability of the third connecting frame and the fourth connecting frame when subjected to impact force. The three driving wheel groups are more agile and stable in the pipeline.

[0012] In the present invention, the connecting rod is pulled upward, and the connecting rod moves upward away from the two ends of the driving wheel group. At this time, the two ends of the crawler are separated, and the user can replace the crawler. By connecting the crawler with a connecting rod, there is no need to disassemble the entire driving wheel group during replacement, maintenance and cleaning, which greatly improves the later maintenance capability of the crawler. At the same time, the crawler can be replaced according to the characteristics of the inner wall of different pipes, which greatly improves the convenience of scene replacement.

[0013] In the present invention, the track is wrapped around the outside of the driving wheel set, and the connecting rod is inserted into the first grooves opened at both ends of the track. When the connecting rod moves, it will drive the two first rubber strips on the front and rear sides to be inserted into the second grooves. When the outer support blocks on both sides of the connecting rod are inserted into the first grooves, the two outer support blocks will be squeezed and compressed, and the inner groove will be compressed. At this time, the two walls of the connecting rod are more tightly connected to the track. When the connecting rod is completely inserted into the two ends of the track, the magnetic blocks on the side walls of the two first rubber strips are magnetically attracted to the inner walls of the second grooves. At this time, the connecting rod is completely fixed. By adopting multiple fixing structures, the fixing ability of the connecting rod in the track can be improved, which effectively avoids the disconnection of the track during movement and improves the stability of the track.

[0014] In the present invention, after the connecting rod is inserted into the crawler track, the second rubber strip on the front side of the connecting rod is flush with the inner wall surface of the crawler track, the rubber protrusion is flush with the inner tooth surface, and the third rubber strip on the rear side of the connecting rod is flush with the outer wall of the crawler track. By making the connecting rod completely flush with the crawler track, the drive interruption caused by the gap can be avoided, thereby improving the drive stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of the pipeline maintenance robot of the present invention; Figure 2 This is a schematic structural diagram of the driving wheel set of the present invention; Figure 3 This is a schematic structural diagram of the first connecting frame of the present invention; Figure 4 It is a schematic diagram of the structure of the drive assembly of the present invention; Figure 5 Schematic diagram of the crawler structure of the present invention; Figure 6 2. It is a schematic diagram of the connecting rod structure of the present invention; Figure 7 This invention Figure 6 A schematic diagram of the enlarged structure at point A; Figure 8 This is a schematic diagram of the rubber bump structure of the present invention; Figure 9 It is a schematic structural diagram of the third rubber strip of the present invention.

[0016] In the figure, the correspondence between the component names and the drawing numbers is: 1. Pipeline maintenance robot; 11. Driving wheel group; 12. First connecting frame; 13. Connecting shaft; 14. Second connecting frame; 15. Third connecting frame; 16. Fourth connecting frame; 17. Spring; 18. Driving assembly; 19. Gear; 2. Rotating wheel; 21. Track; 22. Inner teeth; 23. Outer teeth; 24. Connecting rod; 25. First rubber strip; 26. Magnetic block; 27. Outer support block; 28. Inner groove; 29. Second rubber strip; 3. Rubber protrusion; 31. Third rubber strip; 32. First groove; 33. Second groove; 34. Separation groove. DETAILED DESCRIPTION

[0017] The following embodiments of the present invention are described in further detail with reference to 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.

[0018] See also Figures 1-9The present invention provides an efficient caster structure for a pipeline maintenance robot, including a pipeline maintenance robot 1. The outer ring of the pipeline maintenance robot 1 is provided with three sets of driving wheel groups 11. Two first connecting frames 12, second connecting frames 14 and fourth connecting frames 16 are respectively provided between each driving wheel group 11 and the pipeline maintenance robot 1. The first connecting frame 12, the second connecting frame 14 and the fourth connecting frame 16 are respectively connected to the front, middle and rear outer walls of the pipeline maintenance robot 1. The rotation of the crawler 21 drives the outer teeth 23 on the surface to rotate. The crawler 21 and the outer teeth 23 contact the inner wall of the pipeline to drive the pipeline maintenance robot 1 to move. The outer teeth 23 can play a good anti-skid role. The driving wheel group 11 is connected to the outer wall of the pipeline maintenance robot 1. It is connected to the pipeline maintenance robot 1 through the first connecting frame 12, the second connecting frame 14, the third connecting frame 15 and the fourth connecting frame 16, so the driving wheel group 11 can fit well with the inner wall of the pipeline when moving. The first connecting frame 12, the second connecting frame 14, the third connecting frame 15 and the fourth connecting frame 16 can realize multi-angle movement of the driving wheel group 11. A driving component 18 is provided inside each driving wheel group 11. The driving component 18 consists of a motor and a transmission rod, and the motor is located inside the driving wheel group 11. A gear 19 is fixedly installed on the surface of each driving component 18, and a track 21 is installed on the outer ring of each driving wheel group 11. Each track 21 is driven by a gear 19.

