Supporting and walking mechanism for pipeline robot

Abstract

A supporting walking mechanism for a pipeline robot relates to the technical field of pipeline robots and comprises a connecting end cover, a main shaft, a sliding sleeve, a limiting sleeve, a compression spring, a certain number of wheel arms, a certain number of walking wheels and a certain number of supporting rods, hinge seats A are arranged on the outer end face of the connecting end cover, the wheel arms are evenly distributed in the circumferential direction, and one ends of the wheel arms are hinged to the hinge seats A; one end of the main shaft is connected with the middle of the outer end face of the connecting end cover, the sliding sleeve and the limiting sleeve are arranged on the main shaft in a sleeving mode, the limiting sleeve is located on the side away from the connecting end cover, the compression spring is arranged between the sliding sleeve and the limiting sleeve, a hinge seat B is arranged on the sliding sleeve, one end of the supporting rod is hinged to the hinge seat B, and the other end of the supporting rod is hinged to the wheel arm. The walking mechanism is simple in structure, few in parts and more convenient to assemble and use, product cost is greatly reduced, and a single spring and an adjusting structure ensure that equipment moves in the middle and is not prone to being clamped.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline robots, in particular to a support walking mechanism for a pipeline robot. Background Art

[0002] A pipeline robot is an electromechanical instrument integrated 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 staff 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 multiple robotic arms with extendable walking wheels closely attached to the inner wall of the pipeline.

[0003] However, as the technical solution disclosed in the patent CN220540604U, a traction type gyroscope, its walking device includes a main shaft 2. An adjusting block 3, a sliding sleeve 4, and an adjusting nut 5 are sequentially arranged on the main shaft from the inside to the outside. An inner spring 6 is sleeved on the main shaft between the adjusting block and the sliding sleeve, and an outer spring 7 is sleeved on the main shaft between the adjusting nut and the sliding sleeve. Three protection springs 14 are also designed on the sliding sleeve. The problems existing in this solution are as follows: 1. The structure is complex and there are too many components, which increases the difficulty of product assembly and use and raises the product cost; 2. The double-spring and double-adjustment structure on both sides of the sliding sleeve 4 results in insufficient expansion force of the wheel arm when the support angle is reduced to a certain extent during movement in a small-diameter pipeline, unable to ensure the device moves in the center. During movement in a large-diameter pipeline, the support angle becomes larger, and the force decomposed into the horizontal direction when pressing down is small, making it difficult to complete elastic expansion and contraction, and the device is easily stuck; 3. The protection springs on the sliding sleeve have a prominent structure and are easily detached, which is not suitable for the working environment of the pipeline robot. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the problems existing in the prior art, and provide a support walking mechanism for a pipeline robot, which has a simple structure, few components, is more convenient for product assembly and use, greatly reduces the product cost, and has a single-spring and adjustment structure to ensure the device moves in the center and is not easily stuck.

[0005] To achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0006] A supporting walking mechanism for a pipeline robot, comprising a connecting end cover, a main shaft, a sliding sleeve, a limiting sleeve, a compression spring, and a certain number of wheel arms, walking wheels, and support rods. An articulated seat A is provided on the outer end face of the connecting end cover. The wheel arms are circumferentially and evenly distributed, with one end hinged to the articulated seat A and the other end hinged to the walking wheel. One end of the main shaft is connected to the middle of the outer end face of the connecting end cover. The sliding sleeve and the limiting sleeve are sleeved on the main shaft, and the limiting sleeve is located on the side away from the connecting end cover. The compression spring is arranged between the sliding sleeve and the limiting sleeve. An articulated seat B is provided on the sliding sleeve. One end of the support rod is hinged to the articulated seat B, and the other end is hinged to the wheel arm. The supporting walking mechanism is installed at both ends of the pipeline robot body. Under the action of the compression spring, the sliding sleeve and the support rod are pushed to make the wheel arms open outwards. When in the pipeline, it is ensured that the walking wheels closely adhere to the inner wall of the pipeline.

[0007] Preferably, a certain number of adjustment holes are provided on the side of the main shaft away from the connecting end cover, and an adjustment screw is provided on the limiting sleeve. It is used to adjust the radial dimension of the wheel arms of the pipeline robot. According to the actual pipe diameter size, the position of the limiting sleeve is slid, the sliding sleeve is translated to a suitable position, the wheel arms radially extend to meet the pipe diameter requirement, the adjustment screw is inserted into the adjustment hole and tightened to complete the adjustment.

[0008] Preferably, the support rod is hinged to the middle section of the wheel arm, which plays a good supporting role and ensures that the wheel arm has good tension.

[0009] Preferably, a locking nut is provided outside the connecting end cover, and matching threaded sections are provided at both ends of the pipeline robot body for connecting and fixing the supporting walking mechanism to the ends of the pipeline robot body.

[0010] Preferably, the number of the wheel arms is three, and the numbers of the corresponding walking wheels and support rods are also three respectively.

