Self-adaptive pipeline detection robot walking device

Abstract

The utility model provides a self-adaptive pipeline detection robot walking device which comprises an installation support installed at the top of a pipeline robot, installation frames in telescopic connection with the installation support are symmetrically arranged on the two sides of the installation support, and a plurality of sets of connecting bases are arranged on the sides, away from each other, of the installation frames. Each group of connecting seats comprises two connecting seats which are fixedly connected with the outer wall of the pipeline robot; each group of connecting seats is provided with a mounting seat, connecting plates rotationally connected with the mounting seats are symmetrically arranged at the upper ends and the lower ends of the mounting seats, guide grooves are formed in the outer walls of the connecting plates, guide rods are vertically connected to the sides, close to each other, of the two connecting seats, and the ends of the guide rods are slidably connected into the guide grooves; and one side of the mounting seat is connected with the side wall of the mounting frame. According to the pipeline robot, the placing angle between the two walking wheels can be adjusted, the distance between the walking wheels and the pipeline robot can be adjusted, and therefore the pipeline robot can be matched with pipe fittings with different inner diameters.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline robot technical field, concretely is a kind of self-adapting pipeline detection robot walking device. BACKGROUND

[0002] Pipeline robot is a kind of can walk inside pipeline automatically, carry one or more sensors or operating machinery, under the remote control operation of staff or computer automatic control, carry out a series of pipeline operation machine, electricity, instrument integrated system.

[0003] Pipeline robot is widely used in pipeline dredging field, and the walking mechanism is the key to guarantee smooth dredging, and the walking mechanism of the pipeline robot at the present stage whether tire or track type, there is certain problem in walking adaptation degree under different pipe diameters, leading to unstable walking and easy to dump Problem, affect the action of pipeline robot.For this reason, we propose a kind of self-adapting pipeline detection robot walking device. UTILITY MODEL CONTENTS

[0004] In view of the certain problem of the walking adaptation degree of the existing pipeline detection robot under different pipe diameters, leading to the instability of walking, the utility model provides a kind of self-adapting pipeline detection robot walking device, has the advantages that the placement angle between the two walking wheels at upper and lower positions and the distance between the walking wheel and the pipeline robot are adjusted, so that the device can be adapted to different inner diameter pipes, solve the problem proposed in the above background art.

[0005] The technical scheme of the utility model is realized as follows: a kind of self-adapting pipeline detection robot walking device, including the installation support of installation in the top of pipeline robot, the installation support is symmetrically equipped with the mounting frame with its telescopic connection on both sides, and multiple groups of connecting seats are set on the side away from each other of mounting frame, the number of each group of connecting seats is two and is fixedly connected with the outer wall of pipeline robot;Each group of connecting seats is equipped with mounting seat, the upper end and the lower end of mounting seat are symmetrically provided with the connecting plate rotationally connected therewith, the outer wall of connecting plate is all provided with guide slot, the side close to two connecting seats is all connected with guide rod vertically, the end of guide rod is slidably connected in guide slot, and one side of mounting seat and the side wall of mounting frame are connected;The end away from mounting seat of connecting plate is rotationally connected with U-shaped seat, and walking wheel is rotationally connected in U-shaped seat, and the walking direction of walking wheel and pipeline robot is same.

[0006] Optionally, the end close to mounting seat between two connecting plates is fastened with fixed rod, and the side wall between fixed rod and U-shaped seat is rotationally connected with second telescopic mechanism.

[0007] Optionally, the two ends of the second telescopic mechanism are respectively connected with a third sleeve and a second sleeve, the first hinged seat is fastened on the side wall of the U-shaped seat, the third sleeve is rotationally connected with the first hinged seat, and the second sleeve is sleeved on the outer wall of the fixed rod.

[0008] Optionally, a second hinged seat is fastened on the side wall of the mounting bracket close to the mounting seat, and one side of the mounting bracket is rotationally connected with the second hinged seat.

[0009] Optionally, a side plate is fastened on the side wall of the mounting bracket close to the mounting seat, and the first telescopic mechanism is connected between the side plate and the mounting seat.

