Spring supporting walking mechanism for pipeline robot
The running wheel is independently driven by the spring-supported walking mechanism, which solves the problem that pipeline robots cannot drive in a center in the prior art, and has achieved adaptability to irregular pipes of different sizes and shapes, and has expanded the application scope.
Patent Information
- Application Number
- CN202421757763.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-24
- Publication Date
- 2025-07-08
- Estimated Expiration
- 2034-07-24
AI Technical Summary
The robotic arms of existing pipe robots are synchronized, and cannot ensure that they are centered in the pipes and cannot adapt to pipes of irregular sizes and shapes.
采用弹簧支撑行走机构,每个行走轮通过独立的拉力弹簧驱动,轮臂张开,确保行走轮紧贴管道内壁,适应不同尺寸和形状的管道。
The pipeline robot is realized to drive in a center in the pipeline, adapt to pipes of different sizes and shapes, and expand the scope of application.
Smart Images
Figure CN223076571U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of pipeline robots, and particularly relates to a spring-supported walking mechanism for a pipeline robot. Background Art
[0002] A pipeline robot is a mechatronic system that can automatically walk inside or outside a small pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the remote control of a staff member or computer automatic control. Among them, the wheel-wall type pipeline robot is widely used. This type of robot drives the robot to move forward and backward by means of multiple mechanical arms with extendable walking wheels closely attached to the inner wall of the pipeline. However, the mechanical arms of the existing robots are in a linkage relationship and extend synchronously, which cannot ensure that the pipeline robot travels in the center of the pipeline, nor can it meet the usage requirements of pipelines with different sizes and irregular shapes. Summary of the Utility Model
[0003] The purpose of the utility model is to solve the problems existing in the prior art, and provide a spring-supported walking mechanism for a pipeline robot. Each walking wheel is pulled by its own spring and independently expands, which can better support the pipeline robot to travel in the center of the pipeline, and can also meet the usage requirements of pipelines with different sizes and irregular shapes, and has a wide application range.
[0004] To achieve the above purpose, the technical scheme adopted by the utility model is as follows:
[0005] A spring-supported walking mechanism for a pipeline robot includes a connecting end cover, a certain number of wheel arms, walking wheels and tension springs. An articulated seat is arranged on the outer end face of the connecting end cover. The wheel arms are circumferentially and evenly distributed, one end of which is connected to the articulated seat through a hinge rod A, and the other end is connected to the walking wheel through a hinge rod B. A certain number of circumferentially and evenly distributed screw holes A are arranged on the side surface of the connecting end cover. A screw A is arranged in the screw hole A. A screw hole B is arranged on the wheel arm, and a screw B is arranged in the screw hole B. The two ends of the tension spring are respectively connected to the screw A and the screw B. The connecting end cover is installed at both ends of the pipeline robot main body. Under the action of the tension spring, the wheel arms expand outwards along the articulated seat. When in the pipeline, it is ensured that the walking wheels are closely attached to the inner wall of the pipeline.
[0006] Preferably, a threaded section is arranged on the side surface of the connecting end cover, and matching threaded sections are arranged at both ends of the pipeline robot main body, which is convenient for connection and installation.
[0007] Preferably, a main shaft is arranged in the middle of the outer end face of the connecting end cover.
[0008] Preferably, a pull-ring screw is arranged at the end of the main shaft, which is convenient for connecting a rope or other pipeline robots.
[0009] Preferably, the number of the wheel arms is three, and correspondingly, the numbers of the traveling wheels and the tension springs are also three respectively.
[0010] The advantages of the present utility model are as follows: each traveling wheel of the traveling mechanism of the present utility model is pulled by its respective spring and independently opens, which can better support the pipeline robot to travel in the center of the pipeline, and can also meet the usage requirements of pipelines with different sizes and irregular shapes, and has a wide application range. Description of the Drawings
[0011] Figure 1 is a perspective view of the present utility model;
[0012] Figure 2 is a front view of the present utility model;
[0013] Figure 3 is Figure 2 a cross-sectional view taken along the line A-A in
[0014] Figure 4 is a perspective view of the present utility model with the tension springs hidden.
