Shoe kicking type electric drive pipeline robot turning system

Abstract

The utility model discloses a shoe kicking type electric drive pipeline robot turning system which comprises a front limb and a rear limb which are arranged in a split mode, a first hinge joint is arranged on the front limb, a second hinge joint is arranged on the rear limb, the shoe kicking type electric drive pipeline robot turning system further comprises a connecting piece, and the first hinge joint and the second hinge joint are connected through the connecting piece to form a universal joint structure. An elastic reset assembly is arranged between the front limb and the rear limb, hinged frames are arranged at the two ends of the connecting piece, each hinged head is matched with the corresponding hinged frame to form a universal joint structure, and when the front limb and the rear limb walk to the pipeline turning position, the front limb and the rear limb can rotate relatively through the universal joint structures, so that a turn is conducted, and the pipeline turning is achieved. After passing through the curve, the elastic reset assembly drives the front limb and the rear limb to reset so that the front limb and the rear limb can walk linearly, the connecting piece serves as a middle connecting piece, the two ends are connected through a cross universal joint, the front limb and the rear limb are prevented from interfering with each other during turning, and the turning angle range can be widened.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline robots, in particular to a shoe-kick type electric-driven pipeline robot turning system. Background Art

[0002] In the prior art, a pipeline robot comprises a front limb and a rear limb, both of which are provided with a shoe-kick type support and a sliding member, wherein the shoe-kick type support is distributed in a plurality of groups at intervals along the circumference of the mounting shaft, the shoe-kick type support comprises a support link and a supporting member, the sliding member guides and slides on the mounting shaft, the support link comprises a driven support rod and a driving support rod, one end of the driven support rod is hingedly arranged on the mounting shaft, and the other end is hingedly arranged on the supporting member, one end of the driving support rod is hingedly arranged on the sliding member, and the other end is hingedly arranged on the supporting member, a forelimb driving screw and a rear limb driving screw are rotatably arranged on the mounting shaft, and the forelimb driving screw and the sliding member on the forelimb are connected to each other. Threaded cooperation, the hind limb driving screw is threadedly cooperated with the sliding piece on the hind limb, the mounting shaft comprises a front mounting shaft and a rear mounting shaft which are arranged in a split manner, the front mounting shaft comprises an inner shaft and an outer shaft, the inner shaft and the outer shaft are threadedly cooperated to form a telescopic rod structure, the forelimb driving screw also comprises an outer rod body and an inner rod body, the inner rod body is partially inserted into the outer rod body to form a telescopic rod structure, and the inner rod body and the outer rod body are circumferentially rotated and limited in axial sliding cooperation, the driving motor can drive the forelimb driving screw, the hind limb driving screw and the inner shaft to rotate, the structure can make the pipeline robot walk in a straight line, but if turning is required, it needs to be assisted by a turning system. Summary of the invention

[0003] Purpose of the utility model: In order to overcome the defects of the prior art, the utility model provides a shoe-kick type electric drive pipeline robot turning system, when the front limbs and the rear limbs walk to the turning point of the pipeline, the front limbs and the rear limbs can rotate relatively through the universal joint structure, so as to make a turn, further, after passing the curve, the elastic reset component drives the front limbs and the rear limbs to reset, so that they keep walking in a straight line, and the connecting piece is used as the middle connecting piece, so that both ends are connected by a cross universal joint, so as to avoid the front and rear limbs from interfering with each other when turning, and can increase the range of the turning angle.

[0004] The utility model discloses a shoe-kick type electric drive pipeline robot turning system, comprising a front limb and a rear limb arranged in a split manner, and is characterized in that: a first hinge joint is arranged on the front limb, a second hinge joint is arranged on the rear limb, and a connecting member is also included between the first hinge joint and the second hinge joint, the first hinge joint and the second hinge joint are connected via the connecting member to form a universal joint structure, an elastic reset component for driving the front limb and the rear limb to maintain a straight shape is also provided between the front limb and the rear limb, and articulated frames are arranged at both ends of the connecting member, and each articulated head cooperates with the corresponding articulated frame to form a universal joint structure.

[0005] By adopting the above technical solution, when the front limbs and the rear limbs walk to the bend of the pipeline, the front limbs and the rear limbs can rotate relative to each other through the universal joint structure, thereby making a turn. Furthermore, after passing the bend, the elastic reset component drives the front limbs and the rear limbs to reset, so that they keep walking in a straight line. The connecting piece is used as the middle connecting piece, so that both ends are connected by a cross universal joint, which avoids mutual interference between the front and rear limbs when turning, and can increase the range of the turning angle.

