Front-driving walking mechanism of shoe kicking type electric-driven pipeline robot

Abstract

The utility model discloses a shoe kicking type electrically-driven pipeline robot front-driving walking mechanism which comprises a mounting shaft, a front limb, a rear limb and a driving motor, the front limb and the rear limb are each provided with a shoe kicking type supporting piece and a sliding piece, each shoe kicking type supporting piece comprises a supporting connecting rod and an abutting piece, and a front limb driving screw and a rear limb driving screw are arranged on the mounting shaft. 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 forelimb driving screw rod 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 driving motor can drive the forelimb driving screw rod, the rear limb driving screw rod and the inner shaft to rotate. According to the pipeline robot, the radial width of the abutting piece is driven to be adjusted in a motor screw mode, the front limb and the rear limb are further driven to crawl, and therefore the pipeline robot is driven to walk, the walking amount is controlled through rotation of the screw, and the walking displacement is easily controlled when the pipeline robot walks.

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 front-drive walking mechanism. Background Art

[0002] In the prior art, pipeline robots are used for repairing or surveying some pipelines, but most of the existing pipeline robots use rollers to walk and cannot be applied to vertical pipelines. A pipeline robot that uses webbed claws to grasp the inner wall of the pipeline has appeared on the market and is applied to vertical pipelines. However, when walking, the pipeline robot crawls directly in the direction of extension and retraction, with a relatively large amplitude and a relatively fast speed, and it is not easy to control the walking displacement. 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-driven pipeline robot front-drive walking mechanism, which adopts a motor screw to drive the adjustment of the radial width of the abutment member, and further drives the front limbs and the rear limbs to crawl, thereby driving the pipeline robot to walk, and the walking amount is controlled by the rotation of the screw, so that it is easier to control the walking displacement when walking.

[0004] The utility model discloses a front-drive walking mechanism of a shoe-kick type electric-driven pipeline robot, comprising a mounting shaft, a front limb, a rear limb and a driving motor for driving the front and rear limbs to extend and retract relative to each other, the front limb and the rear limb are axially distributed along the mounting shaft, and is characterized in that: the front limb and the rear limb are both provided with a shoe-kick type support member and a sliding member, a plurality of groups of shoe-kick type support members are circumferentially spaced and distributed along the mounting shaft, the shoe-kick type support member comprises a supporting connecting rod and a supporting member, the sliding member guides and slides on the mounting shaft, the supporting connecting rod comprises a driven supporting rod and a driving supporting rod, one end of the driven supporting rod is hingedly arranged on the mounting shaft, and the other end is hingedly arranged on the supporting member, one end of the driving supporting rod is hingedly arranged on the sliding member, and the other end is hingedly arranged on the supporting member, One end is hinged on the abutment member, and a forelimb driving screw and a hind limb driving screw are rotatably arranged on the installation shaft. The forelimb driving screw cooperates with the sliding member thread on the forelimb, and the hind limb driving screw cooperates with the sliding member thread on the hind limb. The installation shaft includes a front installation shaft and a rear installation shaft which are arranged separately, and the front installation shaft includes an inner shaft and an outer shaft, and the inner shaft and the outer shaft are threadedly cooperated to form a telescopic rod structure, and the forelimb driving screw also includes an outer rod body and an inner rod body, and 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 to cooperate with the axial sliding, and the driving motor can drive the forelimb driving screw, the hind limb driving screw and the inner shaft to rotate.

[0005] When the sliding member on the front limb is moved to the specified position, the abutment on the front limb is driven to swing, and then supported on the inner wall of the pipe by the cooperation of the driven support rod. Further, the abutment on the rear limb is driven to slide forward, so that the abutment on the rear limb is moved forward and close to the inner wall of the pipe. When the sliding member on the rear limb slides to the specified position, the abutment on the rear limb can be supported on the inner wall of the pipe. At this time, the abutment on the rear limb can be supported on the inner wall of the pipe. At this time, the abutment on the front limb drives the sliding member on the front limb to retreat, thereby loosening the inner wall of the pipe. At this time, the inner shaft rotates relatively, and at this time, the abutment on the front limb can limit the relative rotation of the outer shaft, so that the outer shaft can move forward when the inner shaft rotates. The reciprocating operation can realize its walking, and the telescopic rod structure can facilitate the relative movement of the front mounting shaft part.

