In-building pipe penetrating robot

Abstract

The utility model relates to the technical field of pipe penetrating robots, and discloses an in-building pipe penetrating robot which is characterized in that a supporting adjusting mechanism is arranged at the rear part of a robot main body, a driving mechanism is arranged at the front part of the robot main body, and a supporting guide wheel with a supporting function is arranged at the rear part of the robot main body; the supporting guide wheel is of an adjustable structure, and the supporting guide wheel can be attached to and supported by the inner walls of pipelines with different pipe diameters during working by adjusting the driving adjustment of the driving motor, so that the lead fixing end at the rear part of the robot main body is always positioned at the center of the pipeline, and the traction stress of the robot main body is ensured to be positioned at the center of the rear part; the running stability of the robot body can be effectively improved, the driving structure is arranged on the front portion of the robot body, a supporting electric cylinder is matched with a supporting pressing wheel, it is ensured that a crawler driving base is always attached to the inner wall of the pipeline through elastic pre-tightening pushing, and the central traction mode is matched; and it is ensured that the robot body can conduct stable traction driving in the pipeline.

Description

Technical Field

[0001] The utility model relates to the technical field of pipe-penetrating robots, in particular to a pipe-penetrating robot in a building. Background Art

[0002] With the advancement of urbanization and the expansion of power grid construction coverage, the application of power cable lines has also increased significantly. When constructing lines inside buildings, local branches need to be pre-buried in steel pipes or PVC pipes by threading. Since the pipelines are closed, this poses a problem for the threading and installation of cables. Pipeline robots are used for pipeline detection and pipeline cleaning. Due to their good passing characteristics, they are currently often used in the pipe threading construction of cables inside buildings.

[0003] In order to pull the cable leads, the ends of the leads are usually fixedly installed at the rear of the pipe threading robot. Due to the pulling of the cable leads and the lack of an effective guiding support structure at the rear of traditional pipe threading robots, the robot's shape is often skewed due to the pulling of the leads in actual work, causing the driving wheel to lose its driving fulcrum, resulting in the robot getting stuck and affecting the threading operation. Therefore, an in-building pipe threading robot is proposed. Utility Model Content

[0004] The purpose of the utility model is to provide a pipe-threading robot in a building to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an in-building pipe-threading robot, comprising a robot body, a support adjustment mechanism is arranged at the rear of the robot body, the support adjustment mechanism comprises an adjustment drive motor, a drive connecting block, a drive screw, a flip arm, a support guide wheel, a drive connecting rod and a telescopic support column, the flip arm is flipped and installed at the rear of the robot body under the drive of the adjustment drive motor, and the support guide wheel is rotatably installed at the end of the flip arm through the telescopic support column;

[0006] A driving mechanism is provided at the front of the robot body, and the driving mechanism includes a driving mounting seat, a track driving seat, a telescopic guide column, a thrust spring, a supporting electric cylinder and a supporting pressure wheel. The track driving seat is movably mounted on the front lower part of the robot body through the telescopic guide column and the thrust spring, and the supporting pressure wheel is lifted and mounted on the front upper part of the robot body through the supporting electric cylinder.

[0007] Preferably, a connecting block sliding cavity is provided inside the robot body, the driving connecting block is slidably fitted inside the connecting block sliding cavity, the driving screw is rotatably installed inside the robot body, the adjusting driving motor is fixedly installed on the middle part of the rear side of the robot body by bolts, the end of the driving screw is fixedly connected to the driving shaft end of the adjusting driving motor, a driving screw hole is provided in the middle part of the driving connecting block, and the driving connecting block is threadedly installed on the upper part of the driving screw through the driving screw hole.

[0008] Preferably, the above-mentioned flip arms are provided in plurality, and several of the flip arms are evenly hingedly installed on the rear part of the robot body in a circular shape through a rotating shaft, one end of the driving connecting rod is hinged to the rear part of the driving connecting block, and the other end of the driving connecting rod is hinged to the side of the flip arm.

[0009] Preferably, the telescopic support is telescopically installed inside the end side of the flip arm, a spring is installed in abutment with the connection between the telescopic support and the flip arm, and the support guide wheel is rotatably installed on the end of the telescopic support.

[0010] Preferably, a mounting support is fixed to the front of the robot body by bolts, and there are two telescopic guide columns, both of which are slidably mounted in sliding holes provided on the upper part of the mounting support, and the drive mounting seat is fixed to the bottom end of the telescopic guide column, and a thrust spring is mounted in the middle part of the telescopic guide column, and an adjusting screw sleeve is threadedly mounted on the top end of the thrust spring.