[0006] The utility model is further configured as follows: the elastic reset component includes a first mounting seat, a second mounting seat, a first push pin, a second push pin, a first reset spring and a second reset spring, the first mounting seat is hingedly arranged on the hind limb, one side of the second mounting seat is hingedly connected to the first mounting seat, and the other side is hingedly connected to the front limb to form a universal joint structure, the first push pin guides and slides on the first mounting seat, one end of the first reset spring acts on the hind limb or the first mounting seat, and the other end acts on the first push pin to make the first push pin extend out and be supported on the second mounting seat, the second push pin guides and slides on the second mounting seat, one end of the second reset spring acts on the second mounting seat, and the other end acts on the second push pin to make the second push pin extend out and act on the front limb.

[0007] By adopting the above technical solution, when the front limbs and the rear limbs turn relative to each other, adaptive adjustment can be made through the relative rotation of the first mounting seat and the second mounting seat, which does not affect the normal turning and has greater flexibility.

[0008] The utility model is further configured as follows: a first support wheel is hingedly provided on one end of the first push pin corresponding to the second mounting seat, the first support wheel abuts against the second mounting seat, and a second support wheel is provided on the second push pin corresponding to the position of the forelimb, the second support wheel abuts against the forelimb.

[0009] By adopting the above technical solution, the friction loss is reduced when the supporting wheel is in contact with the supporting wheel during rotation, thereby increasing the service life of the equipment.

[0010] The utility model is further configured as follows: a plurality of first ejector pins and a plurality of second ejector pins are provided, a plurality of first return springs are provided corresponding to the first ejector pins, and a plurality of second return springs are provided corresponding to the second ejector pins.

[0011] By adopting the above technical solution, multiple groups of ejector pins are used to cooperate with each other, so that the reset is more comprehensive and stable, and the reset effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a three-dimensional diagram of the utility model;

[0013] Figure 2It is a partial structural schematic diagram of the utility model;

[0014] Figure 3 for Figure 2 Enlarged view of part a;

[0015] Figure 4 It is a schematic diagram of part of the structure of the utility model;

[0016] Figure 5 for Figure 4 Part b enlarged view;

[0017] Figure 6 for Figure 1 A schematic diagram of the structure of removing the first mounting seat and the second mounting seat. DETAILED DESCRIPTION

[0018] The following is a detailed description of the specific implementation of the utility model in conjunction with the accompanying drawings:

[0019] In the description of the present invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as a limitation on the present invention. The universal joint described in this article most preferably adopts a cross universal joint, which can turn relative to each other without affecting normal transmission.

[0020] The utility model discloses a shoe-kick type electric drive pipeline robot turning system, including a front limb 1 and a rear limb 2 which are arranged in a split manner. In the implementation case of the utility model, the front limb 1 is provided with a first hinge joint 11, and the rear limb 2 is provided with a second hinge joint 21. It also includes a connecting piece 3 located between the first hinge joint 11 and the second hinge joint 21. The first hinge joint 11 and the second hinge joint 21 are connected to form a universal joint structure through the connecting piece 3. An elastic reset component for driving the front limb 1 and the rear limb 2 to maintain a straight line is also provided between the front limb 1 and the rear limb 2. The two ends of the connecting piece are connected to each other. An articulated frame 31 is provided at each end, and each articulated head cooperates with the corresponding articulated frame 31 to form a universal joint structure. When the front limb 1 and the rear limb 2 walk to the turning point of the pipeline, the front limb 1 and the rear limb 2 can rotate relative to each other through the universal joint structure, thereby making a turn. Furthermore, after passing the curve, the elastic reset component drives the front limb 1 and the rear limb 2 to reset, so that they keep walking in a straight line. The connecting piece 3 is used as the middle connecting piece, so that both ends are connected by a universal joint, which avoids the front and rear limbs from interfering with each other when turning, and can increase the range of the turning angle.

