Crawling mechanism for pipeline inner wall grinding robot

Abstract

The utility model relates to a crawling mechanism for a pipeline inner wall polishing robot, the crawling mechanism comprises a body, at least three groups of crawler belt structures and at least three groups of adjusting structures, and the crawler belt structures are distributed on the peripheral side of the body; the adjusting structures are distributed on the peripheral side of the body, alternate with the crawler belt structures and connected with the adjacent crawler belt structures respectively, and the adjusting structures drive the crawler belt structures to expand and contract; the adjusting structure is composed of a plurality of rotating supports and a driving device, the rotating supports are arranged on the body, the middle portions of the rotating supports are hinged to the body, the front ends of the rotating supports are connected with the crawler belt structure, the tail ends of the rotating supports are connected with the driving device, and the driving device drives the rotating supports to swing and drives the crawler belt structure to move. The crawler belt structure can be matched with small-size pipelines, and connection of the crawler belt structure is firm.

Description

Technical Field

[0001] The utility model relates to a polishing robot, in particular to a crawling mechanism for the pipeline inner wall polishing robot. Background Art

[0002] There are also robots that use three crawlers on the market. In order to adapt to the inner wall of the pipe, the crawling mechanism is often equipped with a complex adjustment structure (such as patent: 201811277390.1, a modular supported crawler-type pipeline robot), which makes the three-track crawling mechanism bloated (large diameter) and difficult to match small-sized pipes. In addition, the connection of the crawler structure is relatively fragile and easily damaged. If it is used on a grinding robot, when the grinding head rotates at high speed, the crawling mechanism is difficult to remain stable, affecting the normal progress of the grinding work. Summary of the invention

[0003] The utility model proposes a crawling mechanism for a pipeline inner wall grinding robot, improves the adjustment structure, and optimizes the layout of the adjustment structure and the crawler structure, so that it can be made smaller (smaller in diameter) and can match small-sized pipelines, and the connection of the crawler structure is relatively firm.

[0004] The technical solution of this utility model:

[0005] A crawling mechanism for a pipeline inner wall grinding robot, the crawling mechanism includes a main body, at least three groups of track structures, and at least three groups of adjustment structures, each track structure is distributed and installed on the circumference of the main body; each adjustment structure is distributed and arranged on the circumference of the main body, alternating with each track structure, each adjustment structure is respectively connected to the adjacent track structure, and each adjustment structure drives each track structure to expand and contract; the adjustment structure is composed of a plurality of rotating brackets and a driving device, each rotating bracket is arranged on the main body, the middle part is hinged to the main body, the front end of each rotating bracket is connected to the track structure, the end of the rotating bracket is connected to the driving device, and the driving device drives each rotating bracket to swing, driving the track structure to move. The track structure and the adjustment structure are designed to alternate circumferentially, the overall layout is more reasonable and compact, the diameter can be made smaller, and the adjustment structure is composed of a plurality of rotating brackets and a driving device, which is simple and firm.

[0006] The adjustment structure and the crawler structure adjacent thereto are separated by a side plate, the rotating bracket is connected to the crawler structure by a connecting rod, and the connecting rod passes through a hole set on the side plate; each rotating bracket is set on the side plate, and the middle part is hinged with the side plate; the hole is an arc hole, which makes the adjustment crawler structure more stable, and the arc hole constitutes the adjustment limit of the crawler structure.

[0007] A guide rod is arranged in the body, the guide rod passes through the body and is located at the center of each adjustment structure; a guide block is connected to the end of each rotating bracket, and the guide block is connected to the guide rod, so that the adjustment crawler structure is more stable.

[0008] A driving block is arranged on a guide block, and the driving device is connected to the driving block; the driving device is a cylinder. The layout is reasonable and compact.

[0009] Each adjusting structure has a common driving device, and the driving device is connected to a guide rod, and is connected to the end of each rotating bracket of each adjusting structure through the guide rod.

[0010] The guide block and the guide rod are separated by a bottom plate, and the guide block passes through a hole arranged on the bottom plate; the hole is a strip-shaped hole, so that the track adjustment structure is more stable.

[0011] At least three arc-shaped cover plates are installed on the circumference of the main body, and each arc-shaped cover plate seals each adjustment structure in the main body.

[0012] The rotating bracket is connected to the guide block through an adjuster; the adjuster includes an intermediate rod, a universal joint I, and a universal joint II, wherein the universal joint I is arranged at one end of the intermediate rod and is threadedly connected thereto, and the universal joint I is arranged at the other end of the intermediate rod and is threadedly connected thereto, the universal joint I is connected to the rotating bracket, and the universal joint II is connected to the guide block.

[0013] The crawling mechanism is centrally symmetrical as a whole. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a three-dimensional image of a robot for polishing the inner wall of a pipe.

[0015] Figure 2 This is a partial stereoscopic image of a pipeline inner wall grinding robot.

[0016] Figure 3 This is a partial front view of the pipe inner wall grinding robot.

[0017] Figure 4 yes Figure 3 Schematic diagram of the cross section along the AA direction.

