In-pipe moving mechanism of pipeline robot

Abstract

The utility model relates to the field of robot auxiliary devices, and discloses a pipeline robot in-pipe moving mechanism which comprises an installation frame, a transmission mechanism is arranged in the installation frame, and a transmission shaft is connected to the middle of the transmission mechanism. The outer rotating sleeve is in transmission connection with the transmission mechanism, an outer moving sleeve is connected to the outer wall of the outer rotating sleeve, and rolling wheels are rotationally connected to the outer moving sleeve; the inner fixed sleeve is in transmission connection with the transmission mechanism, and the middle of the inner fixed sleeve is in transmission connection with an inner moving sleeve through a spline; the first transmission is in transmission connection with the inner moving sleeve, and the output end of the first transmission is in transmission connection with the rollers; the cleaning mechanism is connected with the transmission mechanism and matched with the rolling wheels; the external output end of the robot body is connected with a transmission shaft, the transmission shaft is connected with the transmission shaft, rotation in different directions can be achieved, then different work requirements are met, an external connection mode is adopted, disassembly and assembly can be conveniently carried out, the robot is suitable for work of different pipelines, and work proceeding is guaranteed.

Description

Technical Field

[0001] The utility model relates to the field of robot auxiliary devices, in particular to an in-pipe moving mechanism of a pipeline robot. Background Art

[0002] A pipeline robot is an integrated mechanical, electrical and instrumentation system that can automatically move along the inside or outside of a pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under remote control by staff or automatic computer control. It requires power support when moving. Since the environment inside the pipeline varies greatly depending on the different usage scenarios, existing mobile devices have certain limitations in moving inside, which may cause obstructions to their movement, resulting in movement obstruction or inconvenience. Utility Model Content

[0003] In order to solve the technical problem of inconvenient movement, the utility model provides an in-pipe movement mechanism of a pipeline robot.

[0004] The utility model adopts the following technical scheme to achieve: a pipeline robot in-pipe moving mechanism, comprising: a mounting frame, a transmission mechanism is arranged inside, a transmission shaft is connected in the middle of the transmission mechanism; an outer rotating sleeve, which is transmission-connected with the transmission mechanism, and an outer movable sleeve is connected to its outer wall, and a roller is rotationally connected to the outer movable sleeve; an inner fixed sleeve, which is transmission-connected with the transmission mechanism, and an inner movable sleeve is connected in the middle through a spline transmission; a transmission first, which is transmission-connected with the inner movable sleeve, and an output end of which is transmission-connected with the roller; a cleaning mechanism, which is connected with the transmission mechanism and cooperates with the roller; a robot body, an external output end of which is connected with a transmission shaft, and the transmission shaft is connected with the transmission shaft.

[0005] The telescopic rod 1 is fixedly connected to the outer rotating sleeve, and the output end thereof is fixedly connected to the roller with a support block, and the roller is rotatably connected to the support block.

[0006] As a further improvement of the above scheme, the transmission mechanism includes: bevel gear 1, which is fixedly sleeved with the transmission shaft and is transmission-connected to the inner fixed sleeve; bevel gear 3, which is fixedly sleeved with the transmission shaft and is transmission-connected to bevel gear 2; a conducting tube, which is rotationally connected to the inner fixed sleeve and the other end of which is connected to a pressurizer, one side of the pressurizer is connected to an air duct, and the other end of the air duct is connected to a heating box fixedly connected to the mounting frame; a moving ring, which is transmission-connected to bevel gear 2 through a spline, and its outer side is rotationally connected to a follower block; a transmission 2, which is fixedly connected to the mounting frame, and its input end is transmission-connected to the moving ring through a spline, one side of the transmission 2 is fixedly connected to telescopic rod 2, and the output end of the telescopic rod 2 is fixedly connected to the follower block; a transmission assembly, which is transmission-connected to the output end of the transmission 2 and is transmission-connected to the outer rotating sleeve.

[0007] As a further improvement of the above solution, a plurality of heating tubes are arranged in the heating box, a filter plate is connected to the top of the heating box, and a water inlet pipe connected to the mounting frame is connected to one side of the heating box.

[0008] As a further improvement of the above solution, a connecting frame is connected to one side of the installation frame, and the other end of the connecting frame is connected to the robot body. A connector is connected to one side of the installation frame, and the connector is electrically connected to the robot body through wires.

