Pipe gripping robot

Abstract

The application discloses a pipeline grabbing robot, belongs to the pipeline detection field, and is used for foreign matter cleaning, which comprises a front ring body with auxiliary wheels and a rear ring body; the front ring body and the rear ring body are connected through a ring body sliding rod and a chassis body; the front ring body is provided with a frame body supporting plate and a feeding supporting plate of a conveying belt; a secondary sliding plate and a primary sliding plate are slidably arranged on the ring body sliding rod; a primary plate driver is arranged between the primary sliding plate and the rear ring body; the primary sliding plate is provided with a secondary plate driver; a vertical driver connected with a horizontal pulling cylinder is arranged on the secondary sliding plate; a horizontal driver is arranged in the horizontal pulling cylinder; a movable plate is connected with an extension end of the horizontal driver; a pulling claw with a claw guide hole is hingedly connected to the movable plate through a plate body hinge seat; and the horizontal pulling cylinder is slidably arranged with the claw guide hole through a cylinder body guide seat. The application can realize grabbing and transfer of large foreign matters in a pipeline, realize cleaning and long-time operation of the large foreign matters in the pipeline, and guarantee stability and reliability of pipeline conveying.

Description

Technical Field

[0001] This application belongs to the field of pipeline robots, and more specifically, relates to a pipeline grasping robot. Background Technology

[0002] Referring to Chinese Patent Publication No. CN121007270A, an adaptive pipeline inspection and foreign object grasping robot is disclosed, specifically revealing the following technical solution: It solves the problems of existing pipeline robots being unable to simultaneously perform grasping and visual observation functions while being suitable for smaller diameter pipelines, and failing to achieve stable operation when traversing irregular pipe walls. It includes a robot body, a grasping mechanism, and a first detection and recognition module. Two sets of linkage assemblies adaptively adjust the distance between the front and rear ends of the walking wheel assembly and the housing. The walking wheel assembly enables the robot to move forward, backward, and / or turn. When the flexible cylindrical gripper is in its initial retracted state, one end of the flexible cylindrical gripper is located at the bottom of the inner support barrel, and the inner wall of one end is fixedly connected to a ball nut. This application is used for pipeline inspection and foreign object grasping.

[0003] Referring again to Chinese Patent Publication No. CN109630806A, a pipe robot capable of swivel-connecting, gripping, and detecting is disclosed. This pipe robot includes a gripping device and a walking device. The output end of the walking device is connected to the input end of the gripping device. The gripping end of the gripping device is used to grasp the swivel joint, and the walking device is used to drive the gripping device to move within the pipe. A buffer is provided between the gripping device and the walking device to buffer the axial displacement of the gripping device. This solves the technical problem in the prior art where the walking mechanism and gripping mechanism are simply mechanically connected, unable to accommodate the axial movement of the swivel joint, easily causing the gripping mechanism to detach from the swivel joint. The buffer in this application can buffer the displacement of the gripping mechanism relative to the axis of the walking mechanism.

[0004] Under the aforementioned prior art, the applicant believes that both patent documents CN121007270A and CN109630806A disclose an adaptive adjustment robot based on a track structure. These robots have relatively complex structures and cannot temporarily store foreign objects, making them unable to operate effectively for extended periods when dealing with the cleaning of larger foreign objects in pipelines. Summary of the Invention

[0005] The purpose of this application is to provide a pipeline gripping robot that can grasp and transport large foreign objects inside pipelines, enabling the cleaning of large foreign objects inside pipelines and long-term operation, thereby ensuring the stability and reliability of pipeline transportation.

