Swivel movement mechanism of pipeline robot

Abstract

The utility model belongs to the technical field of specialized robots, and particularly relates to a swivel movement mechanism of a pipeline robot, which comprises a first machine body, a second machine body, a rotary driver and a driven universal wheel, the rotary driver is mounted on the first machine body, and the free end of a rotating shaft of the rotary driver is fixedly connected with the second machine body; two driving wheels are installed on the first machine body, one driven universal wheel is installed on the second machine body, the two driving wheels are coaxial and located on the two opposite sides of the first machine body, and wheel shafts of the driving wheels are perpendicular to a rotating shaft of the rotary driver; according to the swivel movement mechanism of the pipeline robot, the mode that the rotary driver is installed on the first robot body and matched with the universal driving wheels installed on the second robot body is adopted, and the designed swivel movement mechanism of the pipeline robot can change the radial walking track when needed.

Description

Technical Field

[0001] This application belongs to the technical field of special robots, specifically the swiveling mechanism of pipeline robots. Background Art

[0002] According to statistics, the total length of urban municipal drainage pipe networks across the country exceeded 8.7 million kilometers in 2022, and the proportion of pipe networks that need to be dredged is about 30%; the number of municipal sewer pipes that need to be repaired (or rebuilt) increases by about 20,000 kilometers annually.

[0003] Impurities are likely to adhere to the inner walls of urban underground pipelines and need to be removed in a timely manner. If not removed in a timely manner, the impurities will accumulate, eventually leading to blockage of the underground pipelines. Currently, the main methods for removing impurities on the inner walls of underground pipelines are: water flushing dredging method, high-pressure water jet dredging method, and manual dredging method; during the cleaning process using these methods, it is necessary to continuously remove and transport the impurities detached from the inner walls of the underground pipelines to the outside of the underground pipelines so that people or tools can enter the next part of the underground pipelines to clean the inner walls of the underground pipelines. The two steps of transporting impurities and detaching impurities from the inner walls of the pipelines cannot be separated, resulting in high operating costs and low construction efficiency for these methods. Therefore, it is necessary to design a swiveling mechanism for pipeline robots so that tools for detaching impurities from the inner walls of underground pipelines can be installed separately on the robots, without the need to continuously transport these impurities to the outside of the underground pipelines during the process of chiseling off the impurities on the inner walls of the underground pipelines; after the impurities on the left and right sides of the inner walls of the pipelines are detached in this way, it is only necessary to fill the pipelines with water to wash away the impurities, thus eliminating the process of transporting the impurities to the outside of the pipelines and improving work efficiency. The current difficulty is how to design the swiveling mechanism of pipeline robots. Summary of the Utility Model

[0004] The main purpose of this application is to address the shortcomings of the existing technology. By installing a rotary drive on the first fuselage and a universal drive wheel on the second fuselage, a swiveling mechanism for pipeline robots is designed, which can change the radial walking trajectory when needed.

[0005] To achieve the above purpose, the technical solution adopted in this application is:

[0006] The swiveling mechanism of the pipeline robot includes a first fuselage, a second fuselage, a rotary drive, and a driven universal wheel. The rotary drive is installed on the first fuselage, and the free end of the rotating shaft of the rotary drive is fixedly connected to the second fuselage. Two drive wheels are installed on the first fuselage, and one driven universal wheel is installed on the second fuselage. The two drive wheels are coaxial and located on opposite sides of the first fuselage, and the wheel axle of the drive wheel is perpendicular to the rotating shaft of the rotary drive.

[0007] Preferably, a plurality of telescopic rods are radially provided on the first fuselage, and the telescopic rods are perpendicular to the rotation axis of the rotary drive.

[0008] Preferably, a plurality of telescopic rods are radially provided on the second fuselage, and the telescopic rods are perpendicular to the rotation axis of the rotary drive.

[0009] Preferably, a plurality of telescopic rods are provided on both the first fuselage and the second fuselage, and the telescopic rods are perpendicular to the rotation axis of the rotary drive.