[0018] In the figure, the main body 1, the side plate 1-1, the bottom plate 1-2, the track structure 2, the adjustment structure 3, the rotating bracket 3-1, the cylinder 3-2, the connecting rod 4, the arc hole 5, the regulator 6, the intermediate rod 6-1, the universal joint I 6-2, the universal joint II 6-3, the guide block 7, the driving block 8, the guide rod 9, the strip hole 10, and the arc cover plate 11. DETAILED DESCRIPTION

[0019] like Figure 1-4As shown, a pipeline inner wall grinding robot, whose crawling mechanism is overall centrally symmetrical, includes a body 1, three groups of crawler structures 2, and three groups of adjustment structures 3, each crawler structure 2 is distributed and installed around the body 1; each adjustment structure 3 is distributed and arranged around the body 1, alternating with each crawler structure 2, each adjustment structure 3 is respectively connected to two adjacent crawler structures 2, and each adjustment structure 3 drives each crawler structure 2 to expand and contract; each adjustment structure 3 and the two adjacent crawler structures 2 are separated by a side plate 1-1 (integrated with the body 1);

[0020] The adjusting structure 3 is composed of four rotating brackets 3-1 and a cylinder 3-2. Each rotating bracket 3-1 is arranged on the side plate 1-1 (one adjusting structure 3 corresponds to two side plates 1-1, and its four rotating brackets 3-1, two on each side plate 1-1, one in front and one in the rear), the middle part of which is hinged with the side plate 1-1, the front end of each rotating bracket 3-1 is connected to the crawler structure 2 through a connecting rod 4, the connecting rod 4 passes through an arc hole 5 arranged on the side plate 1-1, the end of each rotating bracket 3-1 is connected to a guide block 7 (two front rotating brackets 3-1 share the guide block 7, and two rear rotating brackets 3-1 share the guide block 7) through an adjuster 6, one guide block 7 (the guide block 7 shared by the two front rotating brackets 3-1) is connected to a driving block 8, and the cylinder 3-2 is connected to the driving block 8;

[0021] The body 1 is provided with a guide rod 9, which passes through the body 1 and is located at the center of each adjustment structure 3. Each guide block 7 is separated from the guide rod 9 by a bottom plate 1-2 (integrated with the body 1), and each guide block 7 passes through a strip hole 10 provided on the bottom plate 1-2 and is connected to the guide rod 9 (integrated); three arc-shaped cover plates 11 are installed on the periphery of the body 1, and each arc-shaped cover plate 11 seals each adjustment structure 3 in the body 1;

[0022] The regulator 6 includes an intermediate rod 6-1, a universal joint I 6-2, and a universal joint II 6-3. The universal joint I 6-2 is arranged at one end of the intermediate rod 6-1 and is threadedly connected thereto. The universal joint II 6-3 is arranged at the other end of the intermediate rod 6-1 and is threadedly connected thereto. The universal joint I 6-1 is connected to the rotating bracket 3-1, and the universal joint II 6-2 is connected to the guide block 7.

[0023] When the crawling mechanism is used, it is placed in a pipeline, and each cylinder 3-2 synchronously drives each rotating bracket 3-1 to swing, driving each crawler structure 2 to expand and contract, support on the inner wall of the pipeline and crawl along the inner wall of the pipeline.

[0024] The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.

Claims

1. A crawling mechanism for a pipeline inner wall grinding robot, the crawling mechanism comprising a body, at least three sets of crawler structures, and at least three sets of adjustment structures, each crawler structure is distributed and installed around the body; characterized in that: Each adjustment structure is distributed around the body and alternately arranged with each crawler structure. Each adjustment structure is respectively connected to an adjacent crawler structure, and each adjustment structure drives each crawler structure to expand and contract. The adjustment structure is composed of a plurality of rotating brackets and a driving device. Each rotating bracket is arranged on the main body and is hinged to the main body in the middle. The front end of each rotating bracket is connected to the track structure, and the end of the rotating bracket is connected to the driving device. The driving device drives each rotating bracket to swing and drives the track structure to move.

2. The crawling mechanism for a pipeline inner wall polishing robot according to claim 1, characterized in that: The adjusting structure and the crawler structure adjacent thereto are separated by a side plate, the rotating bracket is connected to the crawler structure by a connecting rod, and the connecting rod passes through a hole arranged on the side plate; each rotating bracket is arranged on the side plate, and the middle part thereof is hinged to the side plate; The hole is an arc-shaped hole.

3. The crawling mechanism for a pipeline inner wall polishing robot according to claim 1, characterized in that: A guide rod is arranged in the body, and the guide rod passes through the body and is located at the center of each adjustment structure; The end of each rotating bracket is connected with a guide block, and the guide block is connected with the guide rod.

4. The crawling mechanism for a pipeline inner wall polishing robot according to claim 3, characterized in that: A guide block is connected to a driving block, and the driving device is connected to the driving block; The driving device is a cylinder.

5. The crawling mechanism for a pipeline inner wall polishing robot according to claim 3, characterized in that: Each adjusting structure has a common driving device, and the driving device is connected to a guide rod, and is connected to the end of each rotating bracket of each adjusting structure through the guide rod.

6. The crawling mechanism for a pipeline inner wall polishing robot according to claim 3, characterized in that: The guide block and the guide rod are separated by a bottom plate, and the guide block passes through a hole provided on the bottom plate; The holes are strip-shaped holes.

7. The crawling mechanism for a pipeline inner wall polishing robot according to claim 4, characterized in that: At least three arc-shaped cover plates are installed on the circumference of the main body, and each arc-shaped cover plate seals each adjustment structure in the main body.

8. The crawling mechanism for a pipeline inner wall polishing robot according to claim 3, characterized in that: The rotating bracket and the guide block are connected via an adjuster; The regulator includes an intermediate rod, a universal joint I, and a universal joint II. The universal joint I is arranged at one end of the intermediate rod and is threadedly connected to it. The universal joint I is arranged at the other end of the intermediate rod and is threadedly connected to it. The universal joint I is connected to the rotating bracket, and the universal joint II is connected to the guide block.

9. The crawling mechanism for a pipeline inner wall polishing robot according to claim 1, characterized in that: The crawling mechanism is centrally symmetrical as a whole.

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