Lifting mechanism of pipeline robot
By using an X-shaped lifting mechanism and a motor-driven lead screw and nut, the problem of inconvenient height adjustment for pipeline robots is solved, enabling flexible adaptation to pipelines of different diameters, improving work efficiency and reducing overall size.
Patent Information
- Application Number
- CN202422737610.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-11
- Publication Date
- 2025-10-24
- Estimated Expiration
- 2034-11-11
AI Technical Summary
Existing pipeline robots have unsatisfactory structures in terms of height adjustment, and the motor-driven horizontal lifting mechanism occupies a large space, resulting in an increased overall size and making them unable to effectively adapt to pipelines of different diameters.
Two parallel X-shaped lifting mechanisms are used, and the height of the robot's walking support can be adjusted by the cooperation of the motor-driven lead screw and lead nut. Combined with the control system, the motor can be started and stopped in real time, thus reducing the overall size.
It enables flexible height adjustment of the pipeline robot, improves work efficiency, reduces space occupation, and adapts to pipeline environments with different pipe diameters.
Smart Images
Figure CN223468144U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to pipeline robot technical field especially relates to a pipeline robot's elevating system. BACKGROUND
[0002] With the continuous development of technology, the application of pipeline robots has an important influence on heating enterprises. There are toxic and harmful gases, low oxygen, high temperature and other conditions inside the heating pipeline, which pose a threat to the safety of workers. The application of pipeline robots can greatly reduce the environmental risk of internal exploration of heating pipelines. It can reduce the exposure time and risk of personnel, also can reduce the labor intensity of employees, the application of pipeline robots can improve the work efficiency of heating enterprises to realize comprehensive and accurate pipeline detection, compared with traditional manual exploration, the detection speed, accuracy and safety have been greatly improved. This can directly observe the internal image of the pipeline, analyze the collected image and data, and quickly find problems for timely maintenance to avoid losses caused by fault expansion.
[0003] Due to the different thickness of the pipeline, the pipeline robot needs to adjust the height of the robot walking support according to the pipe diameter of the pipeline to adapt to the working environment. The current pipeline robot is not satisfactory in adjusting the height, and the lifting mechanism of the motor flat push occupies a larger plane space and increases the overall volume. The utility model provides a new structure, which can adjust the height of the robot walking support at any time, and occupies a smaller space, and can reduce the overall volume. CONTENT OF THE UTILITY MODEL
[0004] The main purpose of the utility model is to provide a pipeline robot's elevating system to effectively solve the problems raised in the background art.
[0005] To achieve the above object, the utility model discloses the following technical scheme: a lifting mechanism of pipeline robot, including base plate, robot fixed plate, lifting device, control system, the lifting device is two parallel arrangement's shape lifting mechanism, including two root angle steels with sliding slot parallel fixed with bolt on both sides of base plate, two root angle steels with sliding slot vertical edge right side each is provided with a long slot, and the fixed shaft is rotatably fixed with nut on the vertical edge left side of the angle steel with sliding slot, and a moving shaft is fixed with nut in the long slot, and the moving shaft both ends between two root angle steels with sliding slot each is rotatably fixed with one pull rod B, and the fixed shaft both ends each is rotatably fixed with one pull rod A, and the pull rod A and the pull rod B of same side cross each other in the length middle, and each is equipped with a small hole in the intersection point, and one wire nut shaft is arranged in the small hole and rotatably connected two, and the top of pull rod A and pull rod B is rotatably connected with pull rod D and pull rod C respectively with one connecting shaft, and pull rod D and pull rod C are fixed with nut and connecting shaft, and pull rod D and pull rod C cross in the middle position, and also rotatably connected with one connecting shaft in the intersection point, and the top of two groups of pull rod D and pull rod C is rotatably fixed with two connecting shafts on two root angle steels with sliding slot, and the connecting shaft of pull rod D top is fixed in the end without sliding slot of angle steel with sliding slot, and the connecting shaft of pull rod C top is slidably installed in the sliding slot of angle steel with sliding slot, and the top surface of angle steel with sliding slot is fixed with robot fixed plate.