[0011] Preferably, the above-mentioned crawler drive seat is installed at the lower part of the drive mounting seat, the supporting electric cylinder is fixedly installed on the upper front side of the robot body by bolts, the supporting pressure wheel is rotatably installed on the push rod end of the supporting electric cylinder, and sliding guide columns are fixed on both sides of the bracket of the supporting pressure wheel, and the sliding guide columns are slidably inserted and installed in the guide holes set on the side of the supporting electric cylinder.

[0012] Preferably, a cable fixing seat is provided at the rear of the adjusting drive motor, and the cable fixing seat is fixed to the rear of the adjusting drive motor by bolts.

[0013] Compared with the prior art, the utility model adopts the above technical solution and has the following technical effects:

[0014] The robot is provided with a supporting guide wheel at the rear of the robot body, and an adjustable structure is adopted for the supporting guide wheel. The supporting guide wheel is installed by a flip support arm and is adjusted by adjusting the drive motor. When working, it can fit and support the inner wall of the pipe with different diameters, so that the lead fixed end at the rear of the robot body is always in the center of the pipe, ensuring that the traction force of the robot body is in the rear center, which can effectively improve the operation stability of the robot body, and the driving structure is arranged at the front of the robot body, and the supporting electric cylinder is used in conjunction with the supporting pressure wheel to push through elastic pre-tightening, so as to ensure that the crawler drive seat is always close to the inner wall of the pipe, and cooperate with the central pulling method to ensure that the robot body can be stably pulled and driven in the pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the overall front structure of the utility model;

[0017] Figure 2 It is a schematic diagram of the overall rear structure of the utility model;

[0018] Figure 3 It is a schematic diagram of the overall lower structure of the utility model;

[0019] Figure 4 This is a schematic diagram of the front structure of the support adjustment mechanism of the utility model;

[0020] Figure 5 It is a schematic diagram of the rear structure of the support and adjustment mechanism of the utility model.

[0021] Explanation of the accompanying drawings: 1. Robot body; 2. Adjustment of driving motor; 3. Driving connecting block; 4. Driving screw; 5. Flipping arm; 6. Support guide wheel; 7. Driving connecting rod; 8. Telescopic support pillar; 9. Cable fixing seat; 10. Driving mounting seat; 11. Track driving seat; 12. Telescopic guide column; 13. Thrust spring; 14. Support electric cylinder; 15. Support pressure wheel; 16. Mounting support; 17. Sliding guide column. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0024] Example

[0025] See also Figure 1-5 The utility model provides a technical solution: a pipe-threading robot in a building, including a robot body 1. In order to provide stable guiding support for the rear of the robot body 1, a support adjustment mechanism is arranged at the rear of the robot body 1. The support adjustment mechanism includes an adjustment drive motor 2, a drive connecting block 3, a drive screw 4, a flip arm 5, a support guide wheel 6, a drive connecting rod 7 and a telescopic support 8. In order to facilitate the sliding installation of the drive connecting block 3, a connecting block sliding cavity is arranged inside the robot body 1. The drive connecting block 3 is slidably fitted inside the connecting block sliding cavity. In order to provide driving force for the sliding of the drive connecting block 3, the drive screw 4 is rotatably installed inside the robot body 1, as shown in the attached figure. Figure 2 As shown, the adjusting drive motor 2 is fixedly installed on the middle part of the rear side of the robot body 1 by bolts, and the end of the driving screw 4 is fixedly connected to the driving shaft end of the adjusting drive motor 2, which can provide driving force for the sliding of the driving connecting block 3. A driving screw hole is provided in the middle part of the driving connecting block 3, and the driving connecting block 3 is threadedly installed on the upper part of the driving screw 4 through the driving screw hole. Under the rotation drive of the driving screw 4, the sliding drive of the driving connecting block 3 can be achieved through thread feeding. In order to facilitate the connection and installation of the cable traction line, a cable fixing seat 9 is provided at the rear part of the adjusting drive motor 2, and the cable fixing seat 9 is fixedly installed on the rear part of the adjusting drive motor 2 by bolts.

