Crawling mechanism for pipeline inner wall grinding robot

Abstract

The invention discloses a crawling mechanism for a pipeline inner wall grinding robot, and relates to the technical field of grinding robots. The device comprises a pipeline, a walking assembly is arranged in the pipeline and comprises bearing plates arranged in parallel, vertical plates are symmetrically and fixedly connected to the two side faces, away from each other, of the two bearing plates, driven wheels are rotationally connected between the two adjacent vertical plates, first rotating shafts are rotationally connected to the two opposite side faces of the two bearing plates, and power wheels are fixedly connected to the outer walls of the first rotating shafts. First worm gears are fixedly connected to the outer walls of the first rotating shafts. Through the use of the device, the problem that an existing pipeline inner wall grinding robot is unstable in walking is solved, two L-shaped sliding plates are controlled to move in the direction close to or away from each other, then two grinding wheels are driven to move in the direction close to or away from each other, and the distance between the two grinding wheels is adjusted; and the polishing wheel is suitable for different polishing depths of the inner wall of the pipeline, so that the applicability is improved.

Description

Technical Field

[0001] This invention belongs to the field of polishing robot technology, and in particular relates to a crawling mechanism for a pipe inner wall polishing robot. Background Technology

[0002] Currently, there are also robots on the market that use three tracks for crawling. In order to adapt to the inner wall of the pipe, their crawling mechanism is often equipped with a complex adjustment structure. Due to the triangular setting, the stability of the device when walking inside the pipe is reduced. In addition, the grinding device on the existing crawling robot adjusts the grinding depth of the inner wall of the pipe during use, which cannot meet the grinding requirements well, thus reducing its applicability.

[0003] To address these issues, we provide a crawling mechanism for a pipe inner wall grinding robot. Summary of the Invention

[0004] The purpose of this invention is to provide a crawling mechanism for a pipe inner wall grinding robot. This device solves the problem of unstable movement in existing pipe inner wall grinding robots. By controlling the movement of two L-shaped sliding plates towards or away from each other, it drives the two grinding wheels to move towards or away from each other, achieving distance adjustment between the two grinding wheels. This allows the grinding wheels to be adapted to different grinding depths required for the pipe inner wall, thereby improving applicability. It also solves the problem of existing triangular designs reducing the stability of the device's movement inside the pipe, and the issue that existing crawling robot grinding devices, which require adjustment of the grinding depth during use, cannot adequately meet grinding requirements, thus reducing applicability.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: The present invention is a crawling mechanism for a pipe inner wall grinding robot. The pipe is provided with a walking component, which includes parallel load-bearing plates. Vertical plates are symmetrically fixedly connected to the two opposite sides of the two load-bearing plates. Driven wheels are rotatably connected between adjacent vertical plates. A first rotating shaft is rotatably connected to the two opposite sides of the two load-bearing plates. A power wheel is fixedly connected to the outer wall of the first rotating shaft. A first worm gear is fixedly connected to the outer wall of the first rotating shaft. An L-shaped plate is symmetrically fixedly connected to the bottom of one of the load-bearing plates.

[0006] Another load-bearing plate has a drive assembly fixedly fitted to one side for driving the walking component. The drive assembly includes a base fixedly connected to one side of the other load-bearing plate. A second rotating shaft is rotatably arranged above the base. The drive assembly also includes a bidirectional worm gear that rotatably engages with the two L-shaped plates. The bidirectional worm gear meshes with two first worm wheels. A grinding assembly is fixedly fitted to one end of the second rotating shaft. The grinding assembly includes a turntable fixedly connected to one end of the second rotating shaft. An L-shaped sliding plate is symmetrically slidably connected to one side of the turntable. A rotating rod is rotatably connected to one side of the L-shaped sliding plate. A grinding wheel is fixedly connected to the end of the rotating rod.

