Clamping structure of pipeline crawling robot
By designing an adjustable clamping structure, the problem that existing pipe claws cannot adapt to different pipe diameters is solved, achieving wide applicability and stability improvement.
Patent Information
- Application Number
- CN202422020809.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-20
- Publication Date
- 2025-07-04
- Estimated Expiration
- 2034-08-20
AI Technical Summary
The existing pipe crawler robot claws cannot be adjusted in multiple angles, resulting in limit guidance for pipes of the same pipe diameter, which increases the detection cost, and the jaws are not smooth enough when displaced, increasing walking resistance.
A clamping structure of a pipe crawling robot is designed, including a limit guide assembly and an adjustment assembly. Through the adjustment of locking screws and double-thread screws, flexible adjustment of the position and spacing of the clamping wheels is achieved to adapt to pipes of different pipe diameters.
The clamping wheel can adapt to pipes of different pipe diameters, reduce detection costs, and do not increase walking resistance during displacement, improving the practicality and stability of use.
Smart Images
Figure CN223063517U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of pipeline flaw detection equipment, in particular to a clamping structure of a pipeline crawling robot. Background Technique
[0002] With the development of robot technology and the extensive use of pipelines in China's industrial and agricultural production and daily life, pipeline robots have emerged. Pipeline robots can attach to the outer surface of pipelines or be placed inside pipelines and move along the pipelines to complete maintenance tasks such as pipeline flaw detection and inspection. Pipeline robots that move along the outer surface of pipelines generally use clamping jaws to clamp the pipelines to limit and guide the pipeline crawling robots.
[0003] Although the clamping jaws of existing pipeline crawling robots can clamp the pipelines for limit guiding, they cannot be adjusted at multiple angles, resulting in the clamping jaws being able to only limit and guide the pipeline crawling robots for pipelines of the same pipe diameter. When it is necessary to make the pipeline crawling robot detect pipelines of different pipe diameters, it is necessary to separately purchase another type of clamping jaw for matching use, which increases the detection cost of the detection personnel. Moreover, the clamping jaws of existing pipeline crawling robots are not smooth enough during displacement, which will increase the walking resistance of the pipeline crawling robots during actual use, and the practicability is poor. Content of the Utility Model
[0004] The purpose of the utility model is to provide a clamping structure of a pipeline crawling robot to solve the problems raised in the above background technique.
[0005] To achieve the above purpose, the utility model provides the following technical solutions:
[0006] A clamping structure of a pipeline crawling robot, including a pipeline to be detected and a pipeline crawling robot body. The pipeline crawling robot body is placed on the upper side of the circumferential side of the pipeline to be detected. Limiting and guiding components are symmetrically arranged on the left and right sides of the pipeline crawling robot body, and the limiting and guiding components are used to limit and guide the pipeline crawling robot. Adjusting components are symmetrically arranged on the left and right end faces of the pipeline crawling robot body, and the adjusting components are used to adjust the use positions of the limiting and guiding components.
[0007] Preferably, the adjusting component includes a first locking screw, an extension rod, a second locking screw, and a support cylinder. Support cylinders are symmetrically installed on the left and right end faces of the pipeline crawling robot body. The extension rod is inserted into the support cylinder. A first locking screw is installed at the middle position of the right end face of the extension rod, and a second locking screw is installed on the right side of the upper end face of the support cylinder.
[0008] Preferably, the limit guide assembly includes a first clamping wheel, a first support seat, a support vertical rod, a double-threaded screw and a first displacement block, a support vertical rod is inserted into the right side of the extension rod, a double-threaded screw is installed on the lower side of the support vertical rod, a first displacement block is installed on the lower side of the annular side of the double-threaded screw, a first support seat is provided on the left end face of the first displacement block, and a first clamping wheel is installed inside the first support seat.
[0009] Preferably, a second displacement block is installed on the upper side of the annular side surface of the double-threaded screw, a second support seat is provided on the left end surface of the second displacement block, and a second clamping wheel is installed inside the second support seat.
[0010] Preferably, a limiting ring is provided on the lower side of the annular side of the double-threaded screw, a limiting stop cover is installed on the lower end surface of the supporting vertical rod, a rotating cap is provided at the bottom of the double-threaded screw, and a positioning screw is installed on the right side inside the rotating cap.
[0011] Preferably, the first displacement block and the second displacement block have the same specifications, a limiting groove is provided on the lower side of the inner wall of the support vertical rod, and the limiting groove matches the first displacement block and the second displacement block respectively, and a second scale line is provided on the right end face of the support vertical rod.
[0012] Preferably, a first scale line is provided on the upper end surface of the extension rod, and a limiting cavity is provided inside the support tube, and the limiting cavity matches the extension rod.