[0010] Optionally, the two ends of the first telescopic mechanism are respectively connected with a first sleeve, and a third hinged seat is fastened on the side wall of the side plate and the mounting seat, and the first sleeve is rotationally connected with the third hinged seat.

[0011] Optionally, the first telescopic mechanism and the second telescopic mechanism are both electric push rods.

[0012] Compared with the prior art, the second telescopic mechanism is controlled to be telescoped, the U-shaped seat is driven to rotate and adjust at the end of the two connecting plates, the walking wheels can be applied to pipes with different inner diameters, the first telescopic mechanism is arranged to drive the mounting bracket to move horizontally, the placing angle between the two walking wheels at the upper and lower positions can be adjusted, the distance between the walking wheels and the pipe robot can be adjusted, the device is suitable for pipes with different inner diameters, and the practicability of the device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0014] Figure 1 It is a structural schematic view of the present application.

[0015] Figure 2 It is a front view of the present application.

[0016] Figure 3 It is a connection diagram of the second telescopic mechanism and the U-shaped seat of the present application.

[0017] Figure 4 It is a connection diagram of the present application and the pipe robot.

[0018] In the figure: 1, mounting support; 2, connecting seat; 3, first telescopic mechanism; 4, side plate; 5, connecting plate; 6, guide groove; 7, walking wheel; 8, U-shaped seat; 9, pipeline robot; 10, first sleeve; 11, second telescopic mechanism; 12, mounting frame; 13, second sleeve; 14, fixed rod; 15, first hinged seat; 16, third sleeve; 17, guide rod; 18, mounting seat; 19, second hinged seat; 20, third hinged seat. DETAILED DESCRIPTION

[0019] The technical scheme of the utility model will be described below in conjunction with the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0020] Referring to Figures 1 to 4 , the utility model provides a kind of technical scheme: a self-adapting pipeline detection robot walking device, including the mounting support 1 of being mounted in the top of pipeline robot 9, when actually installing and using, the camera for gathering of pipeline robot 9 is connected in the top of mounting support 1, and mounting frame 12 is provided with telescopic connection with it on the both sides of mounting support 1 symmetrically, to realize the stable sliding of mounting frame 12, side plate 4 is fastened on the side wall of mounting support 1 close to mounting frame 12, and first telescopic mechanism 3 is connected between side plate 4 and mounting support 1, the both ends of first telescopic mechanism 3 are connected with first sleeve 10, third hinged seat 20 is fastened on the side wall of mounting support 1 and side plate 4, first sleeve 10 and third hinged seat 20 are rotationally connected, as shown in Figure 3 、 4 , first telescopic mechanism 3 telescopic movement can push mounting frame 12 to slide in horizontal direction, and it is simple in structure and convenient for user to adjust.

[0021] As shown in Figure 1 、 2 , multiple groups of connecting seats 2 are provided on the side away from each other of mounting frame 12, the number of each group of connecting seats 2 is two and is fixedly connected with the outer wall of pipeline robot 9, mounting seat 18 is arranged on each connecting seat 2, second hinged seat 19 is fastened on the side wall of mounting seat 18 close to mounting frame 12, one side of mounting frame 12 is rotationally connected with second hinged seat 19, and the upper end and the lower end of mounting seat 18 are symmetrically provided with connecting plate 5 rotationally connected therewith, guide groove 6 is formed in the outer wall of connecting plate 5, guide rod 17 is vertically connected on the side close to each other of two connecting seats 2, and the end of guide rod 17 is slidingly connected in guide groove 6, one side of mounting seat 18 is connected with the side wall of mounting frame 12.

[0022] In actual use, when the first telescopic mechanism 3 is in telescopic sliding, the mounting base 18 is in horizontal sliding under the driving of the mounting frame 12, and under the cooperation of the guide rod 17 and the guide groove 6, the connecting plate 5 is in sliding and rotating adjustment between the two connecting bases 2, so that the included angle between the two groups of connecting plates 5 in V-shaped distribution can be quickly adjusted.