[0009] As a further improvement of the above solution, a sealing sleeve is connected to the outer wall of the outer rotating sleeve, the sealing sleeve is rotatably connected to the mounting frame, and a one-way valve is connected to the air guide pipe.

[0010] As a further improvement of the above scheme, the cleaning mechanism includes: a connecting sleeve, which is rotatably sleeved on the outer wall of the inner movable sleeve and is connected to a conduction tube on one side; a cleaning block, which is fixedly connected to the outer movable sleeve and in contact with the roller, and the cleaning block is connected to the conduction tube.

[0011] As a further improvement of the above solution, the roller includes an innermost support ring, and the outer side of the support ring is sequentially connected with an adhesive layer, an elastic layer, a wear-resistant layer and a spray layer.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] 1. Through different transmission methods, the roller can rotate in different directions to adapt to different work needs. It is an external connection method, which can be easily disassembled and assembled to adapt to the work of different pipelines and ensure the progress of the work.

[0014] 2. By cleaning the rollers, the smoothness of the rolling process is ensured, thereby ensuring the mobility and stability of the entire device to adapt to different work scenarios and work needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a left side cross-sectional schematic diagram of the utility model;

[0016] Figure 2 It is a schematic diagram of the front cross-sectional view of the utility model;

[0017] Figure 3 It is a partial left-side sectional schematic diagram of the utility model;

[0018] Figure 4 It is a partial front cross-sectional schematic diagram of the utility model;

[0019] Figure 5 It is a schematic diagram of the left side cross-sectional view of the transmission mechanism.

[0020] Description of main symbols:

[0021] 01. Mounting frame; 02. Outer moving sleeve; 03. Heating box; 04. Inner fixed sleeve; 06. Transmission shaft; 07. Bevel gear one; 08. Outer rotating sleeve; 09. Transmission one; 10. Robot body; 11. Transmission mechanism; 12. Roller; 13. Cleaning block; 14. Inner moving sleeve; 15. Telescopic rod one; 16. Conducting tube; 17. Connecting sleeve; 18. Transmission two; 19. Telescopic rod two; 20. Moving ring; 21. Bevel gear two; 22. Bevel gear three; 23. Conducting tube; 24. Follower block; 25. Pressurizer; 26. Air guide tube; 27. Connecting frame; 28. Connector; 29. ​​Transmission shaft; 30. Transmission assembly. DETAILED DESCRIPTION

[0022] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0023] Example:

[0024] Please combine Figure 1-5 ,

[0025] A pipeline robot in-pipe moving mechanism, comprising: an installation frame 01, a transmission mechanism 11 is arranged inside, a transmission shaft 06 is connected in the middle of the transmission mechanism 11, the installation frame 01 is supported and stabilized, the transmission mechanism 11 is required to transmit, the transmission shaft 06 outputs power, an outer rotating sleeve 08 is transmission-connected to the transmission mechanism 11, and an outer movable sleeve 02 is connected to its outer wall, a roller 12 is rotationally connected to the outer movable sleeve 02, the outer rotating sleeve 08 can rotate, thereby driving the outer movable sleeve 02 to rotate, the roller 12 contacts the pipeline to achieve movement, an inner fixed sleeve 04 is transmission-connected to the transmission mechanism 11, and an inner movable sleeve 14 is connected in the middle through a spline transmission, a transmission 09 is transmission-connected to the inner movable sleeve 14, and its output end is transmission-connected to the roller 12, The cleaning mechanism is connected to the transmission mechanism 11 and cooperates with the roller 12. The cleaning mechanism performs necessary cleaning work. The robot body 10 has an external output end connected to a transmission shaft 29, which is connected to the transmission shaft 06. The robot body 10 is an existing mechanism to realize power supply and other execution work. The transmission shaft 29 connected to its power output end realizes power output, thereby driving the rotation of the transmission shaft 06 to realize subsequent movement work. The telescopic rod 15 is fixedly connected to the outer rotating sleeve 08, and its output end is fixedly connected to the roller 12 with a support block. The roller 12 is rotatably connected to the support block. The telescopic rod 15 extends and contracts, thereby driving the outer movable sleeve 02 to move on the outside of the outer rotating sleeve 08 to realize distance changes and adapt to different pipe diameters.

