Pipe robot cable traction support mechanism

Abstract

The application discloses a pipeline robot cable traction supporting mechanism and belongs to the field of pipeline robots, which is used for paying-off and taking-up of a cable, wherein a wire roller, a guide seat assembly and a swing arm are arranged on a rack, a swing arm rotating wheel is arranged on the swing arm, rotating wheel supporting rollers are arranged between adjacent swing arm rotating wheels, an auxiliary drag rod is further arranged between the wire roller and the guide seat assembly, both ends of the auxiliary drag rod pass through drag rod guide holes on a shell and are connected with transmission gears, the transmission gears are in mesh transmission with toothed rods on one side, both ends of the toothed rods are slidingly arranged on shell guide sleeves, a rod body resetting assembly is arranged at the top end of the toothed rods, the toothed rods are slidingly arranged in swing arm guide grooves through guide sliding rods, the swing arm guide grooves are located at one end of the swing arm away from the swing arm rotating wheel, and the swing arm is rotationally arranged on the rack or the shell through a shaft body. The application can realize stable paying-off and taking-up of the cable, guarantees paying-off and taking-up efficiency and quality, and provides sufficient supporting force and tensioning force for the cable.

Description

Technical Field

[0001] This application belongs to the field of pipeline robots, and more specifically, relates to a cable traction support mechanism for a pipeline robot. Background Technology

[0002] Pipeline robots can walk inside or outside pipelines and perform operations on pipelines under the remote or automatic control of personnel through onboard devices. To ensure the safety and removability of pipeline robots when they walk inside pipelines, they need to be pulled by cables.

[0003] Referring to Chinese Patent Publication No. CN218809714U, a cable traction support mechanism for a pipeline robot is disclosed, specifically including the following technical content: A base is included, with fixed plates fixedly installed on both sides of the top of the base. A rotating roller is rotatably installed on the top of the two fixed plates. A motor is fixedly installed at one end of each fixed plate, and the output end of the motor is detachably connected to the rotating roller via a coupling. Limiting rings are fixedly installed on both sides of the rotating roller. Support rods are fixedly installed on one side of each of the two fixed plates. A connecting block is fixedly installed between the two support rods. A cavity is formed in the middle of the connecting block, and cleaning brushes are fixedly installed at the top and bottom of the connecting block within the cavity. Bolts are threaded onto one side of each support rod, and the support rod is fixed to the connecting block by bolts. The cable traction support mechanism for the pipeline robot described in this application has a simple structure, is easy to use, has strong connectivity, facilitates cable cleaning, and improves cable winding efficiency.

[0004] However, the applicant believes that although the cable traction support mechanism is disclosed in the above-mentioned existing technical solutions, it is impossible to achieve stable cable laying and winding under factors such as horizontal, vertical, and tension, and it is impossible to maximize the efficiency and quality improvement of cable laying and winding. Summary of the Invention

[0005] The purpose of this application is to provide a cable traction support mechanism for a pipeline robot, which can realize stable cable laying and winding, ensure laying and winding efficiency and quality, and provide sufficient support and tension force for the cable.

[0006] To achieve the above objectives, this application employs the following technical solution:

[0007] The cable traction support mechanism for the pipeline robot described in this application includes a housing and a frame. A wire roller and a guide seat assembly are provided on the frame. Swing arms are symmetrically arranged on both sides of the frame. Swing arm wheels are provided on the swing arms. A roller support is provided between adjacent swing arm wheels. An auxiliary drag rod is also provided between the wire roller and the guide seat assembly. The two ends of the auxiliary drag rod pass through the drag rod guide holes on the housing and are connected to the transmission gear. The transmission gear meshes with a rack on one side. The two ends of the rack are slidably disposed on the housing guide sleeve. A rod reset assembly is provided at the top of the rack. The rack is slidably disposed in the swing arm guide groove through a guide slide rod. The swing arm guide groove is located at the end of the swing arm away from the swing arm wheel. The swing arm is rotatably disposed on the frame or housing through a shaft.

[0008] As one of the preferred technical solutions, in this application, the swing arm roller is provided with a plurality of roller guide holes, and the two ends of the roller idler are slidably disposed in the roller guide holes via shafts; the shafts at both ends of the roller idler are provided with roller moving seats, the roller moving seats are hinged to the center rod drive seat via hinged moving seat connecting rods, the center rod drive seat is slidably disposed at both ends of the center rod, the center rod is a hollow rod body, and center rod drive holes formed by strip-shaped through holes are symmetrically arranged on the center rod, a bidirectional driver is provided inside the center rod, and the two ends of the bidirectional driver are connected to drive connecting plates, the drive connecting plates slide in the center rod drive holes and are connected to the corresponding center rod drive seats.

