Urban park lamplight underground pipeline laying robot

Abstract

The utility model relates to the technical field of pipeline robots, and provides an urban park lamplight underground pipeline laying robot which comprises an electric wire conveying mechanism, and an earthworm imitating mechanism is arranged at the outer end of the electric wire conveying mechanism. A mole claw mechanism is arranged at the end, away from the electric wire conveying mechanism, of the earthworm-imitating mechanism. The earthworm imitating mechanism comprises a telescopic motor, the output end of the telescopic motor is fixedly connected with a plurality of lead screws, universal joint frames are arranged among the lead screws, a plurality of frameworks are arranged on the outer sides of the lead screws, and the frameworks on the two sides are spliced together; the telescopic motor drives the lead screw to work, the framework can achieve the telescopic effect, the robot is driven to move forwards, in the telescopic process, the framework is retracted and retracted, the wriggling effect similar to that of earthworms is achieved, and overall forward movement and pipeline carrying are conveniently achieved.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robot technology, specifically a robot for laying underground pipelines for urban park lighting. Background Technology

[0002] In existing urban park lighting systems or other underground infrastructure construction, pipeline laying typically employs the traditional "dig-lay-bury" method. This method involves overturning entire areas of turf, using heavy equipment to lay the pipelines, and then backfilling with soil. This method has several shortcomings and challenges:

[0003] The construction is difficult: traditional methods require a lot of manpower and machinery, have high technical requirements for operators, and the construction process is complicated.

[0004] Long construction period: Due to the need for multiple steps such as turning over the turf, laying pipelines, and backfilling the soil, the entire construction process takes a long time, affecting the normal use of the park and its aesthetic appeal.

[0005] To address this issue, those skilled in the art have proposed a robot for laying underground pipelines for urban park lighting to solve the problems raised in the background section. Utility Model Content

[0006] To address the aforementioned technical problems, this utility model provides a robot for laying underground pipelines for urban park lighting. By mimicking the biological characteristics of moles and earthworms, this robot enables underground pipeline laying without the need to remove turf, significantly reducing construction difficulty and shortening the construction cycle.

[0007] A robot for laying underground pipelines for urban park lighting includes a wire transport mechanism, the outer end of which is provided with an earthworm-like mechanism.

[0008] The earthworm-like mechanism is equipped with a mole claw mechanism at the end away from the transport wire mechanism.

[0009] The earthworm-like mechanism includes a telescopic motor, the output end of which is fixedly connected to a lead screw. There are multiple lead screws, and universal joints are provided between the multiple lead screws. Multiple skeletons are provided on the outer side of the lead screws. The skeletons on both sides are spliced ​​together. A sliding rod is provided between two skeletons. The sliding rod is in the shape of a ring and is connected to the skeletons on both sides.

[0010] Preferably, a first battery is installed at the bottom of the inner wall of the wire transport mechanism, a wire shaft is installed at an angle on the inner wall of the wire transport mechanism, a wire is slidably connected to the inner wall of the wire transport mechanism, a fixing device is installed on the surface of the side wall of the wire transport mechanism, a robotic arm is installed near the top of the inner wall of the wire transport mechanism, a clamping plate hinged to the outside of the robotic arm is connected to the wire to limit the wire, a protective tube is installed at the rear end of the wire transport mechanism, the protective tube is also sleeved on the outside of the wire, and a clamp is also installed on the outside of the wire transport mechanism.

[0011] Preferably, the outermost end of the wire transport mechanism is fixedly connected to an inlet pipe, the bottom end of the inlet pipe is equipped with an inlet wheel, and the bottom of the inlet wheel is equipped with a first motor.

[0012] Preferably, the mole claw mechanism includes a second battery, which is installed inside the mole claw mechanism. There are two second batteries and a second motor is installed in the middle. The mole claw mechanism is provided with multiple mole claw-like parts near the outer side. The output end of the second motor is fixedly connected to a drill bit coupling.

[0013] Preferably, the output end of the drill bit coupling is fixedly connected to a clamping module servo motor, the outermost end of the clamping module servo motor is equipped with a clamping cross shaft, multiple clamping module servos are installed on the outer side wall of the clamping cross shaft, and multiple clamping plates are installed on the outermost ends of the multiple clamping module servos.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. By driving the lead screw through a telescopic motor, the skeleton can extend and retract, moving the robot forward. During the extension and retraction process, the skeleton contracts and contracts, achieving a worm-like wriggling effect, which facilitates the overall forward movement and the carrying of pipelines. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0017] Figure 2 This utility model Figure 1 A schematic diagram of the exploded structure in the image;

[0018] Figure 3 This utility model Figure 2 A schematic diagram of the unfolded structure of the mole-like claw;

[0019] Figure 4 This utility model Figure 2 A schematic diagram of the structure of the transmission cable mechanism;

[0020] Figure 5This utility model Figure 2 A schematic diagram of the earthworm-like mechanism;

[0021] Figure 6 This utility model Figure 2 A schematic diagram of the structure of the mole claw mechanism.

