Crawling mechanism of underground robot

Abstract

The crawling mechanism of the underground robot comprises a center rod and a center sliding block arranged on the outer side of the center rod in a sleeved mode, a power assembly is arranged at the upper end of the center sliding block and used for driving the center sliding block to move in the axial direction of the center rod, and at least one transmission assembly is arranged on the side face of the center sliding block. The other end of the transmission assembly is connected with a supporting leg, and the supporting leg is driven by the transmission assembly to move in the radial direction so that the supporting leg can be expanded or contracted. According to the crawling mechanism, rotary motion is converted into axial motion of the center sliding block through the power assembly, the supporting legs are expanded or contracted relative to the well wall, the acting force opposite to the motion direction of the center sliding block is provided, and therefore crawling movement on the well wall is achieved, the crawling mechanism adapts to underground pipelines of different environments and different materials, the overall structure is simple, and operation is convenient. And installation and maintenance are convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially is related to a climbing mechanism of underground robot. BACKGROUND

[0002] The underground robot is a kind of automation equipment specially used in underground environment such as mine, tunnel, and its climbing mechanism is one of its core components.The design and implementation of climbing mechanism directly affect the mobility, stability and adaptability of robot.The underground robot usually adopts multiple movement modes such as wheel type, track type or leg type.The wheel robot is suitable for flat ground, and the track robot can provide better traction and stability in uneven or muddy environment.The leg robot imitates the movement mode of organism, and can move flexibly in complex terrain.China patent CN110667721A a petroleum derrick climbing robot discloses that the climbing robot includes control mechanism, moving mechanism, load mechanism, magnet adsorption mechanism several parts.Working principle is that magnet adsorption mechanism is fixed stationary on the derrick after overcoming gravity after energization, moving mechanism is powered to electric push rod, and the up and down movement of climber is realized by the extension and contraction of electric push rod, control mechanism coordinates the operation of each part of climber, and control detection maintenance device detects and maintains petroleum derrick, and load mechanism is responsible for carrying mobile power supply, detection maintenance instrument and control mechanism.The patent can complete the detection and maintenance instrument carrying and climbing on smooth derrick arm and obstacle derrick arm, but the operation of magnet adsorption mechanism and electric push rod needs a lot of electric energy, leading to high energy consumption, affecting endurance time, and if there is rust, unevenness or oil stain on the surface of well wall, the adsorption force will be reduced, affecting the safety and stability of climber. UTILITY MODEL CONTENT

[0003] The main purpose of the utility model is to provide a climbing mechanism of underground robot, to solve the poor adaptability of underground robot in climbing different types of well wall, and the problem of complex structure of climbing mechanism, inconvenient manufacturing and maintenance.

[0004] To solve the above technical problems, the utility model adopts the following technical scheme: a climbing mechanism of underground robot, including center rod and center sliding block sleeved on the outside of center rod, the upper end of center sliding block is equipped with power assembly, power assembly is used to drive center sliding block to move along the axial direction of center rod, the side surface of center sliding block is equipped with at least one transmission assembly, the other end of transmission assembly is connected with supporting leg, and supporting leg moves in radial direction by transmission assembly, so that supporting leg is expanded or contracted.

[0005] In preferred scheme, power assembly includes motor for outputting power, one end of motor is connected with crank, the other end of crank is connected with rocker, rocker is connected with sliding block below, and sliding block is sleeved on center rod.

[0006] The slider is connected with the center slider, and the rotating power output by the motor is transmitted in sequence through the crank and the rocker; the rocker converts the rotating motion of the crank into the linear motion of the slider, so that the slider drives the center slider to move axially along the center rod.

[0007] In the preferred embodiment, the transmission assembly includes a first connecting piece, a second connecting piece and a third connecting piece, one end of the first connecting piece is connected with the center slider, and the other end is provided with a gear mounting seat, the gear mounting seat includes a first gear mounting groove and a second gear mounting groove, which are respectively used for connecting with the second connecting piece and the third connecting piece.

[0008] In the preferred embodiment, one end of the second connecting piece is connected to the lower part of the center rod, and the other end is provided with a first gear, the first gear is hinged with the first gear mounting groove; one end of the third connecting piece is connected with the support leg, and the other end is provided with a second gear, the second gear is hinged with the second gear mounting groove.

[0009] In the preferred embodiment, the center slider is connected with the transmission assembly through the mounting block, the axial movement of the center slider expands or contracts the first connecting piece and the second connecting piece, the rotating movement of the first gear relative to the gear mounting seat drives the rotating movement of the second gear relative to the gear mounting seat, so as to expand or contract the support leg.

[0010] In the preferred embodiment, it includes at least one support leg, one end of the support leg is provided with a support wall, and the other end is connected with the transmission assembly; when the second gear of the third connecting piece rotates, the support leg expands or contracts, so that the support wall contacts or separates from the well wall, and the support leg provides a force opposite to the movement direction of the center slider.