[0006] To achieve the above objectives, this application employs the following technical solution: The pipe-grabbing robot described in this application includes auxiliary wheels and a drive wheel. The drive wheel is located at the output end of the main wheel motor. The auxiliary wheels are respectively located on the front ring body and the rear ring body, and are distributed circumferentially on the front and rear ring bodies. The front and rear ring bodies are connected by a ring body slide rod and a base frame, with the base frame located at the bottom of the front and rear ring bodies. A feed tray is provided at the inlet direction of the front ring body. The base frame includes a frame tray with multiple conveyor belts distributed at the bottom and sides of the base frame. A secondary slide plate and a primary slide plate are slidably mounted on the ring body slide rod. A main board driver is provided between the plate and the rear ring body. A secondary plate driver is provided on the main slide plate and connected to the secondary slide plate. A vertical driver is provided on the secondary slide plate and connected to the horizontal pulling cylinder. A horizontal driver is provided inside the horizontal pulling cylinder. A movable plate is connected to the telescopic end of the horizontal driver. A pulling rod claw is hinged to the movable plate through a plate hinge seat. A claw guide hole is provided on the pulling rod claw. The horizontal pulling cylinder is slidably set with the claw guide hole through a cylinder guide seat. The drive wheel and the main wheel motor are located on the side plate of the frame. The side plate of the frame is located on both sides of the base frame.

[0007] As one of the preferred embodiments of this application, the inner diameter of the inlet of the feed tray is larger than its inner diameter of the outlet, the outlet of the feed tray is fixed to the inner wall of the front ring body and is flush with the inner wall of the frame tray; the end of the conveyor belt is provided with a conveyor belt guard plate, which is connected to the feed tray and the rear ring body at the corresponding positions respectively.

[0008] As one of the preferred embodiments of this application, the frame side plate is a plate that extends horizontally outward from both sides of the base frame. A motor base for mounting the main wheel motor is provided on the top surface of the frame side plate. The output shaft of the main wheel motor is connected to a drive wheel, which is located below the frame side plate. The drive wheels are respectively located near the front ring and the rear ring.

[0009] As one of the preferred embodiments of this application, the bottom end of the motherboard driver is fixed to the rear ring body, and the motherboard drivers are symmetrically arranged on the rear ring body; the telescopic end of the motherboard driver is connected to the motherboard connection plate, the bottom end of the motherboard connection plate is slidably arranged on the side plate of the frame, the top end of the motherboard connection plate is fixedly connected to the main slide plate, and the main slide plate is symmetrically arranged with secondary board drivers between two adjacent ring body slide rods, the bottom end of the secondary board driver is fixedly connected to the main slide plate, and the telescopic end of the secondary board driver is connected to the secondary slide plate.

[0010] As one of the preferred embodiments of this application, the auxiliary slide plate has a vertical drive base horizontally arranged on the side away from the auxiliary plate driver. The vertical drive base has a clearance opening at the middle position corresponding to the horizontal pull cylinder. Vertical drivers are arranged at the positions of the vertical drive base on both sides of the clearance opening. The telescopic ends of the vertical drivers are connected to the lifting plate. Limit plates are arranged at the positions of the auxiliary slide plate on both sides of the lifting plate. The lifting plate slides relative to the limit plates. The lifting plate is connected to the horizontal pull cylinder by vertically arranged vertical connecting rods, and there are at least two vertical connecting rods.

[0011] As one of the preferred embodiments of this application, a tail plate is provided on the rear ring body, and the tail plate is connected to the rear ring body by fasteners.

[0012] Compared with the prior art, the beneficial effects of this application are: This application enables the cleaning and temporary storage of large foreign objects inside pipes with circular cross-sections, and the transfer of foreign objects after temporary storage. While ensuring the cleaning effect and quality, it improves the cleaning and transfer efficiency of foreign objects, ensures the stability and reliability of the transfer process, and helps to reduce the structural complexity of the pipe cleaning robot, making it easier for later maintenance. Attached Figure Description

[0013] Figure 1 This is the three-dimensional representation of the present application. Figure 1 .

[0014] Figure 2 yes Figure 1 A magnified view of part I in the middle.

[0015] Figure 3 This is the three-dimensional representation of the present application. Figure 2 .

[0016] Figure 4 yes Figure 3 A magnified view of part II.

[0017] Figure 5 This is a top view of this application.