[0006] One motor fixed shaft is arranged in the sliding slot of two root angle steels with sliding slot on both sides of base plate, a shaft sleeve is sleeved in the middle of motor fixed shaft, a motor is fixed on the shaft sleeve, a lead screw is connected on the motor shaft of motor, a nut is fixed in the middle of lead screw.
[0007] The both ends of motor fixed shaft are provided with threads, and two nuts are used to fix the both ends on the both sides of vertical edge and the left side of sliding slot of angle steel with sliding slot.
[0008] Preferably, the cross structure formed by pull rod A and pull rod B can have multiple layers.
[0009] Preferably, the motor is connected with the control system by wire and is controlled to start and stop by the control system.
[0010] The utility model has the advantages that the height of the pipeline robot can be adjusted at any time through the control system to adapt to various environments, and the working efficiency is greatly improved; the motor of the lifting mechanism is arranged in the middle, and the overall volume of the pipeline robot is greatly reduced. BRIEF DESCRIPTION OF DRAWINGS
[0011] ATTACHED Figure 1 The utility model is a three-dimensional structure diagram Figure One .
[0012] ATTACHED Figure 2 The utility model is a three-dimensional structure diagram Figure Two .
[0013] Figure 1 is a schematic diagram of the pipeline robot according to the present application. Figure 1 、 2 In the figure, the base plate 1, the shaft sleeve 2, the moving shaft 3, the nut 4, the angle steel with sliding slot 5, the lead screw 6, the connecting shaft 7, the sliding slot 8, the motor fixing shaft 9, the fixing shaft 10, the pull rod A 11, the motor 12, the pull rod B 13, the pull rod C 14, the pull rod D 15, the nut shaft 16, the robot fixing plate 17, and the nut 18. DETAILED DESCRIPTION
[0014] The technical solutions in the embodiments of the present application will be apparently and completely described below in combination with the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by the ordinary skilled in the art without any creative work fall within the protection scope of the present application.
[0015] Figure 1 is a schematic diagram of the pipeline robot according to the present application. Figure 1 、 2 As shown in the figure, a lifting mechanism of a pipeline robot comprises a base plate 1, a robot fixing plate 17, a lifting device, and a control system. The lifting device is two X-shaped lifting mechanisms arranged in parallel, comprising two angle steels with sliding slots 5 fixed in parallel on both sides of the base plate 1. Each of the two angle steels with sliding slots 5 is provided with a long sliding slot 8 on the right side of the vertical edge. A fixing shaft 10 is fixed on the left side of the vertical edge of the angle steel with sliding slot 5 by a nut 4. A moving shaft 3 is fixed in the long sliding slot 8 by a nut 4. A pull rod B 13 is rotatably fixed on each end of the moving shaft 3 between the two angle steels with sliding slots 5. A pull rod A 11 is rotatably fixed on each end of the fixing shaft 10. The pull rod A 11 and the pull rod B 13 on the same side are crossed at the middle of the length. A small hole is arranged at the crossing point. A nut shaft 16 is arranged in the small hole to rotatably connect the two. The top end of the pull rod A 11 and the pull rod B 13 is rotatably connected with a pull rod D 15 and a pull rod C 14 by a connecting shaft 7 respectively. The pull rod D 15 and the pull rod C 14 are fixed with the connecting shaft 7 by a nut 4. The pull rod D 15 and the pull rod C 14 are crossed at the middle position and rotatably connected by a connecting shaft 7. The top end of the two groups of pull rod D 15 and pull rod C 14 is rotatably fixed on the two angle steels with sliding slots 5 by two connecting shafts 7 respectively. The connecting shaft 7 at the top end of the pull rod D 15 is fixed on the end without sliding slot of the angle steel with sliding slot 5. The connecting shaft 7 at the top end of the pull rod C 14 is slidingly clamped in the sliding slot 8 of the angle steel with sliding slot 5. The robot fixing plate 17 is fixed on the top surface of the angle steel with sliding slot 5.
