Micro-miniature pipeline robot

Abstract

The utility model discloses a microminiature pipeline robot, which belongs to the technical field of pipeline robots and comprises a fixing frame and a telescopic rod slidably arranged in the fixing frame, a driving mechanism connected with the telescopic rod is arranged in the fixing frame, and fastening frames are mounted on the fixing frame and the telescopic rod. A fixing pipe is mounted on the side wall of the fastening frame, a moving rod is slidably inserted into the fixing pipe, a positioning block abutting against the inner wall of a pipeline is mounted between the fixing pipe and the moving rod through a driving mechanism, and an electric push rod connected with the moving rod is fixedly embedded into the fastening frame. And meanwhile, the motor drives the threaded rod to rotate reversely, the telescopic rod extends out of the fixing frame, the robot creeps in the pipeline, the robot can abut against the inner wall of the pipeline conveniently, the moving stability of the robot is improved, and the robot is suitable for moving in the pipeline at different angles.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of pipeline robot, concretely relates to a small -size pipeline robot. BACKGROUND

[0002] As a kind of relatively ideal pipeline detection and maintenance equipment, pipeline robot is widely used in the cleaning, detection, repair, welding and many other fields of pipeline, and it has important significance to extend the service life of pipeline and reduce the risk of safety accident.

[0003] Patent No.202123124087.8 discloses a fluid-driven speed-adjustable pipeline robot, belonging to the technical field of pipeline detection.The fluid-driven speed-adjustable pipeline robot comprises a moving device, a speed regulation device and a rotating device.The moving device comprises a front leather bowl, a sleeve and a rear leather bowl.The diameter edges of the front leather bowl and the rear leather bowl abut against the inner wall of the pipeline, and the front leather bowl and the rear leather bowl are connected through the sleeve.The speed regulation device comprises an outer shell and an inner shell.Both the outer shell and the inner shell are provided with notches uniformly distributed around the axis of the sleeve.The end face of the outer shell is fixedly connected with the outer arc surface of the leather bowl, and the outer shell is sleeved on the inner shell.Both the front leather bowl and the rear leather bowl are provided with a plurality of through holes around the axis of the sleeve.

[0004] The above technical solution uses rollers to drive the movement of the pipeline robot, but the rollers are difficult to stay in the pipeline, and for vertical pipelines, the rollers need to bear the synchronous weight of the robot, which makes the movement of the pipeline robot difficult and hard to maintain stability in a stationary state. UTILITY MODEL CONTENTS

[0005] (1) Technical problem to be solved

[0006] In view of the shortcomings of the prior art, the purpose of the utility model is to provide a small -size pipeline robot, which aims to solve the technical problem that for vertical pipelines, the rollers need to bear the synchronous weight of the robot, which makes the movement of the pipeline robot difficult and hard to maintain stability in a stationary state.

[0007] (2) Technical solution

[0008] In order to solve the above technical problems, the utility model provides a small -size pipeline robot, which comprises a fixing frame and a telescopic rod slidingly arranged in the fixing frame, a driving mechanism connected with the telescopic rod is arranged in the fixing frame, and a fastening frame is installed on the fixing frame and the telescopic rod, a fixed tube is installed on the side wall of the fastening frame, a moving rod is slidingly inserted into the fixed tube, and a positioning block abutting against the inner wall of the pipeline is installed between the fixed tube and the moving rod by the driving mechanism, wherein an electric push rod connected with the moving rod is embedded and fixed in the fastening frame.

[0009] When the technical scheme is used, the telescopic rods are inserted into the fixed frame in sliding mode, the electric push rod in one of the fixed frames drives the moving rod to retract in the fixed tube, and in the process of retraction, the two connecting rods drive the positioning blocks to abut against the inner wall of the pipeline, at the same time, the motor drives the threaded rod to rotate forward, and in the process of forward rotation, the telescopic rod retracts in the fixed frame, and after retraction, the electric push rod in the other fixed frame drives the moving rod to retract in the fixed tube, so that the two connecting rods drive the positioning blocks to abut against the inner wall of the pipeline, the electric push rod in the fixed frame which is first fixed with the pipeline drives the moving rod to move in the fixed tube, so that the positioning blocks are separated from the pipeline, at the same time, the motor drives the threaded rod to rotate reversely, so that the telescopic rod extends from the fixed frame, and the above-mentioned actions are continuously repeated, so that the robot can move in the pipeline, the robot is convenient to abut against the inner wall of the pipeline, and the stability of the robot movement is improved, and the robot is suitable for moving in different angle pipelines.

[0010] Preferably, the fixed frame and the telescopic rod are fixed with couplings, and the two couplings are fixedly connected with the two fixed frames respectively.