[0007] Furthermore, the walking assembly also includes a mounting plate fixedly connected between the two load-bearing plates. A push-pull rod is fixedly connected to one side of the mounting plate, and the side of the mounting plate away from the push-pull rod is rotatably engaged with a second rotating shaft. A control box is fixedly connected to the top of one of the load-bearing plates.

[0008] Furthermore, the drive assembly also includes a support rod fixedly connected to the top of the base, a support plate fixedly connected to the top of the support rod, a first motor fixedly connected to the top of the support plate, and a power spur gear fixedly connected to the output end of the first motor; a driven spur gear meshing with the power spur gear is fixedly connected to the outer wall of the bidirectional worm gear, a power bevel gear is fixedly connected to the outer wall of the bidirectional worm gear, an L-shaped upright plate is fixedly connected to the top of the base, a third rotating shaft is rotatably connected through one side of the L-shaped upright plate, a driven bevel gear meshing with the power bevel gear is fixedly connected to one end of the third rotating shaft, a first spur gear is fixedly connected to the other end of the third rotating shaft, and a second spur gear meshing with the first spur gear is fixedly connected to the outer wall of the second rotating shaft.

[0009] Furthermore, the grinding assembly also includes a fixing plate fixedly connected to one side of the turntable. A cylindrical tube is rotatably connected through one side of the fixing plate. A power worm gear is symmetrically slidably connected to the inner wall of the cylindrical tube. Two sets of first sliding grooves are symmetrically opened on the inner wall of the cylindrical tube. A slider that slides in cooperation with the first sliding groove is symmetrically fixedly connected to the outer wall of the power worm gear.

[0010] Furthermore, one side of the turntable is symmetrically and fixedly connected with electric push rods, and the output ends of adjacent electric push rods are fixedly engaged with L-shaped sliding plates. The turntable is symmetrically provided with second sliding grooves that slide with the two L-shaped sliding plates.

[0011] Furthermore, a connecting plate is fixedly connected to one side of the L-shaped slide plate, the connecting plate is rotatably engaged with the power worm gear, and a second worm wheel that meshes with the power worm gear is fixedly connected to the outer wall of the rotating rod.

[0012] Furthermore, a second motor is fixedly connected to one side of the turntable, a first sprocket is fixedly connected to the output end of the second motor, a second sprocket is fixedly connected to the outer wall of the cylindrical tube, and a chain meshes between the first sprocket and the second sprocket.

[0013] Furthermore, the control box is equipped with a PLC controller, which is electrically connected to the first motor, the second motor, and the electric push rod.

[0014] The present invention has the following beneficial effects: 1. The present invention uses two power wheels to drive the entire device to move inside the pipe, and sets two driven wheels to make the movement of the device inside the pipe more stable. At the same time, the control drive component works, causing the bidirectional worm gear in the drive component to drive the second rotating shaft to rotate, which in turn drives the turntable to rotate, thereby driving the grinding wheel to make a circular motion along the inner wall of the pipe. Simultaneously, the rotation of the two rotating rods is controlled, so that the rotating rods drive the grinding wheel to rotate, realizing the grinding of the inner wall of the pipe by the two grinding wheels. By controlling the two L-shaped sliding plates to move closer or further away from each other, the two grinding wheels are driven to move closer or further away from each other, realizing the distance between the two grinding wheels, so that the grinding wheels can be adapted to the needs of different grinding depths of the inner wall of the pipe, thereby improving applicability.

[0015] 2. This invention controls a first motor to drive a power spur gear to rotate, which in turn drives a driven spur gear to rotate, which in turn drives a bidirectional worm gear to rotate, which in turn drives a power bevel gear to rotate. Simultaneously, the bidirectional worm gear drives two first worm wheels meshing with it to rotate, which in turn drives a first shaft to rotate, thereby driving two power wheels to rotate and providing power to the power wheels. The rotation of the power bevel gear then drives the driven bevel gear meshing with it to rotate, which in turn drives a third shaft to rotate, which in turn drives a first spur gear to rotate, which in turn drives a second spur gear meshing with it to rotate, thereby driving a second shaft to rotate and providing power to the second shaft to rotate.