[0010] Preferably, a servo motor is provided on the first fuselage, and the first fuselage drives the drive wheel through the servo motor.

[0011] Preferably, the rotary drive is one of an electric motor, a pneumatic motor, and a hydraulic motor.

[0012] Preferably, a first angle sensor is provided on the first fuselage, and a second angle sensor is provided on the second fuselage.

[0013] Compared with the prior art, the present application has the following beneficial effects:

[0014] 1. The present application adopts a method of installing a rotary drive on the first fuselage and cooperating with a universal drive wheel installed on the second fuselage to design a swivel motion mechanism of the pipeline robot, which can change the radial walking trajectory when needed.

[0015] 2. By setting the telescopic rods in the present application, when the first fuselage or the second fuselage needs to stop, the telescopic rods extend to contact the inner surface of the pipeline, playing a braking role, thereby facilitating the movement relative to the other stopped fuselage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the present application;

[0017] Figure 2 is a schematic internal structural diagram of the present application.

[0018] Among them, 1. First fuselage; 2. Second fuselage; 3. Rotary drive; 4. Driven universal wheel; 5. Telescopic rod; 6. First angle sensor; 7. Second angle sensor; 8. Drive wheel; 9. Motor;. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] As Figure 1-2As shown in the figure, the swiveling mechanism of the pipeline robot includes a first fuselage 1, a second fuselage 2, a slewing drive 3, and a driven universal wheel 4. The slewing drive 3 is installed on the first fuselage 1, and the free end of the rotating shaft of the slewing drive 3 is fixedly connected to the second fuselage 2. Two drive wheels 8 are installed on the first fuselage 1, and one driven universal wheel 4 is installed on the second fuselage 2. The two drive wheels 8 are coaxial and located on opposite sides of the first fuselage 1, and the axle of the drive wheel 8 is perpendicular to the rotating shaft of the slewing drive 3.

[0020] In this embodiment, during use, when it is necessary to adjust the radial orientation inside the pipeline, the slewing drive 3 drives the second fuselage 2 to rotate, so that the driven universal wheel 4 rotates. During the rotation of the driven universal wheel 4, the circumferential surface of the driven universal wheel 4 always contacts the inner surface of the pipeline, acting as a rudder, and further causing the first fuselage 1 to change the radial direction when advancing. In this way, the problem of the pipeline robot adjusting the radial orientation and advancing inside the underground pipeline is solved.

[0021] As a preferred method, a number of telescopic rods 5 are radially provided on the first fuselage, and the telescopic rods 5 are perpendicular to the rotating shaft of the slewing drive 3. By setting the telescopic rods 5 in this way, when the first fuselage 1 or the second fuselage 2 needs to stop, the telescopic rods 5 extend to contact the inner surface of the pipeline, acting as a brake, thus facilitating the movement relative to the other stationary fuselage.

[0022] As a preferred method, a number of telescopic rods 5 are radially provided on the second fuselage, and the telescopic rods 5 are perpendicular to the rotating shaft of the slewing drive 3.

[0023] As a preferred method, a number of telescopic rods 5 are provided on both the first fuselage 1 and the second fuselage 2, and the telescopic rods 5 are perpendicular to the rotating shaft of the slewing drive. This design method makes the relative or simultaneous movement and stop of the two fuselages more controllable.

[0024] As a preferred method, a motor 9 is provided on the first fuselage 1, and the first fuselage 1 drives the drive wheel 8 through the motor 9. By driving the drive wheel 8 to rotate through the motor 9, the overall combination of the first fuselage 1 and the second fuselage 2 moves.

[0025] As a preferred method, the slewing drive 3 is one of an electric motor, a pneumatic motor, and a hydraulic motor.

[0026] As a preferred method, a first angle sensor 6 is provided on the first fuselage 1, and a second angle sensor 7 is provided on the second fuselage 2. In this way, the rotation angles of the first fuselage 1 and the second fuselage 2 can be obtained respectively, and the amplitude of the overall radial rotation can be controlled, and this amplitude is 0 - 45°.