[0011] Further, the driving mechanism comprises a threaded rod rotatably installed in the fixed frame and a motor connected with the threaded rod, and the fixed frame is provided with a device slot for accommodating the motor.

[0012] Further, the outer wall of the fixed frame is provided with heat dissipation holes in communication with the device slot, and the telescopic rod is provided with a screw hole, and the threaded rod is threadedly inserted into the screw hole.

[0013] Further, the moving rod and the fixed rod are both fixed with connecting seats in annular array on the outer wall, and the connecting rods are rotatably installed in the connecting seats.

[0014] Further, the connecting rods are rotatably installed with a connecting shaft between the two connecting rods on the same side, and the two ends of the positioning block are rotatably connected with the two connecting rods.

[0015] Further, the connecting rods are rotatably installed with a connecting shaft between the two connecting rods on the same side, and the two ends of the positioning block are rotatably connected with the two connecting rods.

[0016] (3)Beneficial effects

[0017] Compared with the prior art, the beneficial effects of the utility model lie in that:

[0018] The utility model discloses a telescopic rod is inserted in the fixed frame slidingly, and the electric push rod in one of the fastening frame drives the moving rod to contract in the fixed pipe, and makes the two connecting rods drive the positioning block to abut with the inner wall of the pipeline in the process of contraction, and the motor drives the threaded rod to turn positively, and makes the telescopic rod contract in the fixed frame in the process of turning positively, and the electric push rod in another fastening frame drives the moving rod to contract in the fixed pipe after contraction, makes the two connecting rods drive the positioning block to abut with the inner wall of the pipeline, and the electric push rod in the fastening frame of first pipeline fixedness pushes the moving rod to move in the fixed pipe, thereby makes the positioning block separate with the pipeline, and the motor drives the threaded rod to reverse, makes the telescopic rod extend from the fixed frame, and the above-mentioned action of continuously reciprocating makes the robot peristalsis in the pipeline, and the robot is convenient to abut with the inner wall of the pipeline, improves the stability of robot movement, and is applicable to the internal movement of different angle pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the present application or prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by the drawings for the person skilled in the art without creating labor.

[0020] Figure 1 It is the structural schematic diagram of the utility model;

[0021] Figure 2 It is the sectional structure schematic diagram of the fixed frame in the utility model;

[0022] Figure 3 It is the expansion structure schematic diagram of the fastening frame in the utility model;

[0023] Figure 4 It is the contraction structure schematic diagram of the fastening frame in the utility model.

[0024] The marks in the drawings are: 1, fixed frame;2, moving rod;3, shaft coupling;4, fastening frame;5, screw hole;6, threaded rod;7, motor;8, equipment slot;9, heat dissipation hole;10, electric push rod;11, positioning block;12, connecting rod;13, connecting seat;14, moving rod;15, connecting shaft;16, fixed pipe;17, pin shaft. DETAILED DESCRIPTION

[0025] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative efforts fall within the scope of the present application.

[0026] The specific embodiment is a micro pipeline robot, a structural schematic diagram of which is shown in Figure 1 and Figure 2 The micro pipeline robot comprises a fixing frame 1, a telescopic rod 2 slidingly arranged in the fixing frame 1, a driving mechanism arranged in the fixing frame 1 and connected with the telescopic rod 2, a fastening frame 4 arranged on the fixing frame 1 and the telescopic rod 2, a fixed tube 16 arranged on the side wall of the fastening frame 4, a moving rod 14 slidingly inserted into the fixed tube 16, and a positioning block 11 arranged between the fixed tube 16 and the moving rod 14 and abutting against the inner wall of the pipeline, wherein an electric push rod 10 connected with the moving rod 14 is embedded and fixed in the fastening frame 4.

[0027] The fixing frame 1 and the telescopic rod 2 are both fixed with a shaft coupling 3, and the two shaft couplings 3 are fixedly connected with the two fastening frames 4, respectively. The driving mechanism comprises a threaded rod 6 rotatably arranged in the fixing frame 1 and a motor 7 connected with the threaded rod 6. A device groove 8 for accommodating the motor 7 is arranged in the fixing frame 1. A heat dissipation hole 9 in communication with the device groove 8 is arranged on the outer wall of the fixing frame 1. A screw hole 5 is arranged in the telescopic rod 2. The threaded rod 6 is screwingly inserted into the screw hole 5. The telescopic rod 2 is driven to extend and retract in the fixing frame 1 by the forward rotation and reverse rotation of the motor 7, and the robot is driven to move like a worm in the pipeline during the extension and retraction.