[0009] As one of the preferred technical solutions, in this application, the guide seat assembly is connected to the bidirectional guide screw, the two ends of the bidirectional guide screw are rotatably mounted on the housing, and the guide seat assembly is also slidably mounted on the movable guide rod, which is located below the bidirectional guide screw.

[0010] As one of the preferred technical solutions, in this application, the guide seat assembly includes a seat body, in which a space for cables to pass through is formed. Guide vertical rollers are slidably arranged on both sides of the inlet and outlet of the seat body. An upper guide horizontal roller and a lower guide horizontal roller are also arranged above and below the middle position of the seat body, respectively, and a space for cables to pass through is formed between the upper guide horizontal roller and the lower guide horizontal roller.

[0011] As one of the preferred technical solutions, in this application, the two ends of the lower guide roller extend out of the vertical strip-shaped through holes of the seat body and are connected to the lower roller reset component. The lower roller reset component is located on the seat body and provides a reset force for the lower guide roller.

[0012] As one of the preferred technical solutions, in this application, the guide seat assembly is provided with strip-shaped through holes above and below the seat body. The shafts at both ends of the guide vertical roller are slidably disposed in the strip-shaped through holes and are respectively connected to the corresponding vertical roller synchronization plates. The two ends of the vertical roller synchronization plates are respectively connected to the guide vertical rollers at the inlet and outlet ends of the seat body. An onboard reset member is provided at the middle position of the vertical roller synchronization plate, and the two ends of the onboard reset member are respectively connected to the vertical roller synchronization plates on both sides.

[0013] As one of the preferred technical solutions, in this application, the wire roller is connected to a take-up motor with a gearbox body, and the take-up motor is located on the frame or housing.

[0014] Compared with the prior art, the beneficial effects of this application are:

[0015] This application improves the linkage structure to comprehensively achieve stability and reliability of the cable during the laying and reeling processes, and also comprehensively achieves support and tension during the laying and reeling processes. Attached Figure Description

[0016] Figure 1 This is the three-dimensional representation of the present application. Figure 1 .

[0017] Figure 2 yes Figure 1 A magnified view of part I in the middle.

[0018] Figure 3 yes Figure 1 A magnified view of part II.

[0019] Figure 4 This is the three-dimensional representation of the present application. Figure 2 .

[0020] Figure 5 This is a top view of this application.

[0021] Figure 6 yes Figure 5 A cross-sectional view at the position and direction shown in AA.

[0022] In the diagram: 1. Housing; 2. Frame; 3. Swing arm; 4. Swing arm guide groove; 5. Guide slide rod; 6. Toothed rod; 7. Transmission gear; 8. Auxiliary trailing rod; 9. Trailing rod guide hole; 10. Housing guide sleeve; 11. Rod reset assembly; 12. Bidirectional guide screw; 13. Transmission sprocket; 14. Moving guide rod; 15. Swing arm turntable; 16. Turntable roller; 17. Guide seat assembly; 18. Turntable guide hole; 19. Roller moving seat; 20. Moving seat connecting rod; 21. Center rod drive seat; 22. Drive connecting plate; 23. Center rod drive hole; 24. Bidirectional driver; 25. Take-up motor; 26. Guide vertical roller; 27. Vertical roller synchronization plate; 28. Plate-mounted reset component; 29. ​​Upper guide horizontal roller; 30. Lower guide horizontal roller; 31. Wire roller; 32. Lower roller reset component; 33. Center rod. Detailed Implementation

[0023] The technical solutions described in this application will be further described below with reference to the accompanying drawings and embodiments. Example 1