[0018] In the diagram: 1. Feed tray; 2. Auxiliary wheel; 3. Front ring body; 4. Ring body slide bar; 5. Base frame; 6. Frame side plate; 7. Auxiliary slide plate; 8. Auxiliary plate driver; 9. Main slide plate; 10. Rear ring body; 11. Main board driver; 12. Main board connecting plate; 13. Conveyor belt; 14. Frame tray; 15. Main wheel motor; 16. Drive wheel; 17. Lifting plate; 18. Limiting plate; 19. Vertical drive base; 20. Vertical driver; 21. Clearance opening; 22. Vertical connecting rod; 23. Horizontal pulling cylinder; 24. Pulling rod claw; 25. Claw guide hole; 26. Cylinder guide seat; 27. Plate hinge seat; 28. Moving plate; 29. ​​Horizontal driver; 30. Conveyor belt guard plate; 31. Tail plate. Detailed Implementation

[0019] The technical solution described in this application will be further described below with reference to the accompanying drawings and embodiments. Foreign objects inside the pipeline should be less than two-thirds of the inner diameter of the front ring 3 and the rear ring 10 to ensure the operability of the overall structure.

[0020] Example 1: See Figures 1 to 5 A pipe-grabbing robot includes a front ring body 3 and a rear ring body 10 with an annular structure. The front ring body 3 and the rear ring body 10 are parallel and coaxially arranged. Several auxiliary wheels 2 are mounted circumferentially on the front ring body 3 and the rear ring body 10 via wheel seats. The auxiliary wheels 2 are evenly distributed circumferentially on the front ring body 3 and the rear ring body 10. The front ring body 3 and the rear ring body 10 are fixedly connected by a base frame 5, and the connection method is a detachable connection using fasteners. The base frame 5 includes a frame support plate 14 and a conveyor belt 13, which is distributed at the bottom and sides of the frame support plate 14. A feed plate 1 is provided on the outer side of the front ring body 3. The feed plate 1 is located at the bottom of the inlet of the front ring body 3, and the inner diameter of the inlet of the feed plate 1 is larger than the inner diameter of the outlet. The base frame 5 has integrally provided frame side plates 6 on both sides. The frame side plates 6 are plates that extend horizontally to both sides of the base frame 5. Main wheel motors 15 are symmetrically arranged on both sides of the base frame 5. The output shaft of the main wheel motor 15 is connected to the drive wheel 16. The main wheel motor 15 and the drive wheel 16 are also symmetrically arranged in the length direction of the frame side plates 6.

[0021] A ring slide rod 4 is also provided between the front ring body 3 and the rear ring body 10. A secondary slide plate 7 and a main slide plate 9 are slidably arranged on the ring slide rod 4. The secondary slide plate 7 is arranged parallel to the main slide plate 9. A main board driver 11 is provided between the main slide plate 9 and the rear ring body 10. A secondary board driver 8 is provided between the secondary slide plate 7 and the main slide plate 9. A vertical driver 20 is provided on the secondary slide plate 7. The vertical driver 20 drives the horizontal pulling cylinder 23 to rise and fall. The horizontal pulling cylinder 23 is located below the secondary slide plate 7. A horizontal driver 29 is provided inside the horizontal pulling cylinder 23. The telescopic end of the horizontal driver 29 is connected to a moving plate 28. Several pulling claws 24 are hinged on the moving plate 28. The pulling claws 24 are slidably arranged with the cylinder guide seat 26 through the claw guide hole 25 arranged in the length direction. The cylinder guide seat 26 is arranged in the circumference of the horizontal pulling cylinder 23, corresponding to the plate hinge seat 27.

[0022] Based on the above technical solution, the front ring body 3 and the rear ring body 10 described in this application are ring structures, which serve as the main structures supporting the base frame 5, the feed tray 1, and the auxiliary wheels 2. Furthermore, the outer circumferential walls of the front ring body 3 and the rear ring body 10 are as close as possible to the inner wall of the circular pipe, and the auxiliary wheels 2 are evenly distributed around the front ring body 3 and the rear ring body 10.

[0023] Based on the above technical solution, the base frame 5 described in this application is used to connect the front ring body 3 and the rear ring body 10. The base frame 5 includes a frame support plate 14 and a conveyor belt 13. The conveyor belt 13 is located at the bottom and both sides of the frame support plate 14 to realize the conveying of foreign objects supported by the frame support plate 14, and to facilitate the adjustment of the position of foreign objects on the frame support plate 14.

[0024] Based on the above technical solution, the frame side plates 6 described in this application are located on both sides of the base frame 5 and extend outwards from the base frame 5, wherein the base frame 5 as a whole forms a semi-circular structure. The frame side plates 6 are used to install the main wheel motor 15 and the drive wheel 16, and to guide the main board connecting plate 12.