[0006] The utility model is further configured as follows: a driving wheel and a driven wheel are arranged on the rear mounting shaft, the driving wheel is linked with the output shaft of the driving motor, the driven wheel is linked with the driving wheel, the forelimb driving screw is located on one side of the driven wheel, and the hind limb driving screw is located on the other side of the driven wheel, a first solenoid valve for controlling the linkage between the two is arranged between the corresponding driven wheel and the inner rod body on the rear mounting shaft, the first solenoid valve can drive the inner rod body to rotate, a second solenoid valve for controlling the linkage between the two is arranged between the corresponding hind limb driving screw and the driven wheel on the rear mounting shaft, the second solenoid valve can drive the hind limb driving screw to rotate, and also includes a third solenoid valve for controlling the linkage between the inner shaft and the driving wheel, the third solenoid valve can drive the inner shaft to rotate.

[0007] By adopting the above technical solution, a driving motor can be used to drive the forelimb driving screw, the hindlimb driving screw and the inner shaft to rotate, and the connection is controlled by the solenoid valve, so that it is more stable when working and the structural layout is more reasonable.

[0008] The utility model is further configured as follows: the abutting member comprises a base and a abutting plate, the middle portion of the abutting plate is hingedly arranged on the base, and elastic reset members are arranged on two opposite sides of the base corresponding to the abutting plate.

[0009] By adopting the above technical solution, the abutment plate can swing relatively to make adaptive angle adjustment and be reset by the elastic reset member, so that it has a buffering and reset force when in use.

[0010] The utility model is further configured as follows: an auxiliary support arm, a floating member arranged on the auxiliary support arm, and an elastic support member for adapting the floating of the floating member are also provided on the installation shaft corresponding to the positions of the front limbs and the rear limbs, and a supporting roller is rotatably provided on the floating member.

[0011] By adopting the above technical solution, it can play an auxiliary supporting role when the abutment member is separated from the inner wall of the pipe, and further prevent the robot using this structure from deflecting.

[0012] A further configuration of the utility model is that the outer side surface of the abutment plate is arranged in an arc shape to form an abutment surface that can fit against the inner wall of the pipeline.

[0013] By adopting the above technical solution, the contact area can be increased, making it more stable during support. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0015] Figure 2 for Figure 1 Sectional view;

[0016] Figure 3 for Figure 1 Another perspective structural diagram;

[0017] Figure 4 It is a partial structural schematic diagram of the utility model;

[0018] Figure 5 for Figure 4 Schematic diagram of some structures;

[0019] Figure 6 for Figure 1 Schematic diagram of the structure from another perspective. DETAILED DESCRIPTION

[0020] The following is a detailed description of the specific implementation of the utility model in conjunction with the accompanying drawings:

[0021] 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., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and 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, and therefore should not be understood as a limitation on the present invention.

[0022] The utility model discloses a front-drive walking mechanism of a shoe-kick-type electric-driven pipeline robot, including an installation shaft 1, a front limb 2, a rear limb 3, and a driving motor 4 for driving the front and rear limbs to extend and retract relative to each other. The front limb 2 and the rear limb 3 are axially distributed along the installation shaft 1. In the implementation case of the utility model, the front limb 2 and the rear limb 3 are both provided with a shoe-kick-type support member 5 and a sliding member 6. The shoe-kick-type support member 5 is distributed in multiple groups at intervals along the circumferential direction of the installation shaft 1. The shoe-kick-type support member 5 includes a supporting connecting rod 51 and a supporting member 52. The sliding member 6 guides and slides on the installation shaft 1. The supporting connecting rod 51 includes a driven supporting rod 511 and a driving supporting rod 512. One end of the driven supporting rod 511 is hinged on the installation shaft 1, and the other end is hinged on the supporting member 52. One end of the driving support rod 512 is hinged on the sliding member 6, and the other end is hinged on the supporting member 52. The mounting shaft 1 is connected to the abutment member 52, and a forelimb driving screw 7 and a hindlimb driving screw 8 are rotatably arranged on the mounting shaft 1. The forelimb driving screw 7 is threadedly matched with the sliding member 6 on the forelimb 2, and the hindlimb driving screw 8 is threadedly matched with the sliding member 6 on the hind limb 3. The mounting shaft 1 includes a front mounting shaft 11 and a rear mounting shaft 12 which are arranged in a split manner. The front mounting shaft 11 includes an inner shaft 111 and an outer shaft 112. The inner shaft 111 and the outer shaft 112 are threadedly matched to form a telescopic rod structure. The forelimb driving screw 7 also includes an outer rod body 71 and an inner rod body 72. The inner rod body 72 is partially inserted into the outer rod body 71 to form a telescopic rod structure, and the inner rod body 72 and the outer rod body 71 are circumferentially rotated and limitedly axially slidably matched. The driving motor 4 can drive the forelimb driving screw 7, the hindlimb driving screw 8 and the inner shaft 111 to rotate.