[0024] See Figures 1 to 6 A cable traction support mechanism for a pipeline robot includes a frame 2, which forms a frame structure. A housing 1 covers the outside of the frame 2. A wire roller 31 and a guide seat assembly 17 are arranged on the frame 2. A cable is wound on the wire roller 31 and led out through the guide seat assembly 17. A swing arm 3 is arranged on both sides of the outlet of the frame 2 or the housing 1. A swing arm wheel 15 is rotatably arranged at the end of the swing arm 3 facing the outlet. A wheel support roller 16 is rotatably arranged between the swing arm wheels 15 on both sides of the housing 1 or the frame 2. The end of the swing arm 3 away from the swing arm wheel 15 is a horizontal rod. A swing arm guide groove 4 is arranged at the position of the horizontal rod. A guide slide rod 5 is slidably arranged in the swing arm guide groove 4. The guide slide rod 5 is located on a toothed rod 6. The toothed rod 6 is arranged vertically. Both ends of the toothed rod 6 are smooth rods and are slidably arranged on the housing guide sleeve 10. The housing guide sleeve 10 is located on the housing 1. The rack 6 has gear teeth machined on both sides, and the rack 6 meshes with the transmission gear 7. The transmission gear 7 is located at both ends of the auxiliary trailing rod 8, and both ends of the auxiliary trailing rod 8 extend out of the trailing rod guide holes 9 on the housing 1. The trailing rod guide holes 9 are in the same length direction as the rack 6. The auxiliary trailing rod 8 is located between the wire roller 31 and the guide seat assembly 17, and the cable passes over the auxiliary trailing rod 8, which supports the cable. The guide seat assembly 17 reciprocates horizontally relative to the frame 2 under the action of the bidirectional guide screw 12. The bidirectional guide screw 12 and the shaft of the wire roller 31 are equipped with transmission sprockets 13, and adjacent transmission sprockets 13 are connected by chains. Example 2

[0025] See also Figures 1 to 6Example 1: A cable traction support mechanism for a pipeline robot. The swing arm wheel 15 is a circular plate with several wheel guide holes 18 distributed circumferentially around it, extending radially. A shaft rotating relative to the central axis of the wheel idler roller 16 is provided. Both ends of the shaft extend through the wheel guide holes 18. Roller moving seats 19 are provided on the shaft at both ends of the wheel idler roller 16. The roller moving seats 19 are connected to the shaft fixing tube. One end of the roller moving seat 19 is hinged to a moving seat connecting rod 20, and the other end of the moving seat connecting rod 20 is hinged to a central rod drive seat 21. The central rod drive seat 21 is slidably disposed at both ends of a central rod 33. A central rod drive hole 23 is provided at the middle position. The length direction of the central rod drive hole 23 is the same as that of the central rod 33. A drive connecting plate 22 is slidably disposed in the central rod drive hole 23. One end of the drive connecting plate 22 is connected to the idler roller moving seat 19, and the other end of the drive connecting plate 22 extends into the central rod 33 through the central rod drive hole 23 and is connected to the telescopic end of the bidirectional driver 24. The bidirectional driver 24 is located inside the central rod 33 and is connected to the central rod 33. Both ends of the central rod 33 are connected to the swing arm 3. The swing arm rotating wheel 15 is rotatably connected to the central rod 33 and rotates around the central axis of the central rod 33. Example 3

[0026] See also Figures 1 to 6 Embodiments 1 and 2 describe a cable traction support mechanism for a pipeline robot. The guide seat assembly 17 includes a seat body, forming a space for the cable to pass through. Vertical guide rollers 26 are slidably arranged on both sides of the seat body's inlet and outlet. Above and below the middle of the seat body, an upper guide horizontal roller 29 and a lower guide horizontal roller 30 are respectively arranged, forming a space for the cable to pass through between them. The two ends of the lower guide horizontal roller 30 extend out of the vertical strip-shaped through holes in the seat body and are connected to a lower roller reset member 32, which is located on the seat body and serves as the lower guide horizontal roller 30. Provides a reset force; the guide seat assembly 17 has strip-shaped through holes above and below the seat body, the shafts at both ends of the guide vertical roller 26 are slidably disposed in the strip-shaped through holes and are respectively connected to the corresponding vertical roller synchronization plates 27, the two ends of the vertical roller synchronization plates 27 are respectively connected to the guide vertical rollers 26 at the inlet and outlet ends of the seat body, and an on-board reset component 28 is disposed at the middle position of the vertical roller synchronization plate 27, the two ends of the on-board reset component 28 are respectively connected to the vertical roller synchronization plates 27 on both sides; the wire roller 31 is connected to the take-up motor 25 with a gearbox body, and the take-up motor 25 is located on the frame 2 or the housing 1.

[0027] Based on the above embodiments, the housing 1 and frame 2 can provide protective space for the internal structure and enable its installation and arrangement with the structure.