[0025] Based on the above technical solution, the feed tray 1 in this application has a trumpet-shaped structure, that is, the inner diameter of the inlet of the feed tray 1 is larger than the inner diameter of the outlet of the feed tray 1. The edge of the inlet of the feed tray 1 should be close to the inner wall of the pipe, and a rubber ring structure is provided at the edge of the inlet of the feed tray 1 to avoid rigid contact while also enabling the movement of foreign objects into the feed tray 1.

[0026] Based on the above technical solution, the conveyor belt guard plate 30 described in this application can protect the end of the conveyor belt 13, making it easier for foreign objects to enter the interior of the front ring body 3 and the base frame body 5.

[0027] Based on the above technical solution, the horizontal pulling cylinder 23 described in this application is arranged along the axial direction of the front ring body 3 and the rear ring body 10, and moves in the vertical direction. The movement of the horizontal pulling cylinder 23 can avoid foreign objects entering the bottom frame body 5 and facilitate its extension from the front ring body 3.

[0028] Based on the above technical solution, the horizontal pull cylinder 23 described in this application is provided with a horizontal driver 29 inside. The telescopic end of the horizontal driver 29 extends out from the inside of the horizontal pull cylinder 23, and the telescopic end is connected to a movable plate 28 composed of a circular plate. The movable plate 28 has a plurality of plate hinge seats 27 distributed circumferentially. The plate hinge seats 27 are hinged to the pull rod claw 24 through the shaft.

[0029] Based on the above technical solution, the pulling claw 24 is an elongated rod, and a claw guide hole 25, formed by a strip-shaped through hole, is provided along the length of the pulling claw 24. The pulling claw 24 is slidably connected to the cylinder guide seat 26 through the claw guide hole 25. A sliding shaft is slidably disposed inside the cylinder guide seat 26, and the sliding shaft is located inside the claw guide hole 25. The cylinder guide seat 26 is located on the circumferential outer wall of the horizontal pulling cylinder 23 and is fixedly connected to the horizontal pulling cylinder 23. The cylinder guide seat 26 is correspondingly disposed with the plate hinge seat 27.

[0030] Example 2: See also Figures 1 to 5 The pipe-grabbing robot, based on Embodiment 1, features a conveyor belt 13 with conveyor belt guards 30 at its ends near the front ring 3 and rear ring 10. The feed tray 1 has a rubber guard ring at its end away from the front ring 3, and it contacts the inner wall of the circular pipe. The conveyor belt 13 is a single or multi-segment conveyor belt structure, including conveyor rollers and a conveyor belt body. The conveyor rollers include a conveyor roller connected to a power mechanism and a driven roller. The power mechanism of the conveyor belt 13 is located inside the frame tray 14.

[0031] Based on the above technical solution, the conveyor belt 13, under the protection of the conveyor belt guard plate 30, can prevent collisions with foreign objects at its ends. The rubber protective ring of the feed tray 1 can prevent direct rigid contact between the feed tray 1 and the inner wall of the pipe. The conveyor belt 13 can be a single section or multiple sections connected together, allowing for the adjustment and conveying of the position of foreign objects within the base frame 5.

[0032] Example 3: See also Figures 1 to 5The pipe-grabbing robot, based on Embodiment 1, features a rear ring body 10 with symmetrically arranged mainboard drivers 11. The mainboard drivers 11 are located on both sides of the rear ring body 10 and above the side plates 6 of the frame. The telescopic ends of the mainboard drivers 11 are connected to a mainboard connecting plate 12, which is located on both sides of the main slide plate 9 and fixedly connected to it. The main slide plate 9 is slidably connected to the ring body slide rod 4 via linear bearings or bushings; the ring body slide rod 4 is a smooth rod structure. A secondary plate driver 8 is located between the two ring body slide rods 4 on the main slide plate 9. The bottom of the secondary plate driver 8 is fixedly connected to the main slide plate 9, and its telescopic end is connected to a secondary slide plate 7. A lifting plate 17 is fixedly arranged on the end face of the secondary slide plate 7 away from the main slide plate 9, and the lifting plate 17 is located between adjacent ring body slide rods 4. The lifting plate 17 is located at the telescopic end of the vertical driver 20. The vertical driver 20 is fixedly mounted on the vertical drive base 19 and located on both sides of the clearance opening 21 of the vertical drive base 19. The clearance opening 21 is correspondingly arranged with the horizontal pulling cylinder 23, which is horizontally arranged. A tail plate 31 is provided on the rear ring body 10, and the tail plate 31 is set on the rear ring body 10 by fasteners.