[0022] In the diagram: 1. Wire transport mechanism; 12. First battery; 13. Wire spool; 14. Wire; 15. Fixing device; 16. Robotic arm; 17. Inlet pipe; 18. Inlet wheel; 19. First motor; 110. Clamp; 111. Protective tube; 2. Earthworm-like mechanism; 21. Telescopic motor; 22. Universal joint frame; 23. Slide rod; 24. Frame; 25. Lead screw; 3. Mole claw mechanism; 31. Drill bit; 32. Clamping rod; 33. Clamping plate; 34. Clamping cross shaft; 35. Clamping module servo motor; 36. Drill bit coupling; 37. Second motor; 38. Second battery; 39. Mole claw. Detailed Implementation

[0023] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0024] As attached Figure 1 To be continued Figure 6 As shown:

[0025] Example 1: See Figure 1 Figure 2 and Figure 4 This utility model provides a robot for laying underground pipelines for urban park lighting, including a wire transport mechanism 1, and an earthworm-like mechanism 2 is provided at the outer end of the wire transport mechanism 1.

[0026] The earthworm-like mechanism 2 is provided with a mole claw mechanism 3 at the end away from the transport wire mechanism 1;

[0027] The earthworm-like mechanism 2 includes a telescopic motor 21, the output end of which is fixedly connected to a lead screw 25. There are multiple lead screws 25, and universal joints 22 are arranged between the multiple lead screws 25. Multiple skeletons 24 are arranged on the outer side of the lead screws 25. The skeletons 24 on both sides are spliced ​​together. A sliding rod 23 is arranged between two skeletons 24. The sliding rod 23 is ring-shaped and connected to the skeletons 24 on both sides. By driving the lead screws 25 through the telescopic motor 21, the skeletons 24 can achieve the effect of telescopic movement, which moves the robot forward. During the telescopic movement, the skeletons 24 contract and retract, achieving a peristaltic effect similar to that of an earthworm, which facilitates the overall forward movement and the carrying of pipelines.

[0028] Example 2: See Figure 1 Figure 2 A first battery 12 is installed at the bottom of the inner wall of the wire transport mechanism 1. A wire shaft 13 is installed at an angle on the inner wall of the wire transport mechanism 1. A wire 14 is also slidably connected to the inner wall of the wire transport mechanism 1. A fixing device 15 is installed on the surface of the side wall of the wire transport mechanism 1. A robotic arm 16 is installed near the top of the inner wall of the wire transport mechanism 1. A clamping plate hinged to the outside of the robotic arm 16 is connected to the wire 14 to limit the wire 14. An inlet pipe 17 is fixedly connected to the outermost end of the wire transport mechanism 1. The bottom end of the inlet pipe 17 is equipped with an inlet wheel 18, and the bottom of the inlet wheel 18 is equipped with a first motor 19. The rear end of the wire transport mechanism 1 is equipped with a protective tube 111, which is also sleeved on the outside of the wire 14. A clamp 110 is also installed on the outside of the wire transport mechanism 1. The wire transport mechanism clamps the wire 14 with a mechanical arm 16 and a rubber wheel, providing forward force to transport the wire 14 to the designated position. At the same time, the four-jaw chuck grabs the protective tube and moves forward synchronously with the wire 14 to ensure that the wire 14 is not worn.

[0029] Example 2: See Figure 3 and Figure 5 and Figure 6 The mole claw mechanism 3 includes a second battery 38, which is installed inside the mechanism. Two batteries 38 are present, with a second motor 37 installed between them. Multiple mole-like claws 39 are positioned near the outer edge of the mechanism. A drill coupling 36 is fixedly connected to the output end of the second motor 37. A clamping module servo 35 is fixedly connected to the output end of the drill coupling 36. A clamping cross shaft 34 is installed at the outermost end of the clamping module servo 35. Multiple clamping module servos 35 are installed on the outer wall of the clamping cross shaft 34, and multiple clamping plates 33 are installed at the outermost ends of the clamping module servos 35. The soil compaction mechanism uses the clamping module servos 35 to drive the clamping rod 32 and the clamping plates 33, compacting the excavated soil and distributing it to both sides of the channel. Simultaneously, the bionic mole claw mechanism opens, and the sharp claws penetrate the soil to provide fixation and prevent the robot from slipping.