[0023] By adopting the above technical solution, when in use, the driving motor 4 can drive the front limb driving screw 7 and the hind limb driving screw 8 to rotate in coordination, so as to realize the coordinated sliding of the sliding member 6. When the sliding member 6 of the front limb 2 slides to the specified position, the abutting member 52 on the front limb 2 is driven by the driving support rod 512 to swing, and then supported on the inner wall of the pipe through the cooperation of the driven support rod 511. Further, the hind limb driving screw 8 drives the sliding member 6 on the rear limb 3 to slide forward, so that the abutting member 52 on the rear limb 3 moves forward and approaches the inner wall of the pipe. When the sliding member 6 on the rear limb 3 slides When it moves to the specified position, the abutment member 52 on the rear limb 3 can be supported on the inner wall of the pipe. At this time, the front limb driving screw 7 drives the sliding member 6 on the front limb 2 to retreat, thereby loosening the inner wall of the pipe. At this time, the inner shaft 111 rotates relatively. At this time, the forelimb driving screw 7 can limit the relative rotation of the outer shaft 112, so that the outer shaft 112 can move forward when the inner shaft 111 rotates. This reciprocating operation can realize its walking. The telescopic rod structure can facilitate the relative movement of the front mounting shaft 11 part. The inner shaft 111 can be threaded with the outer shaft 112 through a nut, or it can be a built-in threaded hole in the outer shaft.

[0024] The rear mounting shaft 12 is provided with a driving wheel 91 and a driven wheel 92, the driving wheel 91 is linked with the output shaft of the driving motor 4, and the driven wheel 92 is linked with the driving wheel 91 (the driving wheel 91 and the driven wheel 92 are most preferably linked by belts, and of course the two can also be linked by gears through meshing), the forelimb driving screw 7 is located on one side of the driven wheel 92, and the hind limb driving screw 8 is located on the other side of the driven wheel 92, and a first solenoid valve 100 for controlling the linkage between the two is provided between the corresponding driven wheel 92 and the inner rod body 72 on the rear mounting shaft 12, and the first solenoid valve 100 can drive the inner rod body 72 to rotate, and a second solenoid valve 200 for controlling the linkage between the two is provided between the corresponding hind limb driving screw 8 and the driven wheel 92 on the rear mounting shaft 12, and the second solenoid valve 200 can drive the hind limb driving screw 8 to rotate, and also includes a third solenoid valve 300 for controlling the linkage between the inner shaft 111 and the driving wheel 91, and the third solenoid valve 300 can drive the inner shaft 111 to rotate, and a driving motor 4 can be used to drive The forelimb driving screw 7, the hind limb driving screw 8 and the inner shaft 111 rotate, and are controlled and connected by the solenoid valve, so that they are more stable when working and the structural layout is relatively reasonable. It is most preferred that the first solenoid valve 100 is connected to the inner rod body 72 through a cross universal joint, and the output shaft of the first solenoid valve 100 is connected to the driven wheel 92 to achieve linkage. The second solenoid valve 200 is arranged on the hind limb driving screw 8, and is linked to the driven wheel 92 through the output shaft of the second solenoid valve 200. The third solenoid valve 300 is connected to the inner shaft 111 through a cross universal joint, and is linked to the driving wheel 91 through the output shaft of the third solenoid valve 300. Of course, the first solenoid valve 100 and the second solenoid valve 200 can also be arranged on the driven wheel 92. At this time, when the output shaft of the first solenoid valve 100 is extended, it can be connected with the inner rod body 72 to achieve transmission. When the output shaft of the first solenoid valve 100 is retracted, at this time, the first solenoid valve 100 is idling, and the second solenoid valve 200 and the third solenoid valve 300 work in the same way.

[0025] The abutment member 52 includes a base 521 and an abutment plate 522. The middle portion of the abutment plate 522 is hingedly arranged on the base 521, and elastic reset members 523 are arranged on opposite sides of the base 521 corresponding to the abutment plate 522. The abutment plate 522 can swing relatively to make adaptive angle adjustments and be reset by the elastic reset member 523, so that it has a buffering and reset force when in use.

[0026] The mounting shaft 1 is also provided with an auxiliary support arm 400, a floating member 500 arranged on the auxiliary support arm 400, and an elastic support member 600 for adapting the floating member 500 to float, at the positions corresponding to the front limbs 2 and the rear limbs 3. A support roller 700 is rotatably arranged on the floating member 500, which can play an auxiliary supporting role when the abutment member 52 is separated from the inner wall of the pipe, thereby further preventing the robot using this structure from deflecting.