[0033] Based on the above technical solution, the distribution of the main board driver 11, the sub-board driver 8, and the vertical driver 20 in this application enables adjustment of the horizontal pulling cylinder 23 in both horizontal and vertical directions. This allows the horizontal pulling cylinder 23 to open and close the pulling lever 24 via the internally installed horizontal driver 29. In the open state, the pulling lever 24 allows the foreign object to move forward into the annular body 3 and the base frame 5. The structures with telescopic ends provided in this application, including but not limited to the main board driver 11, the sub-board driver 8, the vertical driver 20, and the horizontal driver 29, all employ hydraulic cylinder structures.

[0034] In use, this application achieves movement within the pipeline via auxiliary wheel 2 and drive wheel 16, with the drive wheel 16 powered by the main wheel motor 15. During movement, after a foreign object is detected by the video acquisition device and lighting device attached to the front ring body 3, the drive wheel 16 stops moving under the action of the main wheel motor 15. The telescopic end of the horizontal driver 29 in the horizontal pulling cylinder 23 extends, the moving plate 28 moves away from the horizontal pulling cylinder 23, and the moving plate 28 drives the pulling rod claw 24 through the plate hinge seat 27. The pulling rod claw 24 is guided along the cylinder guide seat 26 through the claw guide hole 25, and then the end of the pulling rod claw 24 away from the moving plate 28 approaches the horizontal pulling cylinder 23.

[0035] The motherboard driver 11 starts working. The telescopic end of the motherboard driver 11 drives the motherboard connection board 12 and the main slide plate 9 to move to the limit position. The secondary board driver 8 on the main slide plate 9 starts working and drives the secondary slide plate 7 to move closer to the front ring body 3. The secondary slide plate 7 can extend the components on the horizontal pulling cylinder 23 from the front ring body 3.

[0036] After extension is complete, the vertical actuator 20 starts working, driving the lifting plate 17 to move downward. During the downward movement, the lifting plate 17 is guided to a suitable position by the limiting plate 18. After the movement is completed, the horizontal actuator 29 in the horizontal pulling cylinder 23 begins to reset. During the reset process, the moving plate 28 approaches the horizontal pulling cylinder 23. During the approach, the plate hinge seat 27, the cylinder guide seat 26, and the cylinder guide seat 26 move the end of the pulling rod claw 24 away from the moving plate 28 away from the circumference of the horizontal pulling cylinder 23, thereby increasing the range of the pulling rod claw 24 in grabbing foreign objects. The opening angle of the pulling rod claw 24 can be adjusted appropriately according to the size of the foreign object obtained by the video acquisition device.

[0037] After the opening angle of the pull lever 24 is adjusted, the pull lever 24, the horizontal driver 29, and the horizontal pull cylinder 23 move with the secondary slide plate 7. The secondary board driver 8 connected to the secondary slide plate 7 begins to reset. The foreign object moves forward into the ring body 3 along with the pull lever 24, and during the movement into the ring body 3, the opening angle of the pull lever 24 gradually decreases. After the secondary board driver 8 resets, the main board driver 11 begins to reset.

[0038] During the above process, the conveyor belt 13 maintains the transport state, and the placement position of the foreign object is manually adjusted based on the images obtained by the video acquisition device.

[0039] In this application, the video acquisition device and lighting device are both wired control and wired power supply, which are conventional choices for those skilled in the art. The main wheel motor 15 in this application achieves start-stop control under manual operation through wired power supply and control.

[0040] Although the technical solutions in this application are described in accordance with the preferred embodiments, any rearrangement or substitution of the technical solutions in this application by those skilled in the art based on the above technical content and their prior art should still be understood as being within the scope of protection of this application and protected by this application.