[0026] As attached Figure 2As shown, a plurality of flip arms 5 are provided, and several flip arms 5 are evenly hinged and installed at the rear of the robot body 1 in a circular shape through a rotating shaft. In order to drive the flip arm 5 to flip, one end of the driving connecting rod 7 is hinged to the rear of the driving connecting block 3, and the other end of the driving connecting rod 7 is hinged to the side of the flip arm 5. The flip arm 5 is flipped and installed at the rear of the robot body 1 under the drive of the adjusting driving motor 2. In order to provide an elastic driving force for the supporting guide wheel 6, the telescopic support 8 is telescopically installed inside the end side of the flip arm 5, and a spring is installed at the connection between the telescopic support 8 and the flip arm 5. The supporting guide wheel 6 is rotatably installed at the end of the telescopic support 8, and the supporting guide wheel 6 is rotatably installed at the end of the telescopic support 8 through the telescopic support 8. The supporting guide wheel 6 is installed by the flip arm 5 and adjusted by the driving motor 2. When working, it can be fitted and supported with the inner wall of the pipe of different diameters, so that the lead fixed end at the rear of the robot body 1 is always in the center of the pipe, ensuring that the traction force of the robot body 1 is in the rear center.

[0027] In order to drive the robot body 1 to move, a driving mechanism is arranged at the front of the robot body 1, and the driving mechanism includes a driving mounting seat 10, a crawler driving seat 11, a telescopic guide column 12, a thrust spring 13, a supporting electric cylinder 14 and a supporting pressure wheel 15. Figure 1 As shown, the front part of the robot body 1 is fixed with a mounting support 16 by bolts, the number of telescopic guide columns 12 is two, and the two telescopic guide columns 12 are slidably mounted in the sliding holes set on the upper part of the mounting support 16, the driving mounting seat 10 is fixed to the bottom end of the telescopic guide column 12, and the track driving seat 11 is installed at the lower part of the driving mounting seat 10, and the track driving seat 11 contains a motor and a gear reduction transmission structure. As the mobile driving structure of the robot body 1, the track driving seat 11 can slide in the vertical direction under the guide support of the telescopic guide column 12. In order to provide elastic pushing force for the track driving seat 11, a thrust spring 13 is installed in the middle part of the telescopic guide column 12. The track driving seat 11 is movably mounted on the front lower part of the robot body 1 through the telescopic guide column 12 and the thrust spring 13. In order to adjust the initial extension and contraction amount of the telescopic guide column 12, an adjusting screw sleeve is threadedly installed on the top end of the thrust spring 13.

[0028] In order to adjust and control the support height of the support pressing wheel 15, as shown in the attached Figure 1As shown, the supporting electric cylinder 14 is fixedly installed on the front upper part of the robot body 1 by bolts. The supporting electric cylinder 14 is a servo electric cylinder. The supporting pressure wheel 15 is rotatably installed on the push rod end of the supporting electric cylinder 14. The supporting pressure wheel 15 is lifted and lowered by the supporting electric cylinder 14 and installed on the front upper part of the robot body 1. The supporting electric cylinder 14 cooperates with the supporting pressure wheel 15 to push through elastic pre-tightening to ensure that the crawler drive seat 11 is always close to the inner wall of the pipeline. In conjunction with the central pulling method, the robot body 1 can be stably pulled and driven in the pipeline. In order to prevent the supporting pressure wheel 15 from axial rotation and improve the sliding stability of the supporting pressure wheel 15, sliding guide columns 17 are fixed on both sides of the bracket of the supporting pressure wheel 15. The sliding guide columns 17 are slidably inserted and installed in the guide holes set on the sides of the supporting electric cylinder 14.

[0029] Working principle or structural principle, when working, the support height of the driving mounting seat 10 is adjusted according to the aperture of the pipeline, and then the robot body 1 is placed inside the pipeline, and then the driving motor 2 is adjusted to work to drive the driving connecting block 3 to move forward through the driving screw 4, and under the pull of the driving connecting rod 7, the three flip arms 5 are synchronously flipped and expanded, so that the supporting guide wheel 6 fits the inner wall of the pipeline, and then the supporting electric cylinder 14 drives the supporting pressure wheel 15 to move up, so that the supporting pressure wheel 15 fits the support on the inner top side of the pipeline, and the elastic push provided by the supporting pressure wheel 15 cooperates with the thrust spring 13 to ensure that the crawler driving seat 11 is always close to the bottom side of the pipeline, and then the cable traction line is fixedly installed on the upper part of the cable fixing seat 9, and then the robot body 1 is driven by the crawler driving seat 11 to move in the pipeline. During the movement, the traction line guided by the supporting guide wheel 6 is always in the center of the pipeline until the robot body 1 reaches the pipeline outlet, completing the traction and threading operation of the traction line.