[0019] A third connecting frame 15 is slidably provided at one end of each fourth connecting frame 16 facing the driving wheel group 11, a spring 17 is provided between each third connecting frame 15 and the fourth connecting frame 16, a connecting shaft 13 is provided on the side wall of each pipeline maintenance robot 1 and the driving wheel group 11, and each first connecting frame 12, second connecting frame 14, third connecting frame 15, fourth connecting frame 16 is rotatably connected to the pipeline maintenance robot 1 and the driving wheel group 11 through the connecting shaft 13, and each first connecting frame 12 is located at the front side of the driving wheel group 11, and the first connecting frame 12, second connecting frame 14, third connecting frame 15, fourth connecting frame 16 are rotatably connected to the pipeline maintenance robot 1 and the driving wheel group 11. The connecting frame 15 and the fourth connecting frame 16 can provide more angle changes for the driving wheel group 11. At the same time, the three driving wheel groups 11 are all set separately. Therefore, when the pipeline maintenance robot 1 is driven by the three driving wheel groups 11, changes to different positions can be achieved. At the same time, each third connecting frame 15 and the fourth connecting frame 16 cooperate to improve the impact resistance of the driving wheel group 11 during movement. Each third connecting frame 15 is located in the middle of the driving wheel group 11, and each second connecting frame 14 is located at the rear side of the driving wheel group 11, and each second connecting frame 14 and the third connecting frame 15 are distributed in an inner and outer cross pattern.

[0020] Each driving wheel group 11 is provided with at least two wheels 2 inside, and each track 21 is supported by multiple wheels 2 and gears 19. The inner wall of each track 21 is fixedly installed with at least two inner teeth 22, and the outer wall of each track 21 is fixedly installed with at least two outer teeth 23, and each inner tooth 22 is engaged with the gear 19. The user can pull the connecting rod 24 upward, and the connecting rod 24 moves upward away from the two ends of the driving wheel group 11. At this time, the two ends of the track 21 are separated, and the user can replace the track 21. By connecting the track 21 with the connecting rod 24, there is no need to disassemble the entire driving wheel group 11 during replacement, maintenance and cleaning, which greatly improves the later maintenance capability of the track 21. A separation groove 34 is provided in the middle of each track 21, and a first groove 32 is provided at both ends of each track 21. The side wall of each first groove 32 is provided with a second groove 33.

[0021] When the two ends of the crawler 21 are connected, a connecting rod 24 is provided inside the separation groove 34, and both sides of the connecting rod 24 are located in the first groove 32. The inner wall of each connecting rod 24 is fixedly installed with a rubber protrusion 3, and the rubber protrusion 3 is flush with the surface of the inner tooth 22. The front and rear walls of each connecting rod 24 are respectively fixedly installed with a second rubber strip 29 and a third rubber strip 31. When the connecting rod 24 moves, it will drive the two first rubber strips 25 on the front and rear sides to be inserted into the second groove 33. When the outer support blocks 27 on both sides of the connecting rod 24 are inserted into the first groove 32, the two outer support blocks 27 will be squeezed and compressed, and the inner groove 28 will be compressed. At this time, the two walls of the connecting rod 24 are more tightly connected to the crawler 21. When the connecting rod 24 is completely inserted into the two ends of the crawler 21, the two first rubber strips 29 and the third rubber strips 31 are fixedly installed. The magnetic block 26 on the side wall of the strip 25 is magnetically attracted to the inner wall of the second groove 33. At this time, the connecting rod 24 is completely fixed. By adopting multiple fixing structures, the fixing ability of the connecting rod 24 in the track 21 can be improved, and the second rubber strip 29 is flush with the inner wall surface of the track 21, and the third rubber strip 31 is flush with the outer wall surface of the track 21. The left and right sides of each connecting rod 24 are fixedly installed with an outer support block 27, and an inner groove 28 is opened inside each outer support block 27. The front and rear walls of each connecting rod 24 are fixedly installed with a first rubber strip 25, and each first rubber strip 25 is located in the second groove 33 opened in the first groove 32. A magnetic block 26 is fixedly installed on the surface of each first rubber strip 25, and each magnetic block 26 is magnetically connected to the inner wall of the second groove 33.