Claims

1. A pipe-grabbing robot, comprising an auxiliary wheel (2) and a drive wheel (16), wherein the drive wheel (16) is disposed at the output end of a main wheel motor (15), characterized in that, The auxiliary wheels (2) are respectively set on the front ring body (3) and the rear ring body (10), and are distributed around the front ring body (3) and the rear ring body (10); the front ring body (3) and the rear ring body (10) are connected by the ring body slide rod (4) and the base frame (5), and the base frame (5) is located at the bottom of the front ring body (3) and the rear ring body (10); a feed tray (1) is set at the inlet direction of the front ring body (3), and the base frame (5) includes a frame tray (14), on which multiple conveyor belts (13) are set, and the conveyor belts (13) are distributed at the bottom and sides of the base frame (5); a secondary slide plate (7) and a main slide plate (9) are slidably set on the ring body slide rod (4), and a main board driver (11) is set between the main slide plate (9) and the rear ring body (10), and the main slide plate (7) is slidably set on the ring body slide rod (4). 9) A sub-plate driver (8) is provided on the sub-plate driver (8) and connected to the sub-plate (7). A vertical driver (20) is provided on the sub-plate (7) and connected to the horizontal pulling cylinder (23). A horizontal driver (29) is provided inside the horizontal pulling cylinder (23). A movable plate (28) is connected to the telescopic end of the horizontal driver (29). A pulling rod claw (24) is hinged on the movable plate (28) through the plate body hinge seat (27). A claw guide hole (25) is provided on the pulling rod claw (24). The horizontal pulling cylinder (23) is slidably set with the claw guide hole (25) through the cylinder body guide seat (26). The drive wheel (16) and the main wheel motor (15) are located on the frame side plate (6). The frame side plate (6) is located on both sides of the base frame (5).

2. The pipe-grabbing robot according to claim 1, characterized in that, The inner diameter of the inlet of the feed tray (1) is larger than its inner diameter of the outlet. The outlet of the feed tray (1) is fixed to the inner wall of the front ring body (3) and is flush with the inner wall of the frame tray (14). The end of the conveyor belt (13) is provided with a conveyor belt guard plate (30), which is connected to the feed tray (1) and the rear ring body (10) at the corresponding positions.

3. The pipe-grabbing robot according to claim 2, characterized in that, The frame side plate (6) is a plate that extends horizontally outward from both sides of the base frame (5). A motor mount for mounting the main wheel motor (15) is provided on the top surface of the frame side plate (6). The output shaft of the main wheel motor (15) is connected to the drive wheel (16). The drive wheel (16) is located below the frame side plate (6). The drive wheel (16) is respectively located near the front ring body (3) and the rear ring body (10).

4. The pipe-grabbing robot according to claim 1, characterized in that, The bottom end of the main board driver (11) is fixed on the rear ring body (10), and the main board driver (11) is symmetrically arranged on the rear ring body (10); the telescopic end of the main board driver (11) is connected to the main board connecting plate (12), the bottom end of the main board connecting plate (12) is slidably arranged on the frame side plate (6), the top end of the main board connecting plate (12) is fixedly connected to the main slide plate (9), the main slide plate (9) is symmetrically arranged with a secondary board driver (8) between two adjacent ring body slide rods (4), the bottom end of the secondary board driver (8) is fixedly connected to the main slide plate (9), and the telescopic end of the secondary board driver (8) is connected to the secondary slide plate (7).

5. The pipe-grabbing robot according to claim 4, characterized in that, The auxiliary slide plate (7) has a vertical drive base (19) horizontally arranged on the side away from the auxiliary plate driver (8). The vertical drive base (19) has a clearance opening (21) corresponding to the horizontal pull cylinder (23) at the middle position. A vertical driver (20) is arranged at the position of the vertical drive base (19) on both sides of the clearance opening (21). The telescopic end of the vertical driver (20) is connected to the lifting plate (17). A limit plate (18) is arranged at the position of the auxiliary slide plate (7) on both sides of the lifting plate (17). The lifting plate (17) slides relative to the limit plate (18). The lifting plate (17) and the horizontal pull cylinder (23) are connected by vertically arranged vertical connecting rods (22). There are at least two vertical connecting rods (22).

6. The pipe-grabbing robot according to any one of claims 1 to 5, characterized in that, The rear ring body (10) is provided with a tail plate (31), which is connected to the rear ring body (10) by fasteners.

Images