[0030] Working principle: Initially, the robot is in a retracted state, with the drill bit 31, mole claw mechanism 3, earthworm-like mechanism 2, and wire transport mechanism 1 arranged compactly to reduce the initial size of the robot entering the ground.

[0031] Drilling: The mole claw mechanism 3 and drill 31 are activated, breaking through the soil through rotation and propulsion to form a preliminary channel. The drill 31 is designed for staged soil breaking to gradually enlarge the hole diameter. Then, the clamping module servo motor 35 drives the clamping rod 32 and clamping plate 33 to compact the excavated soil and arrange it on both sides of the channel. At the same time, the mole claw 39 opens, and the sharp claws dig into the soil to provide a fixing effect and prevent the robot from slipping. The earthworm-like mechanism is driven by the telescopic motor 21 to drive the lead screw 25 to telescopically move, moving the robot forward. During the telescopic process, the rigid origami mechanism of the earthworm contracts and expands, achieving a peristaltic effect similar to that of an earthworm.

[0032] The wire transport mechanism clamps the wire with a robotic arm 16 and rubber wheels, providing forward force to transport the wire 14 to the designated position. At the same time, a four-jaw chuck grabs the protective tube 111 and moves forward synchronously with the wire 14 to ensure that the wire 14 is not worn. When a turning situation is required, the four bionic mole claws at the front of the robot adjust and, in conjunction with the fixing device at the rear, achieve flexible turning movements through universal joints.

[0033] All standard parts used in this invention can be purchased from the market, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods for each part all employ conventional methods such as bolts, rivets, and welding, which are mature technologies in the prior art. The machinery, parts, and equipment all use conventional models in the prior art, and the circuit connections also use conventional connection methods in the prior art, which will not be detailed here. Any content not described in detail in this specification belongs to the prior art known to those skilled in the art.

[0034] In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0035] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0036] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0038] The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0039] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot for laying underground pipelines for urban park lighting, characterized in that: It includes a wire transport mechanism (1), and the outer end of the wire transport mechanism (1) is provided with an earthworm-like mechanism (2); The imitation earthworm mechanism (2) is provided with a mole claw mechanism (3) at the end away from the transport wire mechanism (1); The earthworm-like mechanism (2) includes a telescopic motor (21), the output end of which is fixedly connected to a lead screw (25). There are multiple lead screws (25), and a universal joint frame (22) is provided between the multiple lead screws (25). Multiple skeletons (24) are provided on the outside of the lead screws (25). The skeletons (24) on both sides are spliced ​​together. A sliding rod (23) is provided between two skeletons (24). The sliding rod (23) is in the shape of a ring and is connected to the skeletons (24) on both sides.

2. The robot for laying underground pipelines for urban park lighting as described in claim 1, characterized in that: A first battery (12) is installed at the bottom of the inner wall of the wire transport mechanism (1). A wire shaft (13) is installed on the inner wall of the wire transport mechanism (1) in an inclined manner. A wire (14) is also slidably connected to the inner wall of the wire transport mechanism (1). A fixing device (15) is installed on the surface of the side wall of the wire transport mechanism (1). A mechanical arm (16) is installed near the top of the inner wall of the wire transport mechanism (1). A clamping plate hinged to the outside of the mechanical arm (16) is connected to the wire (14) to limit the wire (14). A protective tube (111) is installed at the rear end of the wire transport mechanism (1). The protective tube (111) is also sleeved on the outside of the wire (14). A clamp (110) is also installed on the outside of the wire transport mechanism (1).

3. The robot for laying underground pipelines for urban park lighting as described in claim 2, characterized in that: The outermost end of the wire transport mechanism (1) is fixedly connected to an inlet pipe (17), the bottom end of the inlet pipe (17) is equipped with an inlet wheel (18), and the bottom of the inlet wheel (18) is equipped with a first motor (19).

4. The robot for laying underground pipelines for urban park lighting as described in claim 1, characterized in that: The mole claw mechanism (3) includes a second battery (38), which is installed on the inner side of the mole claw mechanism (3). There are two second batteries (38) with a second motor (37) installed in the middle. The mole claw mechanism (3) has multiple imitation mole claws (39) near the outer side. The output end of the second motor (37) is fixedly connected to a drill bit coupling (36).

5. The robot for laying underground pipelines for urban park lighting as described in claim 4, characterized in that: The output end of the drill bit coupling (36) is fixedly connected to a clamping module servo motor (35). The outermost end of the clamping module servo motor (35) is equipped with a clamping cross shaft (34). Multiple clamping module servo motors (35) are installed on the outer side wall of the clamping cross shaft (34). Multiple clamping plates (33) are installed on the outermost ends of the multiple clamping module servo motors (35).

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