[0027] Preferably, if it is necessary for the first fuselage 1 and the second fuselage 2 to move automatically in the pipeline, an industrial camera 10 is provided on the side of the first fuselage 1 facing away from the second fuselage 2. Then, a PLC single-chip microcomputer is arranged inside the first fuselage 1. The input end of the PLC single-chip microcomputer is signal-connected to the industrial camera 10, and the signal output end of the PLC single-chip microcomputer is signal-connected to the rotary driver 3, the servo motor 9, and the telescopic rod. After such a design, the whole formed by the first fuselage 1 and the second fuselage 2 can bypass obstacles in the pipeline according to the situation. That is, after the industrial camera 10 captures an obstacle, it transmits the information to the PLC single-chip microcomputer, and the PLC single-chip microcomputer then transmits the signal to the rotary driver 3, and the rotary driver drives the second fuselage 2 to rotate so that the whole formed by the first fuselage 1 and the second fuselage 2 bypasses the obstacle. When it is necessary to chisel the impurities attached to the inner wall of the pipeline, only after the PLC single-chip microcomputer transmits the signal to the servo motor 9, the telescopic rod 5, and the rotary driver 3, the servo motor 9 and the rotary driver 3 stop working, and at the same time the telescopic rod 5 extends and presses against the inner wall of the pipeline, thereby restricting the movement of the whole formed by the first fuselage 1 and the second fuselage 2 in the pipeline. Then, the impurity removal tool installed on the whole formed by the first fuselage 1 and the second fuselage 2 is used to clean the inner wall of the pipeline.

[0028] Preferably, an anti-corrosion sleeve 11 is sleeved on the outer surface of the telescopic rod 5 to prevent the sewage in the pipeline from corroding the telescopic rod 15.

Claims

1. The rotational motion mechanism of the pipeline robot is characterized by: The invention comprises a first body (1), a second body (2), a slewing drive (3), and a driven universal wheel (4); the slewing drive (3) is mounted on the first body (1); the free end of the rotating shaft of the slewing drive (3) is fixedly connected to the second body (2); two driving wheels (8) are mounted on the first body (1); one driven universal wheel (4) is mounted on the second body (2); the two driving wheels (8) are coaxial and located on opposite sides of the first body (1); the wheel axle of the driving wheel (8) is perpendicular to the rotating shaft of the slewing drive (3).

2. The rotational motion mechanism of the pipeline robot according to claim 1, characterized in that: A plurality of telescopic rods (5) are radially arranged on the first body, and the telescopic rods (5) are perpendicular to the rotation axis of the rotary drive (3).

3. The rotational motion mechanism of the pipeline robot according to claim 1, characterized in that: A plurality of telescopic rods (5) are radially arranged on the second body, and the telescopic rods (5) are perpendicular to the rotation axis of the rotary drive (3).

4. The rotational motion mechanism of the pipeline robot according to claim 1, characterized in that: A plurality of telescopic rods (5) are provided on the first body (1) and the second body (2), and the telescopic rods (5) are perpendicular to the rotation axis of the rotary drive.

5. The rotational motion mechanism of the pipeline robot according to claim 1, characterized in that: The first body (1) is provided with a motor (9), and the first body (1) drives the driving wheel (8) via the motor (9).

6. The rotational motion mechanism of the pipeline robot according to claim 2, characterized in that: The rotary drive (3) is one of an electric motor, a pneumatic motor and a hydraulic motor.

7. The rotational motion mechanism of the pipeline robot according to claim 1, characterized in that: The first body (1) is provided with a first angle sensor (6), and the second body (2) is provided with a second angle sensor (7).

8. The rotational motion mechanism of the pipeline robot according to claim 1, characterized in that: The rotation angle of the first body (1) and the second body (2), as well as the radial rotation amplitude of the robot composed of them, is 0-45°.

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