[0013] Compared with the prior art, the beneficial effects of the utility model are:
[0014] 1. By loosening the second locking screw, the extension rod can be adjusted to the left and right, so that the staff can match and adjust the spacing between the support vertical rods according to the different diameters of the pipes to be tested. By loosening the first locking screw, the support vertical rod can be adjusted up and down, so that the staff can match and adjust the height of the first clamping wheel and the second clamping wheel according to the different diameters of the pipes to be tested, so that the first clamping wheel and the second clamping wheel can clamp and limit the pipes to be tested with different diameters, and the application range is wide;
[0015] 2. By rotating the double-threaded screw forward, the double-threaded screw can drive the first support seat and the second support seat to move inward synchronously through the first displacement block and the second displacement block, and the first support seat and the second support seat will drive the first clamping wheel and the second clamping wheel to move inward together. Similarly, when the double-threaded screw is reversed, the first support seat and the second support seat can drive the first clamping wheel and the second clamping wheel to move outward together, so that the staff can match and adjust the distance between the first clamping wheel and the second clamping wheel according to the different diameters of the tested pipelines, and the first clamping wheel and the second clamping wheel will not increase the walking resistance of the pipeline crawling robot body during use, and the practicality is good. Brief Description of the Drawings
[0016] Figure 1 It is a schematic diagram of the main structure of the present utility model;
[0017] Figure 2 It is a structural diagram of the limit guiding and feeding assembly and the adjustment assembly in the present utility model;
[0018] Figure 3 It is a front elevation sectional view of the limit guiding and feeding assembly and the adjustment assembly in the present utility model;
[0019] Figure 4 It is a structural diagram of the limit guiding and feeding assembly in the present utility model;
[0020] Figure 5 is Figure 3 an enlarged view of A in
[0021] In the figure: 1, pipeline to be measured; 2, limit guiding and feeding assembly; 21, first clamping wheel; 22, first support seat; 23, support vertical rod; 231, second scale line; 232, limit retaining cover; 24, second support seat; 25, second clamping wheel; 26, double-threaded screw rod; 261, limit ring; 27, turning cap; 271, positioning screw; 28, first displacement block; 29, second displacement block; 211, limit groove; 3, adjustment assembly; 31, first locking screw; 32, extension rod; 321, first scale line; 33, second locking screw; 34, support cylinder; 35, limit cavity; 4, pipeline crawling robot body. Detailed Description of the Preferred Embodiments
[0022] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0023] Please refer to Figures 1-5 , the present utility model provides a technical solution:
[0024] Embodiment 1:
[0025] A clamping structure of a pipeline crawling robot, including a pipeline 1 to be measured and a pipeline crawling robot body 4. The pipeline crawling robot body 4 is placed on the upper side of the circumferential side of the pipeline 1 to be measured. During the process of the pipeline crawling robot body 4 walking on the circumferential side of the pipeline 1 to be measured, it can perform flaw detection on the pipeline 1 to be measured. Since the internal detailed structure and working principle of the pipeline crawling robot body 4 are both relatively mature technologies in the prior art, no further elaboration will be made here.
[0026] On both the left and right sides of the pipeline crawling robot body 4, there are symmetrically arranged limit guiding components 2, and the limit guiding components 2 are used to limit and guide the pipeline crawling robot, so as to avoid the pipeline crawling robot from shifting or slipping during the walking process on the annular side of the pipeline to be measured 1. On the left and right end faces of the pipeline crawling robot body 4, there are symmetrically arranged adjustment components 3, and the adjustment components 3 are used to adjust the using position of the limit guiding components 2, so that the limit guiding components 2 can match the pipelines to be measured 1 with different pipe diameters.
[0027] The adjustment component 3 includes a first locking screw 31, an extension rod 32, a second locking screw 33 and a support cylinder 34. On the left and right end faces of the pipeline crawling robot body 4, there are symmetrically installed support cylinders 34. The support cylinders 34 can support the extension rod 32. The extension rod 32 is inserted into the support cylinder 34. The extension rod 32 can support the support vertical rod 23. At the middle position of the right end face of the extension rod 32, there is a first locking screw 31. The first locking screw 31 can fix the support vertical rod 23 inserted into the extension rod 32 to prevent the support vertical rod 23 from loosening and slipping during use. On the right side of the upper end face of the support cylinder 34, there is a second locking screw 33. The second locking screw 33 can fix the extension rod 32 inserted into the support cylinder 34. On the upper end face of the extension rod 32, there is a first scale line 321. The first scale line 321 is convenient for the staff to observe the extended distance of the extension rod 32, so as to make an equidistant telescopic adjustment of the extension rods 32 on the left and right sides. Inside the support cylinder 34, there is a limit cavity 35, and the limit cavity 35 matches the extension rod 32. The limit cavity 35 is convenient for the extension rod 32 to be inserted into the support cylinder 34.