[0028] As shown in Figure 3 and Figure 4As shown, the mobile rod 14 and the outer wall of the fixed rod are annularly arranged with connecting seats 13, a plurality of connecting seats 13 are rotatably installed with connecting rods 12, the two connecting rods 12 on the same side are rotatably installed with connecting shafts 15, the two ends of the positioning block 11 are rotatably connected with the two connecting rods 12, the two ends of the connecting rod 12 are installed with pin shafts 17, and the two pin shafts 17 are rotatably inserted in the positioning block 11 and the connecting seat 13, respectively, wherein the electric push rod 10 in one of the fastening frames 4 drives the mobile rod 14 to retract in the fixed tube 16, and in the process of retraction, the two connecting rods 12 drive the positioning block 11 to abut against the inner wall of the pipeline, at the same time, the motor 7 drives the threaded rod 6 to rotate forward, and in the process of forward rotation, the telescopic rod 2 retracts in the fixed frame 1, and after retraction, the electric push rod 10 in the other fastening frame 4 drives the mobile rod 14 to retract in the fixed tube 16, so that the two connecting rods 12 drive the positioning block 11 to abut against the inner wall of the pipeline, the electric push rod 10 in the fastening frame 4 fixed with the pipeline first drives the mobile rod 14 to move in the fixed tube 16, so that the positioning block 11 is separated from the pipeline.

[0029] Working principle: when the device of the technical solution is used, the electric push rod 10 in one of the fastening frames 4 drives the mobile rod 14 to retract in the fixed tube 16, and in the process of retraction, the two connecting rods 12 drive the positioning block 11 to abut against the inner wall of the pipeline, at the same time, the motor 7 drives the threaded rod 6 to rotate forward, and in the process of forward rotation, the telescopic rod 2 retracts in the fixed frame 1, and after retraction, the electric push rod 10 in the other fastening frame 4 drives the mobile rod 14 to retract in the fixed tube 16, so that the two connecting rods 12 drive the positioning block 11 to abut against the inner wall of the pipeline, the electric push rod 10 in the fastening frame 4 fixed with the pipeline first drives the mobile rod 14 to move in the fixed tube 16, so that the positioning block 11 is separated from the pipeline, at the same time, the motor 7 drives the threaded rod 6 to reverse, so that the telescopic rod 2 extends from the fixed frame 1, and the above-mentioned reciprocating action is continuously performed, so that the robot can move in the pipeline, which is convenient for the robot to abut against the inner wall of the pipeline, improves the stability of the robot movement, and is suitable for moving in different angle pipelines.

[0030] All the technical features in the embodiment can be freely combined according to actual needs.

[0031] Finally, it should be noted that: the above only describes the preferred embodiments of the utility model, and is not used to limit the utility model, although the utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still can modify the technical scheme recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features, any modification, equivalent replacement, improvement, etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A micro-pipeline robot, comprising a fixing frame (1) and a telescopic rod (2) slidingly arranged in the fixing frame (1), characterized in that, The fixed frame (1) is provided with a driving mechanism connected with the telescopic rod (2), and the fixed frame (1) and the telescopic rod (2) are both provided with a fastening frame (4), the side wall of the fastening frame (4) is provided with a fixed tube (16), the movable rod (14) is slidingly inserted into the fixed tube (16), and the fixed tube (16) and the movable rod (14) are provided with a positioning block (11) abutting against the inner wall of the pipe through the driving mechanism, wherein the fastening frame (4) is embedded with an electric push rod (10) connected with the movable rod (14).

2. The micro-pipeline robot according to claim 1, wherein The fixed frame (1) and the telescopic rod (2) are both provided with a coupling (3), and the two couplings (3) are respectively fixedly connected with two fastening frames (4).

3. The micro-pipeline robot according to claim 1, wherein The driving mechanism comprises a threaded rod (6) rotatably installed in the fixed frame (1) and a motor (7) connected with the threaded rod (6), and the fixed frame (1) is provided with a device slot (8) for accommodating the motor (7).

4. The micro-pipeline robot according to claim 3, wherein The outer wall of the fixed frame (1) is provided with a heat dissipation hole (9) communicating with the device slot (8), the telescopic rod (2) is provided with a threaded hole (5), and the threaded rod (6) is threadedly inserted into the threaded hole (5).

5. The micro-pipeline robot according to claim 1, wherein The movable rod (14) and the outer wall of the fixed rod are both provided with a connecting seat (13) in annular array, and a plurality of connecting seats (13) are rotatably installed with connecting rods (12).

6. The micro-pipeline robot according to claim 5, wherein The connecting rods (12) on the same side are rotatably installed with a connecting shaft (15), and the two ends of the positioning block (11) are rotatably connected with the two connecting rods (12).

7. The micro-pipeline robot according to claim 6, wherein The connecting rod (12) is provided with a pin shaft (17) at both ends, and the two pin shafts (17) are rotatably inserted into the positioning block (11) and the connecting seat (13) respectively.

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