[0021] The elastic return assembly includes a first mounting seat 41, a second mounting seat 42, a first push pin 43, a second push pin 44, a first return spring 45 and a second return spring 46. The first mounting seat 41 is hingedly set on the hind limb 2, one side of the second mounting seat 42 is hinged to the first mounting seat 41, and the other side is hinged to the front limb 1 to form a universal joint structure. The first push pin 43 guides and slides on the first mounting seat 41, one end of the first return spring 45 acts on the hind limb 2 or the first mounting seat 41, and the other end acts on the first push pin 43, so that the first push pin 43 extends out and is supported on the second mounting seat 42, and the second push pin 44 guides and slides on the second mounting seat 42, one end of the second return spring 46 acts on the second mounting seat 42, and the other end acts on the second push pin 44, so that the second push pin 44 extends out and acts on the front limb 1. When the front limb 1 and the hind limb 2 turn relative to each other, adaptive adjustment can be made through the relative rotation of the first mounting seat 41 and the second mounting seat 42, which does not affect its normal turning and has stronger flexibility.

[0022] A first supporting wheel 431 is hingedly provided on one end of the first top pin 43 corresponding to the second mounting seat 42, and the first supporting wheel 431 is against the second mounting seat 42. A second supporting wheel 441 is provided on the second top pin 44 corresponding to the position of the forelimb, and the second supporting wheel 441 is against the forelimb 1. The contact is made through the supporting wheels to reduce friction loss when the device rotates, thereby increasing the service life of the device.

[0023] A plurality of first ejector pins 43 and a plurality of second ejector pins 44 are provided, a plurality of first return springs 45 are provided corresponding to the first ejector pins 43, and a plurality of second return springs 46 are provided corresponding to the second ejector pins 44. Multiple groups of ejector pins are used for coordination, so that the ejector pins are more comprehensive and stable during resetting, and the resetting effect is better.

Claims

1. A shoe-kick type electric drive pipeline robot turning system, comprising a front limb (1) and a rear limb (2) arranged in a split manner, characterized in that: The front limb (1) is provided with a first hinge joint (11), the rear limb (2) is provided with a second hinge joint (21), and further comprises a connecting member (3) located between the first hinge joint (11) and the second hinge joint (21); the first hinge joint (11) and the second hinge joint (21) are connected via the connecting member (3) to form a universal joint structure; an elastic reset component for driving the front limb (1) and the rear limb (2) to maintain a straight line is also provided between the front limb (1) and the rear limb (2); both ends of the connecting member (3) are provided with hinge frames (31); each hinge joint cooperates with the corresponding hinge frame (31) to form a universal joint structure.

2. The shoe-kick type electric drive pipeline robot turning system according to claim 1, characterized in that: The elastic reset assembly comprises a first mounting seat (41), a second mounting seat (42), a first ejector pin (43), a second ejector pin (44), a first reset spring (45) and a second reset spring (46); the first mounting seat (41) is hingedly arranged on the rear limb (2); one side of the second mounting seat (42) is hingedly connected to the first mounting seat (41) and the other side is hingedly connected to the front limb (1) to form a universal joint structure; the first ejector pin (43) is guided and slidably moved on the first mounting seat (41); the first reset spring (45) is hingedly connected to the rear limb (2); one side of the second mounting seat (42) is hingedly connected to the first mounting seat (41) and the other side is hingedly connected to the front limb (1) to form a universal joint structure; One end of the spring (45) acts on the rear limb (2) or the first mounting seat (41), and the other end acts on the first ejector pin (43), so that the first ejector pin (43) extends out and is supported on the second mounting seat (42), and the second ejector pin (44) is guided to slide on the second mounting seat (42). One end of the second return spring (46) acts on the second mounting seat (42), and the other end acts on the second ejector pin (44), so that the second ejector pin (44) extends out and acts on the front limb (1).

3. The shoe-kick type electric drive pipeline robot turning system according to claim 2 is characterized in that: A first supporting wheel (431) is hingedly provided on one end of the first push pin (43) corresponding to the second mounting seat (42), the first supporting wheel (431) abuts against the second mounting seat (42), and a second supporting wheel (441) is provided on the second push pin (44) corresponding to the position of the front limb (1), the second supporting wheel (441) abuts against the front limb (1).

4. The shoe-kick type electric drive pipeline robot turning system according to claim 3 is characterized by: A plurality of first ejector pins (43) and a plurality of second ejector pins (44) are provided, a plurality of first return springs (45) are provided corresponding to the first ejector pins (43), and a plurality of second return springs (46) are provided corresponding to the second ejector pins (44).

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