[0028] Embodiment 2:
[0029] On the basis of Embodiment 1, in this embodiment, by rotating the double-threaded screw rod 26 forward, the double-threaded screw rod 26 can drive the first support seat 22 and the second support seat 24 to move synchronously inward through the first displacement block 28 and the second displacement block 29, and the first support seat 22 and the second support seat 24 will drive the first clamping wheel 21 and the second clamping wheel 25 to move inward together. Similarly, when the double-threaded screw rod 26 is rotated backward, the first support seat 22 and the second support seat 24 can drive the first clamping wheel 21 and the second clamping wheel 25 to move outward together, so that the staff can match and adjust the distance between the first clamping wheel 21 and the second clamping wheel 25 according to the pipelines to be measured 1 with different pipe diameters.
[0030] The limit guiding assembly 2 includes a first clamping wheel 21, a first support base 22, a support vertical rod 23, a double-threaded lead screw 26 and a first displacement block 28. The support vertical rod 23 is inserted into the right side inside the extension rod 32. The support vertical rod 23 can support the double-threaded lead screw 26. The double-threaded lead screw 26 is installed at the lower side inside the support vertical rod 23. The external threads on the upper side of the circumferential side of the double-threaded lead screw 26 and the external threads on the lower side of the circumferential side have opposite thread rotation directions. When the double-threaded lead screw 26 with the external threads on the upper side of the circumferential side and the external threads on the lower side having opposite thread rotation directions rotates, it can drive the first displacement block 28 and the second displacement block 29 to move synchronously and in opposite directions. The first displacement block 28 is installed on the lower side of the circumferential side of the double-threaded lead screw 26. The first displacement block 28 and the first support base 22 are of an integral structure. The first displacement block 28 can support the first support base 22. The first support base 22 is arranged on the left end face of the first displacement block 28. The first support base 22 can support the first clamping wheel 21. The first clamping wheel 21 is installed inside the first support base 22. The first clamping wheel 21 is a rotatable structure. The rotatable first clamping wheel 21 can limit and guide the pipeline crawling robot body 4.
[0031] The second displacement block 29 is installed on the upper side of the circumferential side of the double-threaded lead screw 26. The second displacement block 29 and the second support base 24 are of an integral structure. The first displacement block 28 and the second displacement block 29 have the same specifications. The second displacement block 29 can support the second support base 24. The second support base 24 is arranged on the left end face of the second displacement block 29. The second clamping wheel 25 is installed inside the second support base 24. The second clamping wheel 25 is a rotatable structure. The rotatable second clamping wheel 25 can limit and guide the pipeline crawling robot body 4. A limit ring 261 is arranged on the lower side of the circumferential side of the double-threaded lead screw 26. The limit ring 261 is connected to the double-threaded lead screw 26 by welding. A limit retaining cover 232 is installed on the lower end face of the support vertical rod 23. The shape of the limit retaining cover 232 is circular. The limit retaining cover 232 and the limit ring 261 prevent the double-threaded lead screw 26 from displacing during the rotation and use process.
[0032] A rotating cap 27 is provided at the bottom of the double-threaded lead screw 26. The rotating cap 27 is connected to the double-threaded lead screw 26 by welding. The rotating cap 27 facilitates the staff to manually rotate the double-threaded lead screw 26. A positioning screw 271 is installed on the right side inside the rotating cap 27. The positioning screw 271 is a butterfly screw. The positioning screw 271, which is a butterfly screw, can not only position the rotating cap 27, but also facilitate the staff to manually tighten or loosen it. A limiting groove 211 is provided on the lower side of the inner wall of the support vertical rod 23, and the limiting groove 211 is respectively matched with the first displacement block 28 and the second displacement block 29. The limiting groove 211 can limit and guide the first displacement block 28 and the second displacement block 29. A second scale line 231 is provided on the right end face of the support vertical rod 23. The second scale line 231 facilitates the staff to observe the height at which the support vertical rod 23 is located, so that the staff can adjust the left and right support vertical rods 23 to the same height up and down.