[0016] 3. This invention controls a second motor to drive a first sprocket to rotate, which in turn drives a second sprocket via a chain, thereby rotating a cylindrical tube. The slider on the power worm gear engages with a first groove in the cylindrical tube, causing both power worm gears to rotate. Simultaneously, the two power worm gears can move along the axial direction of the cylindrical tube, further driving the second worm wheel meshing with them to rotate, thus driving the rotating rod to rotate and providing power for its rotation. By synchronously controlling two electric push rods, the two L-shaped sliding plates are moved closer to or further apart, achieving distance adjustment between the two L-shaped sliding plates. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the crawling mechanism used in a pipe inner wall grinding robot.

[0019] Figure 2 This is a schematic diagram of the walking component in this invention.

[0020] Figure 3 for Figure 2 A side view structural diagram.

[0021] Figure 4 This is a schematic diagram of the driving component in this invention.

[0022] Figure 5 This is a schematic diagram of the structure of the load-bearing plate, L-shaped plate, and bidirectional worm gear connection in this invention.

[0023] Figure 6 This is a schematic diagram of the grinding component in this invention.

[0024] Figure 7 This is a cross-sectional view of the connection between the cylindrical tube and the two power worm gears in this invention.

[0025] Figure 8 for Figure 7 A magnified structural diagram of point A in the middle.

[0026] The attached diagram lists the components represented by each number as follows:

[0027] 1-Pipe, 2-Walking assembly, 201-Bearing plate, 202-Upright plate, 203-Driven wheel, 204-First shaft, 205-Drive wheel, 206-First worm gear, 207-L-shaped plate, 208-Mounting plate, 209-Push-pull rod, 210-Control box, 3-Drive assembly, 301-Base, 302-Second shaft, 303-Double worm gear, 304-Support rod, 305-Panel, 306-First motor, 307-Drive spur gear, 308-Driven spur gear, 309-Drive bevel gear, 310-L 311-Third rotating shaft, 312-Driven bevel gear, 313-First spur gear, 314-Second spur gear, 4-Grinding assembly, 401-Turntable, 402-L-shaped slide plate, 403-Rotating rod, 404-Grinding wheel, 405-Fixing plate, 406-Cylindrical tube, 407-Power worm gear, 408-First slide groove, 409-Slider, 410-Electric push rod, 411-Second slide groove, 412-Connecting plate, 413-Second worm gear, 414-Second motor, 415-First sprocket, 416-Second sprocket. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Example 1, please refer to Figure 1-8The present invention provides the following technical solution: a crawling mechanism for a pipe inner wall grinding robot, comprising a pipe 1; a walking component 2 is provided inside the pipe 1, the walking component 2 including parallel load-bearing plates 201, upright plates 202 symmetrically fixedly connected to the two opposite sides of the two load-bearing plates 201, driven wheels 203 rotatably connected between adjacent upright plates 202, a first rotating shaft 204 rotatably connected to the two opposite sides of the two load-bearing plates 201, a power wheel 205 fixedly connected to the outer wall of the first rotating shaft 204, a first worm gear 206 fixedly connected to the outer wall of the first rotating shaft 204, wherein an L-shaped plate 207 is symmetrically fixedly connected to the bottom of one load-bearing plate 201; and a useful... The drive assembly 3, which operates in conjunction with the drive walking assembly 2, includes a base 301 fixedly connected to one side of another load-bearing plate 201. A second rotating shaft 302 is rotatably mounted above the base 301. The drive assembly 3 also includes a bidirectional worm gear 303 that rotatably engages with two L-shaped plates 207. The bidirectional worm gear 303 meshes with two first worm wheels 206. A grinding assembly 4 is fixedly mounted on one end of the second rotating shaft 302. The grinding assembly 4 includes a turntable 401 fixedly connected to one end of the second rotating shaft 302. An L-shaped sliding plate 402 is symmetrically slidably connected to one side of the turntable 401. A rotating rod 403 is rotatably connected to one side of the L-shaped sliding plate 402. A grinding wheel 404 is fixedly connected to the end of the rotating rod 403.