[0027] The outer side surface of the abutment plate 522 is arranged in an arc shape to form an abutment surface that can fit against the inner wall of the pipe, which can increase the contact area and make it more stable when supporting.

Claims

1. A shoe-kick type electric drive pipeline robot front-drive walking mechanism, comprising a mounting shaft (1), a front limb (2), a rear limb (3), and a driving motor (4) for driving the front and rear limbs to extend and retract relative to each other, the front limb (2) and the rear limb (3) being axially distributed along the mounting shaft (1), characterized in that: The front limb (2) and the rear limb (3) are both provided with a shoe-kick-type support member (5) and a sliding member (6). The shoe-kick-type support member (5) is provided in a plurality of groups at intervals along the circumferential direction of the installation shaft (1). The shoe-kick-type support member (5) comprises a support connecting rod (51) and a supporting member (52). The sliding member (6) is guided and slidable on the installation shaft (1). The support connecting rod (51) comprises a driven support rod (511) and a driving support rod (512). One end of the driven support rod (511) is hingedly arranged on the installation shaft (1), and the other end is hingedly arranged on the supporting member (52). One end of the driving support rod (512) is hingedly arranged on the sliding member (6), and the other end is hingedly arranged on the supporting member (52). A front limb driving screw rod (7) and a rear limb driving screw rod (8) are rotatably arranged on the installation shaft (1). The front limb driving screw rod (7) The front limb (2) is threadedly engaged with the sliding member (6) on the front limb (2), and the hind limb driving screw (8) is threadedly engaged with the sliding member (6) on the hind limb (3). The mounting shaft (1) comprises a front mounting shaft (11) and a rear mounting shaft (12) which are arranged in a split manner. The front mounting shaft (11) comprises an inner shaft (111) and an outer shaft (112). The inner shaft (111) and the outer shaft (112) are threadedly engaged to form a telescopic rod structure. The front limb driving screw (7) also comprises an outer rod body (71) and an inner rod body (72). The inner rod body (72) is partially inserted into the outer rod body (71) to form a telescopic rod structure. The inner rod body (72) and the outer rod body (71) are circumferentially rotated and limited in axial sliding engagement. The driving motor (4) can drive the front limb driving screw (7), the hind limb driving screw (8) and the inner shaft (111) to rotate.

2. According to claim 1, a shoe-kick type electric drive pipeline robot front-drive walking mechanism is characterized in that: The rear mounting shaft (12) is provided with a driving wheel (91) and a driven wheel (92), the driving wheel (91) is linked with the output shaft of the driving motor (4), the driven wheel (92) is linked with the driving wheel (91), the front limb driving screw (7) is located on one side of the driven wheel (92), the hind limb driving screw (8) is located on the other side of the driven wheel (92), and a first solenoid valve (12) for controlling the linkage between the driven wheel (92) and the inner rod body (72) is provided on the rear mounting shaft (12). 00), a first electromagnetic valve (100) can drive the inner rod body (72) to rotate, and a second electromagnetic valve (200) for controlling the linkage between the hind limb driving screw (8) and the driven wheel (92) is provided on the rear mounting shaft (12) corresponding to the hind limb driving screw (8), and the second electromagnetic valve (200) can drive the hind limb driving screw (8) to rotate, and also includes a third electromagnetic valve (300) for controlling the linkage between the inner shaft (111) and the driving wheel (91), and the third electromagnetic valve (300) can drive the inner shaft (111) to rotate.

3. A shoe-kick type electric drive pipeline robot front-drive walking mechanism according to claim 1 or 2, characterized in that: The abutting member (52) comprises a base (521) and an abutting plate (522); the middle portion of the abutting plate (522) is hingedly arranged on the base (521), and elastic reset members (523) are arranged on two opposite sides of the base (521) corresponding to the abutting plate (522).

4. A shoe-kick type electric drive pipeline robot front-drive walking mechanism according to claim 1 or 2, characterized in that: The mounting shaft (1) is also provided with an auxiliary support arm (400), a floating member (500) provided on the auxiliary support arm (400), and an elastic support member (600) for adapting the floating member (500) to float, at positions corresponding to the front limb (2) and the rear limb (3); a support roller (700) is rotatably provided on the floating member (500).

5. The shoe-kick type electric drive pipeline robot front-drive walking mechanism according to claim 3 is characterized in that: The outer side surface of the abutment plate (522) is arranged in an arc shape to form an abutment surface that can fit against the inner wall of the pipeline.

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