[0033] Working principle: After placing the pipeline crawling robot body 4 at the required position on the upper side of the annular side of the pipeline to be tested 1, the staff first loosen the second locking screws 33 on the left and right sides respectively with the help of an external wrench. At this time, the extension rods 32 on the left and right sides can be adjusted to expand and contract equidistantly left and right respectively, so that the staff can match and adjust the distance between the left and right support vertical rods 23 according to the pipe diameter of the pipeline to be tested 1. After the adjustment is completed, the second locking screws 33 are tightened again; then the staff loosen the first locking screws 31 on the left and right sides respectively with the help of an external wrench. At this time, the support vertical rods 23 on the left and right sides can be adjusted to the same height up and down respectively, so that the staff can match and adjust the use height of the first clamping wheels 21 and the second clamping wheels 25 on the left and right sides according to the pipe diameter of the pipeline to be tested 1. After the adjustment is completed, the first locking screws 31 are tightened again; then the staff rotate the double-threaded lead screws 26 on the left and right sides forward respectively through the rotating caps 27, so that the double-threaded lead screws 26 drive the first support seats 22 and the second support seats 24 to move synchronously inward through the first displacement blocks 28 and the second displacement blocks 29. The first support seats 22 and the second support seats 24 will drive the first clamping wheels 21 and the second clamping wheels 25 to move inward together. Similarly, when the double-threaded lead screws 26 are rotated in reverse, the first support seats 22 and the second support seats 24 can drive the first clamping wheels 21 and the second clamping wheels 25 to move outward together, so that the staff can match and adjust the distance between the first clamping wheels 21 and the second clamping wheels 25 on the left and right sides according to the pipe diameter of the pipeline to be tested 1. After the adjustment is completed, the positioning screws 271 are tightened, and the rotating caps 27 can be fixed to prevent the double-threaded lead screws 26 from rotating again; at this time, the staff can control the pipeline crawling robot body 4 to work and walk to detect the pipeline to be tested 1. During this process, the first clamping wheels 21 and the second clamping wheels 25 on the left and right sides will limit and guide the pipeline crawling robot body 4 to prevent the pipeline crawling robot body 4 from shifting or shaking during the forward and backward walking process, so as to ensure the walking stability of the pipeline crawling robot body 4.
[0034] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A clamping structure of a pipeline crawling robot, comprising a pipeline to be measured (1) and a pipeline crawling robot body (4), characterized in that: A pipeline crawling robot body (4) is placed on the upper side of the circumferential side of the pipeline (1) to be measured. Limiting and guiding components (2) are symmetrically arranged on the left and right sides of the pipeline crawling robot body (4), and the limiting and guiding components (2) are used to limit and guide the pipeline crawling robot. Adjusting components (3) are symmetrically arranged on the left and right end faces of the pipeline crawling robot body (4), and the adjusting components (3) are used to adjust the use position of the limiting and guiding components (2).
2. The clamping structure of a pipeline crawling robot according to claim 1, characterized in that: The adjusting component (3) includes a first locking screw (31), an extension rod (32), a second locking screw (33) and a support cylinder (34). Support cylinders (34) are symmetrically installed on the left and right end faces of the pipeline crawling robot body (4). An extension rod (32) is inserted into the support cylinder (34). A first locking screw (31) is installed at the middle position of the right end face of the extension rod (32). A second locking screw (33) is installed on the right side of the upper end face of the support cylinder (34).
3. The clamping structure of a pipeline crawling robot according to claim 2, characterized in that: The limiting and guiding component (2) includes a first clamping wheel (21), a first support seat (22), a support vertical rod (23), a double-threaded screw rod (26) and a first displacement block (28). A support vertical rod (23) is inserted into the right side of the extension rod (32). A double-threaded screw rod (26) is installed at the lower side inside the support vertical rod (23). A first displacement block (28) is installed on the lower side of the circumferential side of the double-threaded screw rod (26). A first support seat (22) is arranged on the left end face of the first displacement block (28). A first clamping wheel (21) is installed inside the first support seat (22).
4. The clamping structure of a pipeline crawling robot according to claim 3, characterized in that: A second displacement block (29) is installed on the upper side of the circumferential side of the double-threaded screw rod (26). A second support seat (24) is arranged on the left end face of the second displacement block (29). A second clamping wheel (25) is installed inside the second support seat (24).
5. The clamping structure of a pipeline crawling robot according to claim 3, characterized in that: A limiting ring (261) is arranged on the lower side of the circumferential side of the double-threaded screw rod (26). A limiting cover (232) is installed on the lower end face of the support vertical rod (23). A turning cap (27) is arranged at the bottom of the double-threaded screw rod (26). A positioning screw (271) is installed on the right side inside the turning cap (27).
6. The clamping structure of a pipeline crawling robot according to claim 4, characterized in that: The first displacement block (28) and the second displacement block (29) have the same specifications. A limiting groove (211) is formed on the lower side of the inner wall of the support vertical rod (23), and the limiting groove (211) is respectively matched with the first displacement block (28) and the second displacement block (29). A second graduation line (231) is arranged on the right end face of the support vertical rod (23).
7. The clamping structure of a pipeline crawling robot according to claim 2, characterized in that: A first graduation line (321) is arranged on the upper end face of the extension rod (32). A limiting cavity (35) is formed inside the support cylinder (34), and the limiting cavity (35) is matched with the extension rod (32).