[0030] The operation process of this embodiment is as follows: First, the device is moved into the pipe 1. The two power wheels 205 are controlled to move the entire device within the pipe 1. Two driven wheels 203 are also installed to make the movement of the device within the pipe 1 more stable. Simultaneously, the drive assembly 3 is controlled to operate, causing the bidirectional worm gear 303 in the drive assembly 3 to drive the second rotating shaft 302 to rotate, which in turn drives the turntable 401 to rotate. This, in turn, causes the grinding wheel 404 to move in a circular motion along the inner wall of the pipe 1. The rotation of the two rotating rods 403 is controlled synchronously to make the grinding wheel 404 move in a circular motion along the inner wall of the pipe 1. Rod 403 drives grinding wheels 404 to rotate, enabling the two grinding wheels 404 to grind the inner wall of pipe 1 (the length of the two grinding wheels 404 meets the grinding requirements of the device during its movement inside pipe 1, thus ensuring complete grinding of the inner wall of pipe 1). By controlling the two L-shaped sliding plates 402 to move closer to or further away from each other, the two grinding wheels 404 are driven to move closer to or further away from each other, thereby adjusting the distance between the two grinding wheels 404. This allows the grinding wheels 404 to be adapted to different grinding depths of the inner wall of pipe 1, thus improving applicability.

[0031] Example 2, please refer to Figure 1-8This second embodiment improves upon the first embodiment as follows: the walking assembly 2 further includes a mounting plate 208 fixedly connected between the two load-bearing plates 201. A push-pull rod 209 is fixedly connected to one side of the mounting plate 208, and the side of the mounting plate 208 away from the push-pull rod 209 is rotatably engaged with the second rotating shaft 302. A control box 210 is fixedly connected to the top of one load-bearing plate 201. The drive assembly 3 further includes a support rod 304 fixedly connected to the top of the base 301. A support plate 305 is fixedly connected to the top of the support rod 304, and a first motor 306 is fixedly connected to the top of the support plate 305. A power supply is fixedly connected to the output end of the first motor 306. A spur gear 307 and a driven spur gear 308 that meshes with the driving spur gear 307 are fixedly connected to the outer wall of a bidirectional worm gear 303. A driving bevel gear 309 is fixedly connected to the outer wall of the bidirectional worm gear 303. An L-shaped vertical plate 310 is fixedly connected to the top of the base 301. A third rotating shaft 311 is rotatably connected through one side of the L-shaped vertical plate 310. A driven bevel gear 312 that meshes with the driving bevel gear 309 is fixedly connected to one end of the third rotating shaft 311. A first spur gear 313 is fixedly connected to the other end of the third rotating shaft 311. A second spur gear 314 that meshes with the first spur gear 313 is fixedly connected to the outer wall of the second rotating shaft 302.

[0032] The operation process of this embodiment is as follows: by controlling the first motor 306 to drive the power spur gear 307 to rotate, the power spur gear 307 meshes with and drives the driven spur gear 308 to rotate, which in turn drives the bidirectional worm gear 303 to rotate, which in turn drives the power bevel gear 309 to rotate. At the same time, the bidirectional worm gear 303 drives the two first worm wheels 206 meshing with it to rotate, which in turn drives the first rotating shaft 204 to rotate, thereby driving the two power wheels 205 to rotate and providing power to the power wheels 205.

[0033] The rotation of the power bevel gear 309 drives the driven bevel gear 312, which meshes with it, to rotate. This drives the third shaft 311 to rotate, which in turn drives the first spur gear 313 to rotate. This drives the second spur gear 314, which meshes with it, to rotate, thus driving the second shaft 302 to rotate and providing power for the rotation of the second shaft 302.