[0016] A motor fixing shaft 9 is arranged in the middle of the sliding slot 8 of the two angle steels with sliding slots 5 on both sides of the base plate 1. A shaft sleeve 2 is sleeved in the middle of the motor fixing shaft 9. A motor 12 is fixed on the shaft sleeve 2. A lead screw 6 is connected to the motor shaft of the motor 12. A nut 18 is fixed in the middle of the nut shaft 16. The lead screw 6 is screwed in the nut 18.
[0017] The motor fixed shaft 9 is threaded at both ends, and each is fixed to the vertical side of the sliding groove angle steel 5 and the left side of the sliding groove 8 by two nuts 4.
[0018] The cross structure composed of the pull rod A11 and the pull rod B13 can have multiple layers.
[0019] The motor 12 is connected to the control system by a wire and is controlled by the control system to start and stop.
[0020] In use, the pipeline robot is placed in the pipeline, the control system starts the motor 12, the lead screw 6 rotates, the nut 18 moves up and down, the nut shaft 16 moves accordingly, the robot fixing plate 17 moves up and down, the height is adjusted, and the pipeline robot walking system can drive the robot to walk in the pipeline.
[0021] When the motor rotates in reverse, the nut 18 approaches the motor 12, the nut shaft 16 moves down, the pull rod B13 moves to the side, the motor 12 rotates around the motor fixed shaft 9, the nut 18 rotates to the right around the motor fixed shaft 9, and the height of the lifting device can be lowered to the lowest.
[0022] Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or make equivalent replacement to part of the technical features, and any modification, equivalent replacement, improvement, etc. within the spirit and principles of the utility model should be included in the protection scope of the utility model.
Claims
1. A lifting mechanism for a pipe robot, characterized by: It includes base plate, robot fixed plate, lifting device, control system; the lifting device is two parallel arranged shape lifting mechanism, including two parallel fixed with bolts on both sides of base plate two root angle steel with sliding slot, two root angle steel with sliding slot vertical edge right side is provided with a long slot, in the vertical edge left side of the angle steel with sliding slot is fixed with fixed shaft by nut rotation, a moving shaft is fixed in the long slot by nut, a pull rod B is rotatably fixed on both ends of the moving shaft between the two root angle steel with sliding slot, a pull rod A is rotatably fixed on both ends of the fixed shaft, the pull rod A and the pull rod B on the same side cross each other in the middle of the length, a small hole is arranged at the intersection point, a wire nut shaft is arranged in the small hole to rotatably connect the two, the top of the pull rod A and the pull rod B is rotatably connected with the pull rod D and the pull rod C by a connecting shaft respectively, the pull rod D and the pull rod C are fixed with the connecting shaft by nut, the pull rod D and the pull rod C cross in the middle position, and are rotatably connected by a connecting shaft at the intersection point, the top of the two groups of pull rod D and pull rod C is rotatably fixed on the two root angle steel with sliding slot by two connecting shafts, the connecting shaft at the top of the pull rod D is fixed on the end of the angle steel with sliding slot without sliding slot, the connecting shaft at the top of the pull rod C is slidingly clamped in the sliding slot of the angle steel with sliding slot, and the top surface of the angle steel with sliding slot is fixed with the robot fixed plate; A motor fixing shaft is arranged in the sliding slot of the two root angle steels with sliding slot on both sides of the base plate, a shaft sleeve is sleeved in the middle of the motor fixing shaft, a motor is fixed on the shaft sleeve, a lead screw is connected to the motor shaft of the motor, and a nut is fixed in the middle of the lead screw. The motor fixing shaft is provided with threads at both ends, and is fixed on both sides of the vertical edge of the angle steel with sliding slot and the left side of the sliding slot by two nuts respectively.
2. The lifting mechanism of a pipe robot according to claim 1, characterized in that: The cross structure composed of the pull rod A and the pull rod B can have multiple layers.
3. The lifting mechanism of a pipe robot according to claim 1, characterized in that: The motor is connected to the control system by wire and is controlled by the control system to start and stop.