[0030] In summary, the robot is provided with a supporting guide wheel 6 with a supporting function at the rear part of the robot body 1, and an adjustable structure is adopted for the supporting guide wheel 6. The supporting guide wheel 6 is installed by the flip arm 5 and is adjusted by adjusting the drive motor 2. During operation, it can be fitted and supported with the inner wall of the pipe of different diameters, so that the lead fixed end at the rear part of the robot body 1 is always in the center of the pipe, ensuring that the traction force of the robot body 1 is in the rear center, which can effectively improve the operation stability of the robot body 1, and the driving structure is arranged at the front part of the robot body 1, and the supporting electric cylinder 14 is used in conjunction with the supporting pressure wheel 15 to push through elastic pre-tightening, so as to ensure that the crawler drive seat 11 is always close to the inner wall of the pipe, and cooperate with the central pulling method to ensure that the robot body 1 can be stably pulled and driven in the pipe.

[0031] Those skilled in the art will appreciate that the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in various ways, even if such combinations and / or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All of these combinations and / or combinations fall within the scope of the present invention.

Claims

1. A pipe-piercing robot for use in buildings, comprising a robot body (1), characterized in that: A support adjustment mechanism is provided at the rear of the robot body (1), and the support adjustment mechanism comprises an adjustment drive motor (2), a drive connecting block (3), a drive screw (4), a flip support arm (5), a support guide wheel (6), a drive connecting rod (7) and a telescopic support pillar (8); the flip support arm (5) is flipped and installed at the rear of the robot body (1) under the drive of the adjustment drive motor (2), and the support guide wheel (6) is rotatably installed at the end of the flip support arm (5) through the telescopic support pillar (8); The front part of the robot body (1) is provided with a driving mechanism, and the driving mechanism comprises a driving mounting seat (10), a track driving seat (11), a telescopic guide column (12), a thrust spring (13), a supporting electric cylinder (14) and a supporting pressure wheel (15). The track driving seat (11) is movably mounted on the front lower part of the robot body (1) through the telescopic guide column (12) and the thrust spring (13), and the supporting pressure wheel (15) is lifted and lowered on the front upper part of the robot body (1) through the supporting electric cylinder (14).

2. The pipe-piercing robot for use in buildings according to claim 1, characterized in that: The robot body (1) is provided with a connecting block sliding cavity, the driving connecting block (3) is slidably mounted in the connecting block sliding cavity, the driving screw (4) is rotatably mounted in the robot body (1), the adjusting driving motor (2) is fixedly mounted on the middle of the rear side of the robot body (1) by bolts, the end of the driving screw (4) is fixedly connected to the driving shaft end of the adjusting driving motor (2), the middle of the driving connecting block (3) is provided with a driving screw hole, and the driving connecting block (3) is threadedly mounted on the upper part of the driving screw (4) through the driving screw hole.

3. The pipe-piercing robot for use in buildings according to claim 2, characterized in that: A plurality of the flip arms (5) are provided, and a plurality of the flip arms (5) are evenly hingedly mounted on the rear of the robot body (1) in a circular shape through a rotating shaft, one end of the driving connecting rod (7) is hingedly mounted on the rear of the driving connecting block (3), and the other end of the driving connecting rod (7) is hingedly mounted on the side of the flip arm (5).

4. The pipe-piercing robot for use in buildings according to claim 3, characterized in that: The telescopic support (8) is telescopically installed inside the end side of the flip support arm (5), a spring is installed in abutment at the connection between the telescopic support (8) and the flip support arm (5), and the support guide wheel (6) is rotatably installed on the end of the telescopic support (8).

5. The pipe-piercing robot for use in buildings according to claim 1, characterized in that: The front part of the robot body (1) is fixed with a mounting support (16) by bolts, the number of the telescopic guide pillars (12) is two, and the two telescopic guide pillars (12) are slidably mounted in the sliding holes provided on the upper part of the mounting support (16), the driving mounting seat (10) is fixed to the bottom end of the telescopic guide pillar (12), the middle part of the telescopic guide pillar (12) is sleeved with a thrust spring (13), and the top end of the thrust spring (13) is threadedly mounted with an adjusting screw sleeve.

6. The pipe-piercing robot for use in buildings according to claim 5, characterized in that: The crawler drive seat (11) is installed on the lower part of the drive mounting seat (10), the supporting electric cylinder (14) is fixedly installed on the upper front side of the robot body (1) by bolts, the supporting pressure wheel (15) is rotatably installed on the push rod end of the supporting electric cylinder (14), and sliding guide columns (17) are fixed on both sides of the bracket of the supporting pressure wheel (15), and the sliding guide columns (17) are slidably inserted and installed in the guide holes set on the side of the supporting electric cylinder (14).

7. The pipe-piercing robot for use in buildings according to claim 1, characterized in that: A cable fixing seat (9) is provided at the rear of the adjusting drive motor (2), and the cable fixing seat (9) is fixed to the rear of the adjusting drive motor (2) by means of bolts.

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