[0022] Working principle: In the first step, the user puts the pipeline maintenance robot 1 into the pipeline and starts the motor at the end of the drive component 18. The drive component 18 starts to drive the gear 19 to rotate. The gear 19 rotates to drive the inner teeth 22 on the inner wall of the crawler 21. The inner teeth 22 are driven by force to drive the crawler 21 to rotate, and rotate outside the multiple wheels 2. The rotation of the crawler 21 drives the outer teeth 23 on the surface to rotate. The crawler 21 and the outer teeth 23 contact the inner wall of the pipeline to drive the pipeline maintenance robot 1 to move. The outer teeth 23 can play a good anti-slip ability. The driving wheel group 11 is connected to the pipeline maintenance robot 1 through the first connecting frame 12, the second connecting frame 14, the third connecting frame 15 and the fourth connecting frame 16. Therefore, the driving wheel group 11 can fit well with the inner wall of the pipeline when moving. The first connecting frame 12, the second connecting frame 14, the third connecting frame 15 and the fourth connecting frame 16 can realize multi-angle movement of the driving wheel group 11, with strong driving ability. At the same time, the crawler 21 on the surface of the driving wheel group 11 can be removed, which is convenient for subsequent maintenance and replacement.

[0023] In the second step, when the pipeline maintenance robot 1 moves in the pipeline, the first connecting frame 12, the second connecting frame 14, the third connecting frame 15 and the fourth connecting frame 16 can provide more angle changes for the driving wheel group 11. At the same time, the three driving wheel groups 11 are all set separately. Therefore, when the pipeline maintenance robot 1 is driven by the three driving wheel groups 11, changes to different positions can be achieved. At the same time, each third connecting frame 15 and the fourth connecting frame 16 cooperate to improve the impact resistance of the driving wheel group 11 during movement, and the spring 17 can improve the stability of the third connecting frame 15 and the fourth connecting frame 16 when subjected to impact force. The three driving wheel groups 11 are more agile and stable in the pipeline.

[0024] In the third step, when the crawler 21 is damaged, the user can pull the connecting rod 24 upward, and the connecting rod 24 moves upward away from the two ends of the driving wheel set 11. At this time, the two ends of the crawler 21 are separated, and the user can replace the crawler 21. By connecting the crawler 21 with the connecting rod 24, there is no need to disassemble the entire driving wheel set 11 during replacement, maintenance and cleaning, which greatly improves the later maintenance capability of the crawler 21. At the same time, the crawler 21 can be replaced according to the characteristics of the inner wall of different pipes, which greatly improves the convenience of scene replacement; When the connecting rod 24 connects the two ends of the crawler 21, the user wraps the crawler 21 around the outside of the driving wheel set 11 and inserts the connecting rod 24 into the first grooves 32 opened at the two ends of the crawler 21. When the connecting rod 24 moves, it drives the two first rubber strips 25 on the front and rear sides to insert into the second grooves 33. When the outer support blocks 27 on both sides of the connecting rod 24 are inserted into the first grooves 32, the two outer support blocks 27 will be squeezed and compressed, and the inner groove 28 will be compressed. At this time, the two walls of the connecting rod 24 are more tightly connected to the crawler 21. When the connecting rod 24 is completely inserted into the two ends of the crawler 21, the magnetic blocks 26 on the side walls of the two first rubber strips 25 are magnetically attracted to the inner walls of the second grooves 33. At this time, the connecting rod 24 is completely fixed. By adopting multiple fixing structures, the fixing ability of the connecting rod 24 in the crawler 21 can be improved, effectively avoiding the disconnection of the crawler 21 during movement, and improving the stability of the crawler 21. After the connecting rod 24 is inserted into the crawler track 21, the second rubber strip 29 on the front side of the connecting rod 24 is flush with the inner wall surface of the crawler track 21, the rubber protrusion 3 is flush with the surface of the inner tooth 22, and the third rubber strip 31 on the rear side of the connecting rod 24 is flush with the outer wall of the crawler track 21. By making the connecting rod 24 completely flush with the crawler track 21, the drive interruption caused by the gap can be avoided, thereby improving the drive stability.