[0011] In the preferred embodiment, a strain sensor is arranged at the connection between the support leg and the transmission assembly, or a piezoelectric film is arranged on the side of the support wall close to the well wall, for monitoring the contact state between the support leg and the well wall.

[0012] In the preferred embodiment, the bottom of the center rod is provided with a bottom cover, the upper part of the bottom cover is provided with an outer shell, and a slotted groove matched with the support wall is arranged on the outer shell.

[0013] In the preferred embodiment, the center rod is a convex structure with a thin upper part and a thick lower part, the inner diameter of the center slider is matched with the outer diameter of the upper part of the center rod, and the center slider moves axially along the upper part of the center rod; the lower part of the center rod is provided with a limiting step for limiting the movement range of the center slider.

[0014] The utility model provides a kind of crawling mechanism of underground robot, including center pole and the center slide block of being sleeved in the outside of center pole, the upper end of center slide block is equipped with power assembly, power assembly is used to drive center slide block axial movement along center pole, the side of center slide block is equipped with at least one transmission assembly, another end of transmission assembly is connected with support leg, support leg is moved in radial direction by transmission assembly, to make support leg open or shrink.This crawling mechanism converts rotary motion into the axial movement of center slide block by power assembly, to make support leg open or shrink relative to shaft wall, and provide the force opposite to the movement direction of center slide block, to realize the crawling movement on shaft wall, adapt to different environment and different material underground pipeline, overall structure is simple, easy to install and maintain. BRIEF DESCRIPTION OF DRAWINGS

[0015] The utility model will be further described below in connection with the drawings and examples:

[0016] Figure 1 It is the side view of the utility model shrinkage state;

[0017] Figure 2 It is the side view of the utility model open state;

[0018] Figure 3 It is the plan view of the utility model open state;

[0019] Figure 4 It is the power assembly schematic view of the utility model;

[0020] Figure 5 It is the power assembly side view of the utility model;

[0021] Figure 6 It is the overall schematic view of the utility model shrinkage state;

[0022] In the drawing: center pole 1;Limiting step 101;Center slide block 2;Transmission assembly 3;First connecting piece 301;Second connecting piece 302;Third connecting piece 303;Gear mounting seat 304;First gear mounting groove 305;Second gear mounting groove 306;First gear 307;Second gear 308;Support leg 4;Support wall 401;Power assembly 5;Motor 6;Crank 7;Rocker 8;Slide block 9;Bottom cover 10;Shell 11;Mounting block 12. DETAILED DESCRIPTION

[0023] Example:

[0024] As Figures 1-6As shown in the figure, a crawling mechanism of a downhole robot comprises a center rod 1 and a center slider 2 sleeved outside the center rod 1, the upper end of the center slider 2 is provided with a power assembly 5 for driving the center slider 2 to move axially along the center rod 1, the side of the center slider 2 is provided with at least one transmission assembly 3, the other end of the transmission assembly 3 is connected with a support leg 4, the support leg 4 is driven to move in the radial direction by the transmission assembly 3 to expand or contract the support leg 4. Thus, when the power assembly 5 is started, the power output by the power assembly 5 is transmitted to the center slider 2 to make the center slider 2 move axially along the center rod 1, the transmission assembly 3 moves with the center slider 2 to drive the support leg 4 to move in the radial direction, the support leg 4 expands or contracts relative to the well wall and provides a force opposite to the moving direction of the center slider 2 to realize the crawling movement on the well wall, which is suitable for downhole pipelines with different environments and different materials, and the overall structure is simple and convenient for installation and maintenance. Preferably, the crawling mechanism comprises four transmission assemblies 3 and four support legs 4.

[0025] In the preferred scheme, as shown in Figure 4 and 5 The power assembly 5 comprises a motor 6 for outputting power, one end of the motor 6 is connected with a crank 7, the other end of the crank 7 is connected with a rocker 8, the lower part of the rocker 8 is connected with a slider 9, and the slider 9 is sleeved on the center rod 1; the slider 9 is connected with the center slider 2, the rotary power output by the motor 6 is transmitted in sequence through the crank 7 and the rocker 8; the rocker 8 converts the rotary motion of the crank 7 into the linear motion of the slider 9 to make the slider 9 drive the center slider 2 to move axially along the center rod 1. Thus, the motor 6 is the power source of the entire crawling mechanism, the rotary motion of the motor 6 is converted into the axial motion of the center slider 2 to drive the motion of the entire crawling mechanism. The crank 7 is connected with the motor 6 to transmit the rotary motion of the motor 6 to the rocker 8, the two ends of the rocker 8 are connected with the crank 7 and the slider 9 respectively to convert the rotary motion of the crank 7 into the linear motion of the slider 9, realize the axial motion of the center slider 2 to drive the motion of the transmission assembly 3.