[0034] Example 3, please refer to Figure 1-8This third embodiment improves upon the first embodiment as follows: the grinding assembly 4 further includes a fixing plate 405 fixedly connected to one side of the turntable 401. A cylindrical tube 406 is rotatably connected through one side of the fixing plate 405. A power worm gear 407 is symmetrically slidably connected to the inner wall of the cylindrical tube 406. Two sets of first sliding grooves 408 are symmetrically opened on the inner wall of the cylindrical tube 406. A slider 409 that slides with the first sliding grooves 408 is symmetrically fixedly connected to the outer wall of the power worm gear 407. An electric push rod 410 is symmetrically fixedly connected to one side of the turntable 401. The output end of the adjacent electric push rod 410 is fixedly engaged with an L-shaped sliding plate 402. A sliding plate 409 that slides with the two L-shaped sliding plates 402 is symmetrically opened on one side of the turntable 401. The second slide 411 is matched with the L-shaped slide plate 402. A connecting plate 412 is fixedly connected to one side of the slide plate 402. The connecting plate 412 is rotatably connected to the power worm gear 407. A second worm wheel 413 is fixedly connected to the outer wall of the rotating rod 403 and meshes with the power worm gear 407. A second motor 414 is fixedly connected to one side of the turntable 401. A first sprocket 415 is fixedly connected to the output end of the second motor 414. A second sprocket 416 is fixedly connected to the outer wall of the cylindrical tube 406. A chain meshes and drives the first sprocket 415 and the second sprocket 416. A PLC controller is installed inside the control box 210. The PLC controller is electrically connected to the first motor 306, the second motor 414, and the electric push rod 410.

[0035] The operation process of this embodiment is as follows: By controlling the second motor 414 to drive the first sprocket 415 to rotate, the first sprocket 415 drives the second sprocket 416 to rotate via the chain, which in turn drives the cylindrical tube 406 to rotate. Through the engagement of the slider 409 on the power worm gear 407 with the first groove 408 in the cylindrical tube 406, the two power worm gears 407 are driven to rotate. At the same time, the two power worm gears 407 can move along the axial direction of the cylindrical tube 406, further driving the second worm wheel 413 meshing with it to rotate, thereby driving the rotating rod 403 to rotate, providing power for the rotation of the rotating rod 403. By synchronously controlling the two electric push rods 410 to drive the two L-shaped slide plates 402 to move towards each other or away from each other, the distance between the two L-shaped slide plates 402 can be adjusted.

[0036] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0037] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A crawling mechanism for a pipe inner wall grinding robot, characterized in that: The pipe (1) is equipped with a walking assembly (2), which includes parallel load-bearing plates (201). The two load-bearing plates (201) are symmetrically fixedly connected to vertical plates (202) on their two opposite sides. A driven wheel (203) is rotatably connected between two adjacent vertical plates (202). A first rotating shaft (204) is rotatably connected to the two opposite sides of the load-bearing plates (201). A power wheel (205) is fixedly connected to the outer wall of the first rotating shaft (204). A first worm gear (206) is fixedly connected to the outer wall of the first rotating shaft (204). An L-shaped plate (207) is symmetrically fixedly connected to the bottom of one of the load-bearing plates (201). Another load-bearing plate (201) has a drive assembly (3) fixedly fitted on one side for driving the walking assembly (2). The drive assembly (3) includes a base (301) fixedly connected to one side of the other load-bearing plate (201). A second rotating shaft (302) is rotatably arranged above the base (301). The drive assembly (3) also includes a bidirectional worm gear (303) that rotatably engages with the two L-shaped plates (207). The bidirectional worm gear (303) meshes with the two first worm wheels (206). A grinding component (4) is fixedly fitted to one end of the second rotating shaft (302). The grinding component (4) includes a turntable (401) fixedly connected to one end of the second rotating shaft (302). An L-shaped slide plate (402) is symmetrically slidably connected to one side of the turntable (401). A rotating rod (403) is rotatably connected to one side of the L-shaped slide plate (402). A grinding wheel (404) is fixedly connected to the end of the rotating rod (403).