[0028] Based on the above embodiments, the swing arm 3 is hinged to the housing 1 or the frame 2 and rotates around the axis at the hinge position. One end of the swing arm 3 is connected to the swing arm wheel 15, and the other end of the swing arm 3 is a horizontal rod. A swing arm guide groove 4 is provided on the horizontal rod of the swing arm 3. The swing arm guide groove 4 is a notch with a rectangular cross-section. A guide slide rod 5 is slidably arranged in the swing arm guide groove 4. With the cooperation of the swing arm guide groove 4 and the guide slide rod 5, the rack 6 can achieve relative sliding with the housing guide sleeve 10.

[0029] Based on the above embodiments, the guide slide 5 is located at the bottom of the rack 6 and faces the outside of the housing 1. Slide rods are provided at both ends of the rack 6, and these slide rods are slidably connected to the housing guide sleeve 10, so that relative movement with the housing 1 and the frame 2 can be achieved through the housing guide sleeve 10. A rod reset assembly 11 is provided at the top of the rack 6. The rod reset assembly 11 is located on the housing 1. The rod reset assembly 11 includes a smooth rod in the same length direction as the rack 6 and a reset spring sleeved on the smooth rod. The smooth rod passes through a corresponding guide plate, which is located on the housing 1.

[0030] Based on the above embodiments, the rack 6 meshes with the transmission gear 7 through a gear tooth structure. The transmission gear 7 is located at both ends of the auxiliary drag rod 8 extending out of the housing 1. The auxiliary drag rod 8 can slide along the guide hole 9 under the action of the transmission gear 7 and the rack 6, and then support the cable through the movement of the auxiliary drag rod 8.

[0031] In the above embodiment, the transmission sprocket 13 is located at both ends of the shaft of the wire roller 31 and both ends of the bidirectional guide screw 12. The transmission sprocket 13 on the wire roller 31 and the bidirectional guide screw 12 are linked by a chain. The above structure can realize the coordination of the rotation speed of the wire roller 31 and the bidirectional guide screw 12, and better realize the wire feeding and winding.

[0032] In the above embodiment, the movable guide rod 14 is used to support the sliding of the guide seat assembly 17, so as to cooperate with the bidirectional guide screw 12 to achieve the stability of the horizontal reciprocating motion of the guide seat assembly 17 and ensure stable wire feeding and take-up.

[0033] In the above embodiment, the guide hole 18 of the rotating roller is used to realize the movement of the rotating roller 16 in the radial direction of the swing arm rotating roller 15. The rotating roller 16 includes a rubber roller body and a shaft located at the central axis of the rubber roller body. The shafts at both ends of the rotating roller 16 are rotatably provided with roller moving seats 19. One end of the moving seat connecting rod 20 is hinged to the moving seat 19, and the other end of the moving seat connecting rod 20 is hinged to the central rod drive seat 21. The central rod drive seat 21 is slidably disposed on the central rod 33. During the relative sliding process between the central rod drive seat 21 and the central rod 33, the moving seat connecting rod 20 can drive the roller moving seat 19 to move relative to the swing arm rotating roller 15. The relative movement between the roller moving seat 19 and the swing arm rotating roller 15 can drive the shaft of the rotating roller 16 to slide along the guide hole 18 of the rotating roller.

[0034] In the above embodiment, the central rod drive seat 21 is connected to the telescopic end of the bidirectional driver 24 through the central rod drive hole 23 via the drive connecting plate 22. The bidirectional driver 24 is located in the central rod 33, which is a hollow tube and is rotatably connected to the swing arms 3 at both ends.

[0035] In the above embodiment, the guide seat assembly 17 includes a seat body, which slides along the bidirectional guide screw 12 via a nut pair structure and slides along the movable guide rod 14 via a linear bearing.

[0036] In the above embodiment, the guide vertical roller 26 in the guide seat assembly 17 can limit the horizontal swing of the cable. The guide vertical roller 26 achieves clamping force through the vertical roller synchronization plate 27 at both ends and the plate-mounted reset member 28. The plate-mounted reset member 28 includes a reset spring and a shaft connected to the reset spring. The two ends of the shaft are respectively connected to the vertical roller synchronization plate 27.

[0037] In the above embodiment, the guide seat assembly 17 is provided with an upper guide roller 29 and a lower guide roller 30 between the inlet and outlet. The lower guide roller 30 is located below the upper guide roller 29, and lower roller reset members 32 are provided at both ends of the lower guide roller 30. The lower roller reset member 32 includes a guide rod passing through the shaft of the upper guide roller 29 and a reset spring sleeved on the guide rod. The upper guide roller 29 and the lower guide roller 30 can form a space for the cable to pass through, and form a structure to limit the up and down movement of the cable, further cooperating with the guide vertical roller 26 to achieve the stability of the cable during the cable feeding and reeling process.