[0015] Description of the main reference numerals in the drawings: 10, connecting end cover; 11, hinge seat; 12, screw hole A; 13, threaded section;
[0016] 20, wheel arm; 21, hinge rod A; 22, hinge rod B; 23, screw hole B;
[0017] 30, traveling wheel;
[0018] 40, tension spring; 41, screw A; 42, screw B;
[0019] 50, main shaft; 51, pull-ring screw. Detailed Embodiments
[0020] In order to describe the present utility model more clearly, the present utility model will be further described below with reference to the drawings.
[0021] Embodiment 1: As Figures 1-4As shown in the figure, a spring-supported walking mechanism for a pipeline robot includes a connecting end cover 10, a certain number of wheel arms 20, walking wheels 30, and tension springs 40. An articulated seat 11 is provided on the outer end face of the connecting end cover 10. The wheel arms 20 are circumferentially and evenly distributed, with one end connected to the articulated seat 11 through an articulated rod A 21 and the other end connected to the walking wheel 30 through an articulated rod B 22. A certain number of screw holes A 12 that are circumferentially and evenly distributed are provided on the side surface of the connecting end cover 10. Screws A 41 are provided in the screw holes A 12. Screw holes B 23 are provided on the wheel arms 20, and screws B 42 are provided in the screw holes B 23. The two ends of the tension spring 40 are respectively connected to the screw A 41 and the screw B 42.
[0022] In this embodiment, the number of the wheel arms 20 can be three, and the numbers of the corresponding walking wheels 30 and the tension springs 40 are also three respectively.
[0023] Embodiment 2: As Figures 1-3 shown, on the basis of Embodiment 1, a threaded section 13 is provided on the side surface of the connecting end cover 10.
[0024] Embodiment 3: As Figures 1-3 shown, on the basis of Embodiment 1 and Embodiment 2, a main shaft 50 is provided in the middle of the outer end face of the connecting end cover 10, and a pull-ring screw 51 is provided at the end of the main shaft 50.
[0025] The above are only specific embodiments of the present invention, but the structural features of the present invention are not limited thereto. The present invention can be used for similar products, and any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the patent scope of the present invention.
Claims
1. A spring-supported walking mechanism for a pipeline robot, characterized in that: It includes a connecting end cover (10), a certain number of wheel arms (20), traveling wheels (30), and tension springs (40); An articulated seat (11) is provided on the outer end face of the connecting end cover (10). The wheel arms (20) are evenly distributed circumferentially, and one end is connected to the articulated seat (11) through an articulated rod A (21), and the other end is connected to the traveling wheel (30) through an articulated rod B (22); A certain number of screw holes A (12) evenly distributed circumferentially are provided on the side surface of the connecting end cover (10). Screws A (41) are arranged in the screw holes A (12). Screw holes B (23) are provided on the wheel arms (20), and screws B (42) are arranged in the screw holes B (23). The two ends of the tension spring (40) are respectively connected to the screw A (41) and the screw B (42).
2. The spring-supported walking mechanism for a pipeline robot according to claim 1, characterized in that: A threaded section (13) is provided on the side surface of the connecting end cover (10).
3. The spring-supported walking mechanism for a pipeline robot according to claim 1, wherein: A main shaft (50) is provided in the middle of the outer end face of the connecting end cover (10).
4. The spring-supported walking mechanism for a pipeline robot according to claim 3, characterized in that: A pull-ring screw (51) is provided at the end of the main shaft (50).
5. A spring-supported walking mechanism for a pipeline robot according to any one of claims 1-4, characterized in that: The number of the wheel arms (20) is three, and the numbers of the corresponding traveling wheels (30) and the tension springs (40) are also three respectively.