2. The crawling mechanism for a pipe inner wall grinding robot according to claim 1, characterized in that, The walking assembly (2) also includes a mounting plate (208) fixedly connected between two load-bearing plates (201). A push-pull rod (209) is fixedly connected to one side of the mounting plate (208). The side of the mounting plate (208) away from the push-pull rod (209) is rotatably engaged with a second rotating shaft (302). A control box (210) is fixedly connected to the top of one of the load-bearing plates (201).

3. The crawling mechanism for a pipe inner wall grinding robot according to claim 2, characterized in that, The drive assembly (3) also includes a support rod (304) fixedly connected to the top of the base (301), a support plate (305) fixedly connected to the top of the support rod (304), a first motor (306) fixedly connected to the top of the support plate (305), and a power spur gear (307) fixedly connected to the output end of the first motor (306). The outer wall of the bidirectional worm gear (303) is fixedly connected to a driven spur gear (308) that meshes with the power spur gear (307). The outer wall of the bidirectional worm gear (303) is fixedly connected to a power bevel gear (309). The top of the base (301) is fixedly connected to an L-shaped plate (310). A third rotating shaft (311) is rotatably connected through one side of the L-shaped plate (310). One end of the third rotating shaft (311) is fixedly connected to a driven bevel gear (312) that meshes with the power bevel gear (309). The other end of the third rotating shaft (311) is fixedly connected to a first spur gear (313). The outer wall of the second rotating shaft (302) is fixedly connected to a second spur gear (314) that meshes with the first spur gear (313).

4. The crawling mechanism for a pipe inner wall grinding robot according to claim 3, characterized in that, The grinding assembly (4) also includes a fixing plate (405) fixedly connected to one side of the turntable (401). A cylindrical tube (406) is rotatably connected through one side of the fixing plate (405). A power worm gear (407) is symmetrically slidably connected to the inner wall of the cylindrical tube (406). Two sets of first sliding grooves (408) are symmetrically opened on the inner wall of the cylindrical tube (406). A slider (409) that slides in cooperation with the first sliding groove (408) is symmetrically fixedly connected to the outer wall of the power worm gear (407).

5. The crawling mechanism for a pipe inner wall grinding robot according to claim 4, characterized in that, The turntable (401) is symmetrically and fixedly connected to an electric push rod (410) on one side. The output end of the adjacent electric push rod (410) is fixedly engaged with an L-shaped slide plate (402). The turntable (401) is symmetrically provided with a second slide groove (411) that is slidably engaged with the two L-shaped slide plates (402) on one side.

6. The crawling mechanism for a pipe inner wall grinding robot according to claim 5, characterized in that, A connecting plate (412) is fixedly connected to one side of the L-shaped slide plate (402). The connecting plate (412) is rotatably engaged with the power worm gear (407). A second worm wheel (413) is fixedly connected to the outer wall of the rotating rod (403) and meshes with the power worm gear (407).

7. The crawling mechanism for a pipe inner wall grinding robot according to claim 6, characterized in that, A second motor (414) is fixedly connected to one side of the turntable (401), and a first sprocket (415) is fixedly connected to the output end of the second motor (414). A second sprocket (416) is fixedly connected to the outer wall of the cylindrical tube (406), and a chain meshes between the first sprocket (415) and the second sprocket (416).

8. The crawling mechanism for a pipe inner wall grinding robot according to claim 7, characterized in that, The control box (210) is equipped with a PLC controller, which is electrically connected to the first motor (306), the second motor (414), and the electric push rod (410).

Images