[0038] In the above embodiment, the take-up motor 25 has a gearbox body and can drive the rotation of the wire roller 31 through the gearbox body to achieve take-up.

[0039] Finally, although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A cable traction support mechanism for a pipeline robot, comprising a housing (1) and a frame (2), wherein a wire roller (31) and a guide seat assembly (17) are provided on the frame (2), and swing arms (3) are symmetrically arranged on both sides of the frame (2), wherein swing arm wheels (15) are provided on the swing arms (3), and wheel rollers (16) are provided between adjacent swing arm wheels (15), characterized in that: An auxiliary drag rod (8) is also provided between the roller (31) and the guide seat assembly (17). The two ends of the auxiliary drag rod (8) pass through the drag rod guide hole (9) on the housing (1) and are connected to the transmission gear (7). The transmission gear (7) meshes with the rack (6) on one side. The two ends of the rack (6) are slidably disposed on the housing guide sleeve (10). The top end of the rack (6) is provided with a rod body reset assembly (11). The rack (6) is slidably disposed in the swing arm guide groove (4) through the guide slide rod (5). The swing arm guide groove (4) is located at the end of the swing arm (3) away from the swing arm turntable (15). The swing arm (3) is rotatably disposed on the frame (2) or the housing (1) through the shaft. The swing arm turntable (15) has a plurality of turntable guide holes (18) distributed on it. The two ends of the idler roller (16) are slidably disposed in the guide hole (18) of the rotating wheel through the shaft body; the shaft body at both ends of the rotating wheel idler roller (16) is provided with idler roller moving seat (19), the idler roller moving seat (19) is hinged to the center rod drive seat (21) through the hinged moving seat connecting rod (20), the center rod drive seat (21) is slidably disposed at both ends of the center rod (33), the center rod (33) is a hollow rod body, and the center rod drive hole (23) formed by the strip through hole is symmetrically disposed on the center rod (33), the interior of the center rod (33) is provided with a bidirectional driver (24), the two ends of the bidirectional driver (24) are connected with drive connecting plates (22), the drive connecting plates (22) slide in the center rod drive hole (23) and are connected to the corresponding center rod drive seat (21).

2. The pipeline robot cable traction support mechanism according to claim 1, characterized in that: The guide seat assembly (17) is connected to the bidirectional guide screw (12), and the two ends of the bidirectional guide screw (12) are rotatably mounted on the housing (1). The guide seat assembly (17) is also slidably mounted on the movable guide rod (14), which is located below the bidirectional guide screw (12).

3. The pipeline robot cable traction support mechanism according to claim 2, characterized in that: The guide seat assembly (17) includes a seat body, in which a space for cables to pass through is formed. Guide vertical rollers (26) are slidably arranged on both sides of the entrance and exit of the seat body. An upper guide horizontal roller (29) and a lower guide horizontal roller (30) are also arranged above and below the middle position of the seat body, respectively. A space for cables to pass through is formed between the upper guide horizontal roller (29) and the lower guide horizontal roller (30).

4. The pipeline robot cable traction support mechanism according to claim 3, characterized in that: The two ends of the lower guide roller (30) extend out of the vertical strip-shaped through holes of the seat body and are connected to the lower roller reset member (32). The lower roller reset member (32) is located on the seat body and provides a reset force for the lower guide roller (30).

5. The pipeline robot cable traction support mechanism according to claim 3, characterized in that: The guide seat assembly (17) has strip-shaped through holes above and below the seat body. The shafts at both ends of the guide vertical roller (26) are slidably disposed in the strip-shaped through holes and are respectively connected to the corresponding vertical roller synchronization plates (27). The two ends of the vertical roller synchronization plates (27) are respectively connected to the guide vertical rollers (26) at the inlet and outlet ends of the seat body. A plate-mounted reset component (28) is provided at the middle position of the vertical roller synchronization plate (27). The two ends of the plate-mounted reset component (28) are respectively connected to the vertical roller synchronization plates (27) on both sides.

6. The pipeline robot cable traction support mechanism according to any one of claims 1 to 5, characterized in that: The wire roller (31) is connected to a take-up motor (25) with a gearbox body, the take-up motor (25) being located on the frame (2) or the housing (1).

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