[0026] In the preferred scheme, as shown in Figure 1 and 2 The transmission assembly 3 comprises a first connecting piece 301, a second connecting piece 302 and a third connecting piece 303, one end of the first connecting piece 301 is connected with the center slider 2, the other end is provided with a gear mounting seat 304, the gear mounting seat 304 comprises a first gear mounting groove 305 and a second gear mounting groove 306 for connecting with the second connecting piece 302 and the third connecting piece 303 respectively. Thus, the first connecting piece 301, the second connecting piece 302 and the third connecting piece 303 are engaged and driven by the gear mounting seat 304, the first connecting piece 301 converts the axial motion of the center slider 2 into the rotary motion of the third connecting piece 303 through the gear mounting seat 304.

[0027] In a preferred embodiment, as shown in Figure 1 and 2 one end of the second connecting member 302 is connected to the lower part of the central rod 1, and the other end is provided with a first gear 307 which is hinged to the first gear mounting slot 305; one end of the third connecting member 303 is connected to the support leg 4, and the other end is provided with a second gear 308 which is hinged to the second gear mounting slot 306.

[0028] Preferably, the central sliding block 2 is connected to the transmission assembly 3 through the mounting block 12, and the axial movement of the central sliding block 2 will expand or contract the first connecting member 301 and the second connecting member 302, and the rotational movement of the first gear 307 relative to the gear mounting seat 304 will drive the rotational movement of the second gear 308 relative to the gear mounting seat 304, so as to expand or contract the support leg 4.

[0029] Thus, when the central sliding block 2 moves downward, the first connecting member 301 and the second connecting member 302 are expanded, the first gear 307 rotates clockwise relative to the gear mounting seat 304, and the second gear 308 rotates clockwise relative to the gear mounting seat 304, so as to realize the expanded state of the support leg 4; when the central sliding block 2 moves upward, the first connecting member 301 and the second connecting member 302 are contracted, the first gear 307 rotates counterclockwise relative to the gear mounting seat 304, and the second gear 308 rotates counterclockwise relative to the gear mounting seat 304, so as to realize the contracted state of the support leg 4.

[0030] In a preferred embodiment, as shown in Figures 1-3 the support leg 4 is provided with a support wall 401 at one end and connected to the transmission assembly 3 at the other end; when the second gear 308 of the third connecting member 303 rotates, the support leg 4 is expanded or contracted, so that the support wall 401 contacts or separates from the well wall, and the support leg 4 provides a force opposite to the movement direction of the central sliding block 2. Thus, the same number of support legs 4 as the transmission assembly 3 is provided, the support wall 401 is a planar structure, and the contact area with the well wall is increased, so that the climbing mechanism of the downhole robot can stably climb on the well wall.

[0031] In a preferred embodiment, as shown in Figures 1-3As shown, a strain sensor is installed at the connection between the support leg 4 and the transmission assembly 3, or a piezoelectric film is installed on the side of the support wall 401 near the well wall to monitor the contact state between the support leg 4 and the well wall. With this structure, the contact state between the support leg 4 and the well wall is monitored by the strain sensor or piezoelectric film, i.e., the contact force exerted by the support leg 4 on the well wall during the opening or closing process. This allows for the determination of the well wall's load-bearing capacity, deformation, and contact state between the crawling mechanism and the well wall. When the crawling mechanism moves, the change in the contact force between the support leg 4 and the well wall is monitored to obtain the elastic deformation of the well wall, its stability, and the dynamic response of the robot during crawling. Monitoring the reaction force exerted by the well wall on the support leg 4 indirectly analyzes the well wall's load-bearing capacity and structural integrity. If cracks, loosening, or other abnormalities occur in the well wall, the contact force between the support leg 4 and the well wall will change. By monitoring the abnormal data, potential problems with the well wall can be detected in a timely manner.

[0032] In the preferred solution, such as Figure 6 As shown, a bottom cover 10 is provided at the bottom of the central rod 1, and a housing 11 is provided above the bottom cover 10. The housing 11 has slots that fit the support wall 401. With this structure, the bottom cover 10 is located at the bottom of the crawling mechanism, providing a closed protection to prevent impurities from entering the interior of the crawling mechanism, and also serving to fix and support the central rod 1. When the support leg 4 is in the retracted state, the support wall 401 and the housing 11 form a protective enclosure around the sides of the crawling mechanism, protecting the internal mechanical components from the harsh underground environment while providing necessary structural strength.