[0025] The embodiments of the present invention are presented for purposes 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 skilled in the art. The embodiments are chosen and described in order to better illustrate the principles of the invention and its practical application and to enable those skilled in the art to understand the invention and design various embodiments with various modifications as suited for specific applications.

Claims

1. An efficient caster structure for a pipeline maintenance robot, comprising a pipeline maintenance robot (1), characterized in that: The outer ring of the pipeline maintenance robot (1) is provided with three groups of driving wheel groups (11), and two first connecting frames (12), a second connecting frame (14) and a fourth connecting frame (16) are respectively provided between each of the driving wheel groups (11) and the pipeline maintenance robot (1), and the first connecting frame (12), the second connecting frame (14) and the fourth connecting frame (16) are respectively connected to the front, middle and rear outer walls of the pipeline maintenance robot (1), and a driving component (18) is provided inside each of the driving wheel groups (11), and a gear (19) is fixedly installed on the surface of each of the driving components (18), and a crawler (21) is installed on the outer ring of each of the driving wheel groups (11), and each of the crawlers (21) is driven by the gear (19).

2. The high-efficiency caster structure of a pipeline maintenance robot as claimed in claim 1, characterized in that: A third connecting frame (15) is slidably provided on one end of each fourth connecting frame (16) facing the driving wheel set (11), and a spring (17) is provided between each third connecting frame (15) and the fourth connecting frame (16).

3. The high-efficiency caster structure of a pipeline maintenance robot as claimed in claim 2, characterized in that: A connecting shaft (13) is provided on the side wall of each of the pipeline maintenance robot (1) and the driving wheel group (11), and each of the first connecting frame (12), the second connecting frame (14), the third connecting frame (15), and the fourth connecting frame (16) is rotatably connected to the pipeline maintenance robot (1) and the driving wheel group (11) via the connecting shaft (13).

4. The high-efficiency caster structure of a pipeline maintenance robot as claimed in claim 3, characterized in that: Each of the first connecting frames (12) is located at the frontmost side of the driving wheel set (11), each of the third connecting frames (15) is located at the middle of the driving wheel set (11), each of the second connecting frames (14) is located at the rearmost side of the driving wheel set (11), and each of the second connecting frames (14) and the third connecting frames (15) are distributed in an inner and outer cross pattern.

5. The high-efficiency caster structure of a pipeline maintenance robot as claimed in claim 4, characterized in that: Each of the driving wheel sets (11) is provided with at least two rotating wheels (2), and each of the crawler tracks (21) is supported by a plurality of rotating wheels (2) and gears (19).

6. The high-efficiency caster structure of a pipeline maintenance robot as claimed in claim 1, characterized in that: At least two inner teeth (22) are fixedly mounted on the inner wall of each crawler (21), at least two outer teeth (23) are fixedly mounted on the outer wall of each crawler (21), and each inner tooth (22) is meshed with a gear (19).

7. The high-efficiency caster structure of a pipeline maintenance robot as claimed in claim 6, characterized in that: A separation groove (34) is provided in the middle of each crawler (21), a first groove (32) is provided at both ends of each crawler (21), and a second groove (33) is provided on the side wall of each first groove (32).

8. The high-efficiency caster structure of a pipeline maintenance robot as claimed in claim 7, characterized in that: When the two ends of the crawler (21) are connected, a connecting rod (24) is provided inside the separation groove (34), and both sides of the connecting rod (24) are located in the first groove (32), and a rubber bump (3) is fixedly mounted on the inner wall of each connecting rod (24), and the rubber bump (3) is flush with the surface of the inner tooth (22).

9. The high-efficiency caster structure of a pipeline maintenance robot as claimed in claim 8, characterized in that: A second rubber strip (29) and a third rubber strip (31) are fixedly mounted on the front and rear walls of each connecting rod (24), respectively. The second rubber strip (29) is flush with the inner wall surface of the crawler (21), and the third rubber strip (31) is flush with the outer wall surface of the crawler (21).

10. The high-efficiency caster structure of a pipeline maintenance robot as claimed in claim 9, characterized in that: Each of the connecting rods (24) is fixedly mounted with an outer support block (27) on both sides, and an inner groove (28) is provided inside each outer support block (27). A first rubber strip (25) is fixedly mounted on the front and rear walls of each of the connecting rods (24), and each first rubber strip (25) is located in a second groove (33) formed by the first groove (32). A magnetic block (26) is fixedly mounted on the surface of each of the first rubber strips (25), and each magnetic block (26) is magnetically connected to the inner wall of the second groove (33).

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