[0011] The advantages of the present utility model are as follows: 1. The walking mechanism of the present utility model has a simple structure and few components, which makes the product assembly and use more convenient and greatly reduces the product cost; 2. With a single spring and an adjustment structure, when in a small-diameter pipeline, the horizontal tension is sufficient to support 3 wheel arms and has better tension. When moving in a large-diameter pipeline, the extrusion force is large. According to mechanical calculations, the horizontally decomposed force is large and the tension is greater, ensuring that the equipment moves in the middle and is not easily stuck; 3. There is no excessive structure such as a protection spring, which is more concise and coordinated, more suitable for the working environment of the pipeline robot, and has a wide application range. Description of the Drawings

[0012] Figure 1 is a three-dimensional view of the present utility model Figure 1 ;

[0013] Figure 2 is the three-dimensional view of the present utility model Figure 2 ;

[0014] Figure 3 is the front view of the present utility model;

[0015] Figure 4 is the sectional view of the present utility model.

[0016] Description of the main component symbols in the figure: 10, connecting end cover; 11, hinge seat A;

[0017] 20, main shaft; 21, adjustment hole;

[0018] 30, sliding sleeve; 31, hinge seat B;

[0019] 40, limiting sleeve; 41, adjustment screw;

[0020] 50, compression spring;

[0021] 60, wheel arm;

[0022] 70, traveling wheel;

[0023] 80, support rod;

[0024] 90, locking nut. Detailed implementation manners

[0025] In order to describe the present utility model more clearly, the present utility model will be further described below with reference to the accompanying drawings.

[0026] Embodiment 1: As Figures 1-4 shown, a support walking mechanism for a pipeline robot includes a connecting end cover 10, a main shaft 20, a sliding sleeve 30, a limiting sleeve 40, a compression spring 50, and a certain number of wheel arms 60, traveling wheels 70, and support rods 80.

[0027] Among them, an outer end surface of the connecting end cover 10 is provided with a hinge seat A 11, the wheel arms 60 are circumferentially and uniformly distributed and one end thereof is hinged to the hinge seat A 11, and the other end is hinged to the traveling wheel 70. One end of the main shaft 20 is connected to the middle of the outer end surface of the connecting end cover 10, the sliding sleeve 30 and the limiting sleeve 40 are sleeved on the main shaft 20, and the limiting sleeve 40 is located on a side far from the connecting end cover 10, and the compression spring 50 is arranged between the sliding sleeve 30 and the limiting sleeve 40. The sliding sleeve 30 is provided with a hinge seat B 31, one end of the support rod 80 is hinged to the hinge seat B 31, and the other end is hinged to the wheel arm 60, and the support rod 80 is hinged to the middle section of the wheel arm 60.

[0028] In this embodiment, the number of the wheel arms 60 may be three, and correspondingly, the numbers of the traveling wheels 70 and the support rods 80 are also three respectively.

[0029] Embodiment 2: As Figures 1-4 shown, on the basis of Embodiment 1, a certain number of adjustment holes 21 are provided on one side of the main shaft 20 away from the connection end cover 10, and an adjustment screw 41 is provided on the limit sleeve 40.

[0030] Embodiment 3: As Figures 1-4 shown, on the basis of Embodiment 1 and Embodiment 2, a locking nut 90 is provided outside the connection end cover 10 for connecting and fixing the supporting traveling mechanism of this embodiment to the end of the pipeline robot main body.

[0031] The above are only specific embodiments of the present utility model, but the structural features of the present utility model are not limited thereto. The present utility model can be used for similar products, and any changes or modifications made by any person skilled in the art within the scope of the present utility model are covered by the patent scope of the present utility model.

Claims

1. A support walking mechanism for a pipeline robot, characterized in that: It comprises a connecting end cover (10), a main shaft (20), a sliding sleeve (30), a limiting sleeve (40), a compression spring (50), and a certain number of wheel arms (60), walking wheels (70), and a support rod (80); The outer end surface of the connecting end cover (10) is provided with an articulated seat A (11), the wheel arm (60) is evenly distributed in the circumferential direction and one end is articulated to the articulated seat A (11), and the other end is articulated to the running wheel (70); One end of the main shaft (20) is connected to the middle of the outer end surface of the connecting end cover (10); the sliding sleeve (30) and the limiting sleeve (40) are sleeved on the main shaft (20), and the limiting sleeve (40) is located on a side away from the connecting end cover (10); and the compression spring (50) is arranged between the sliding sleeve (30) and the limiting sleeve (40); An articulated seat B (31) is provided on the sliding sleeve (30); one end of the support rod (80) is articulated to the articulated seat B (31), and the other end is articulated to the wheel arm (60).

2. The support walking mechanism for a pipeline robot according to claim 1, characterized in that: A certain number of adjustment holes (21) are provided on a side of the main shaft (20) away from the connecting end cover (10), and an adjustment screw (41) is provided on the limiting sleeve (40).

3. The supporting walking mechanism for a pipeline robot according to claim 1, characterized in that: The support rod (80) is hinged to the middle section of the wheel arm (60).

4. The support walking mechanism for a pipeline robot according to claim 1, characterized in that: A locking nut (90) is arranged outside the connecting end cover (10).

5. A support walking mechanism for a pipeline robot according to any one of claims 1-4, characterized in that: The number of the wheel arms (60) is three, and the number of the corresponding running wheels (70) and the supporting rods (80) are also three.

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