[0033] In the preferred solution, such as Figures 1-5 As shown, the central rod 1 has a boss structure that is thinner at the top and thicker at the bottom. The inner diameter of the central slider 2 is adapted to the outer diameter of the upper part of the central rod 1, and the central slider 2 moves axially along the upper part of the central rod 1. The lower part of the central rod 1 is provided with a limiting step 101 to limit the range of motion of the central slider 2. With this structure, the central rod 1 is the main skeleton of the crawling mechanism, providing support and fixing reference for the entire crawling mechanism, bearing the forces from the central slider 2 and other components, and ensuring the stability and strength of the mechanism. The upper diameter of the central rod 1 is smaller than the lower diameter. The central slider 2 is movably fitted on the upper part of the central rod 1 to move axially, realizing horizontal and vertical movement. The limiting step 101 at the lower part of the central rod 1 limits the range of motion of the central slider 2 and prevents the central slider 2 from falling off the central rod 1.

[0034] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A crawling mechanism for a downhole robot, characterized by: The center rod (1) and the center slider (2) are sleeved outside the center rod (1), the upper end of the center slider (2) is provided with a power assembly (5) for driving the center slider (2) to move axially along the center rod (1), and the side surface of the center slider (2) is provided with at least one transmission assembly (3), the other end of the transmission assembly (3) is connected with a supporting leg (4), the supporting leg (4) is driven to move in the radial direction through the transmission assembly (3), so that the supporting leg (4) is expanded or contracted; The power assembly (5) comprises a motor (6) for outputting power, one end of the motor (6) is connected with a crank (7), the other end of the crank (7) is connected with a rocker (8), the lower side of the rocker (8) is connected with a sliding block (9), and the sliding block (9) is sleeved on the center rod (1); The sliding block (9) is connected with the center slider (2), and the rotary power output by the motor (6) is transmitted in sequence through the crank (7) and the rocker (8); the rocker (8) converts the rotary motion of the crank (7) into the linear motion of the sliding block (9), so that the sliding block (9) drives the center slider (2) to move axially along the center rod (1).

2. The climbing mechanism of the downhole robot according to claim 1, characterized in that: The transmission assembly (3) comprises a first connecting piece (301), a second connecting piece (302) and a third connecting piece (303), one end of the first connecting piece (301) is connected with the center slider (2), the other end is provided with a gear mounting seat (304), the gear mounting seat (304) comprises a first gear mounting groove (305) and a second gear mounting groove (306) for connecting with the second connecting piece (302) and the third connecting piece (303) respectively.

3. The climbing mechanism of a downhole robot according to claim 2, characterized in that: One end of the second connecting piece (302) is connected to the lower part of the center rod (1), and the other end is provided with a first gear (307), the first gear (307) is hinged with the first gear mounting groove (305); one end of the third connecting piece (303) is connected with the supporting leg (4), and the other end is provided with a second gear (308), the second gear (308) is hinged with the second gear mounting groove (306).

4. The climbing mechanism of the downhole robot according to claim 3, characterized in that: The center slider (2) and the transmission assembly (3) are connected through the mounting block (12), the axial movement of the center slider (2) expands or contracts the first connecting piece (301) and the second connecting piece (302), the rotary movement of the first gear (307) relative to the gear mounting seat (304) drives the rotary movement of the second gear (308) relative to the gear mounting seat (304), so that the supporting leg (4) is expanded or contracted.

5. The climbing mechanism of the downhole robot according to any one of claims 1 or 3, characterized in that: The supporting leg (4) comprises at least one supporting wall (401), one end of the supporting wall (401) is provided with a supporting wall (401), and the other end is connected with the transmission assembly (3); when the second gear (308) of the third connecting piece (303) rotates, the supporting leg (4) is expanded or contracted, so that the supporting wall (401) is in contact with or separated from the well wall, and the supporting leg (4) provides a force opposite to the movement direction of the center slider (2).

6. The climbing mechanism of a downhole robot according to claim 5, wherein the at least one of the plurality of wheels is a wheel having a plurality of teeth. The connection between the supporting leg (4) and the transmission assembly (3) is provided with a strain sensor, or a piezoelectric film is arranged on the side of the supporting wall (401) close to the well wall, which is used for monitoring the contact state between the supporting leg (4) and the well wall.

7. The climbing mechanism of the downhole robot according to claim 5, characterized in that: The bottom of the center rod (1) is provided with a bottom cover (10), the upper side of the bottom cover (10) is provided with a shell (11), and the shell (11) is provided with a slot matched with the supporting wall (401).

8. The climbing mechanism of the downhole robot according to claim 1, characterized in that: The center rod (1) is a convex structure with a thin upper part and a thick lower part, the inner diameter of the center slider (2) is matched with the outer diameter of the upper part of the center rod (1), and the center slider (2) moves axially along the upper part of the center rod (1); the lower part of the center rod (1) is provided with a limiting step (101) for limiting the movement range of the center slider (2).

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