[0026] The transmission mechanism 11 includes: a bevel gear 07, which is fixedly sleeved with the transmission shaft 06 and is transmission-connected with the inner fixed sleeve 04. The bevel gear 07 rotates along with the rotation of the transmission shaft 06, further driving the rotation of the inner fixed sleeve 04. A bevel gear 3 22 is fixedly sleeved with the transmission shaft 06 and is transmission-connected with the bevel gear 21. The bevel gear 3 22 rotates along with the rotation of the transmission shaft 06, further driving the rotation of the bevel gear 21. A guide tube 23 is rotationally connected to the inner fixed sleeve 04, and a pressurizer 25 is connected to one side of the pressurizer 25. An air guide tube 26 is connected to the other end of the air guide tube 26. The heating box 03 fixedly connected to the mounting frame 01 is realized through the guide tube 23, the pressurizer 25 and the air guide tube 26. The conduction between the fixed sleeve 04 and the heating box 03 realizes the movement of gas. The moving circle 20 is transmission-connected to the bevel gear 21 through a spline, and its outer side is rotationally connected with a follower block 24. The moving circle 20 transmits torque. The transmission 2 18 is fixedly connected to the mounting frame 01, and its input end is transmission-connected to the moving circle 20 through a spline. One side of the transmission 2 18 is fixedly connected to a telescopic rod 2 19, and the output end of the telescopic rod 2 19 is fixedly connected to the follower block 24. Through the transmission of the moving circle 20, the transmission 2 18 works. The transmission assembly 30 is transmission-connected to the output end of the transmission 2 18, and it is transmission-connected to the outer rotating sleeve 08. Through the transmission of the transmission 2 18, the transmission assembly 30 is driven to rotate, and further drives the rotation of the outer rotating sleeve 08.

[0027] A plurality of heating tubes are arranged in the heating box 03. A filter plate is connected to the top of the heating box 03. A water inlet pipe connected to the mounting frame 01 is connected to one side of the heating box 03. The heating tubes perform necessary heating, the filter plate performs filtering, and the water inlet pipe can be used to add fluid.

[0028] A connecting frame 27 is connected to one side of the installation frame 01, and the other end of the connecting frame 27 is connected to the robot body 10. A connector 28 is connected to one side of the installation frame 01, and the connector 28 is electrically connected to the robot body 10 through wires. The connecting frame 27 achieves relative stability between the robot body 10 and the installation frame 01 and ensures the connection of the device. The connector 28 facilitates the connection of electricity, realizes the input and output of signals, and realizes control.

[0029] The outer wall of the outer rotating sleeve 08 is connected with a sealing sleeve, which is rotatably connected to the mounting frame 01. A one-way valve is connected to the air guide pipe 26. The sealing sleeve ensures sealing, and the one-way valve ensures the direction of flow.

[0030] The cleaning mechanism includes: a connecting sleeve 17, which is rotatably sleeved on the outer wall of the inner movable sleeve 14, and one side of which is connected to a conduction tube 16, a cleaning block 13, which is fixedly connected to the outer movable sleeve 02 and contacts with the roller 12, the cleaning block 13 is connected with the conduction tube 16, the connecting sleeve 17 is conducted, and then transmitted to the cleaning block 13 through the conduction tube 16, the cleaning block 13 is provided with a hole for flushing, and at the same time the cleaning block 13 contacts with the roller 12 to achieve scraping.

[0031] The roller 12 includes an innermost support ring, and the outer side of the support ring is connected with an adhesive layer, an elastic layer, a wear-resistant layer and a spray layer in sequence. The support ring provides rigid support, the adhesive layer performs bonding, the elastic layer provides buffering and elasticity, the wear-resistant layer ensures friction, and the spray layer increases friction to ensure the movement process.

[0032] The implementation principle of the embodiment of the present application is:

[0033] When working, a connection is formed between the transmission shaft 29 and the transmission shaft 06 in the robot body 10, and different connections are realized by using the connector 28 and the connecting frame 27. When moving, the power output in the robot body 10 causes the transmission shaft 06 to rotate, and further drives the bevel gear 1 07 and the bevel gear 3 22 to rotate, wherein the rotation of the bevel gear 1 07 drives the roller 12 to rotate after passing through the inner fixed sleeve 04, the inner movable sleeve 14, and the transmission 1 09. The relative rotation of the roller 12 drives the entire device to move. When turning or other needs occur, the telescopic rod 2 19 drives the moving circle 20 Move, and then contact the bevel gear 21 to realize transmission. After the operation of the transmission 2 18 and the transmission assembly 30, the outer rotating sleeve 08 and the outer movable sleeve 02 are driven to rotate, so that the direction of the roller 12 is changed, that is, the whole device moves in different directions. During the movement, steam is generated through the action of the heating box 03, and then transmitted to the pressurizer 25 through the air guide pipe 26 for pressurization, and then sprayed out after passing through the conducting pipe 23, the inner fixed sleeve 04, the inner movable sleeve 14, the conducting pipe 16, and the cleaning block 13, and the cleaning is realized by scraping the cleaning block 13 to ensure subsequent movement.

[0034] The above-mentioned implementation modes are only preferred implementation modes of the present invention, and cannot be used to limit the protection scope of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A pipeline robot in-pipe moving mechanism, characterized in that: include: A mounting frame, wherein a transmission mechanism is arranged inside the mounting frame, and a transmission shaft is connected in the middle of the transmission mechanism; An outer rotating sleeve is connected to the transmission mechanism in a transmission manner, and an outer wall of the outer rotating sleeve is connected to the outer movable sleeve, and a roller is rotatably connected to the outer movable sleeve; An inner fixed sleeve is connected to the transmission mechanism through a transmission mechanism, and an inner movable sleeve is connected therebetween through a spline transmission; Transmission 1, which is transmission-connected to the inner moving sleeve, and its output end is transmission-connected to the roller; A cleaning mechanism is connected to the transmission mechanism and cooperates with the roller; The robot body has an external output end connected to a transmission shaft, and the transmission shaft is connected to a transmission shaft; The telescopic rod 1 is fixedly connected to the outer rotating sleeve, and the output end thereof is fixedly connected to the roller with a support block, and the roller is rotatably connected to the support block.

2. The in-pipe moving mechanism of a pipeline robot according to claim 1, characterized in that: The transmission mechanism comprises: Bevel gear 1 is fixedly sleeved with the transmission shaft and is transmission-connected with the inner fixed sleeve; Bevel gear 3 is fixedly sleeved with the transmission shaft and is transmission-connected with bevel gear 2; A conducting tube, which is rotatably connected to the inner fixing sleeve, and the other end of which is connected to a pressurizer, one side of the pressurizer is connected to an air guide tube, and the other end of the air guide tube is connected to a heating box fixedly connected to the mounting frame; The moving ring is connected to the second bevel gear through a spline, and a follower block is connected to the outer side thereof for rotation; Transmission 2 is fixedly connected to the mounting frame, and its input end is transmission-connected to the moving ring through a spline. One side of the transmission 2 is fixedly connected to telescopic rod 2, and the output end of the telescopic rod 2 is fixedly connected to the follower block; The transmission assembly is transmission-connected to the output end of the second transmission and is transmission-connected to the outer rotating sleeve.

3. The in-pipe moving mechanism of a pipeline robot according to claim 2, characterized in that: A plurality of heating tubes are arranged in the heating box, a filter plate is connected to the top of the heating box, and a water inlet pipe connected to the mounting frame is connected to one side of the heating box.

4. The in-pipe moving mechanism of a pipeline robot according to claim 2, characterized in that: A connecting frame is connected to one side of the installation frame, and the other end of the connecting frame is connected to the robot body. A connector is connected to one side of the installation frame, and the connector is electrically connected to the robot body through wires.

5. The in-pipe moving mechanism of a pipeline robot according to claim 2, characterized in that: The outer wall of the outer rotating sleeve is connected with a sealing sleeve, the sealing sleeve is rotatably connected with the mounting frame, and the air guide pipe is connected with a one-way valve.

6. The in-pipe moving mechanism of a pipeline robot according to claim 1, characterized in that: The cleaning mechanism comprises: A connecting sleeve, the rotating sleeve of which is connected to the outer wall of the inner moving sleeve, and one side of which is connected to a conducting pipe; A cleaning block is fixedly connected with the outer movable sleeve and contacts with the roller, and the cleaning block is communicated with the conducting pipe.

7. The in-pipe moving mechanism of a pipeline robot according to claim 1, characterized in that: The roller comprises an innermost support ring, and an adhesive layer, an elastic layer, a wear-resistant layer and a spray layer are sequentially connected to the outer side of the support ring.

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