[0023] As shown in Figure 1 the second end of the connecting plate 5 away from the mounting base 18 is rotatably connected with a U-shaped base 8, and a walking wheel 7 is rotatably connected in the U-shaped base 8, in order to realize the adjustment of the placement angle of the walking wheel 7, a fixed rod 14 is fastened between the two ends of the connecting plate 5 close to the mounting base 18, a second telescopic mechanism 11 is rotatably connected between the fixed rod 14 and the side wall of the U-shaped base 8, the two ends of the second telescopic mechanism 11 are respectively connected with a third sleeve 16 and a second sleeve 13, a first hinged base 15 is fastened on the side wall of the U-shaped base 8, the third sleeve 16 is rotatably connected with the first hinged base 15, and the second sleeve 13 is sleeved on the outer wall of the fixed rod 14, and the first telescopic mechanism 3 and the second telescopic mechanism 11 are both electric push rods.

[0024] In summary, the self-adaptive pipeline detection robot walking device can drive the U-shaped base 8 to rotate and adjust the end of the connecting plate 5 by controlling the second telescopic mechanism 11 to be in telescopic control, so that the walking wheel 7 can be suitable for pipelines with different inner diameters, and in actual use, the walking direction of the walking wheel 7 and the pipeline robot 9 is the same, and under the rotating adjustment of the walking wheel 7, the device is conducive to the adaptation of different inner diameter pipes, improves the practicability of the device and ensures the stability of the pipeline robot 9 when working.

[0025] The above only describes the preferred embodiments of the present application, and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An adaptive pipeline inspection robot walking device comprising a mounting support (1) mounted on top of a pipeline robot (9), characterized in that, The mounting support (1) is symmetrically provided with mounting racks (12) connected with the mounting support (1) at two sides, and a plurality of groups of connecting seats (2) are arranged on the sides away from each other of the mounting racks (12), and each group of connecting seats (2) is two in number and is fixedly connected with the outer wall of the pipeline robot (9); Each group of connecting seats (2) is provided with a mounting seat (18), the upper end and the lower end of the mounting seat (18) are symmetrically provided with connecting plates (5) rotationally connected therewith, the outer wall of the connecting plate (5) is provided with a guide groove (6), the side close to the two connecting seats (2) is vertically connected with a guide rod (17), and the end of the guide rod (17) is slidingly connected in the guide groove (6), so that the side of the mounting seat (18) is connected with the side wall of the mounting rack (12). The end of the connecting plate (5) away from the mounting seat (18) is rotationally connected with a U-shaped seat (8), and a walking wheel (7) is rotationally connected in the U-shaped seat (8), and the walking direction of the walking wheel (7) and the pipeline robot (9) is the same.

2. The self-adapting pipeline inspection robot walking device of claim 1, wherein, The ends of the two connecting plates (5) close to the mounting seat (18) are fastened with a fixing rod (14), and the fixing rod (14) and the side wall of the U-shaped seat (8) are rotationally connected with a second telescopic mechanism (11).

3. The self-adapting pipeline inspection robot walking device of claim 2, wherein, The two ends of the second telescopic mechanism (11) are respectively connected with a third sleeve (16) and a second sleeve (13), a first hinged seat (15) is fastened on the side wall of the U-shaped seat (8), the third sleeve (16) is rotationally connected with the first hinged seat (15), and the second sleeve (13) is sleeved on the outer wall of the fixing rod (14).

4. The self-adapting pipeline inspection robot walking device of claim 3, wherein, The side wall of the mounting seat (18) close to the mounting rack (12) is fastened with a second hinged seat (19), and one side of the mounting rack (12) is rotationally connected with the second hinged seat (19).

5. The self-adapting pipeline inspection robot walking device of claim 4, wherein, The side wall of the mounting rack (12) close to the mounting support (1) is fastened with a side plate (4), and a first telescopic mechanism (3) is connected between the side plate (4) and the mounting support (1).

6. The self-adapting pipeline inspection robot walking device of claim 5, wherein, The two ends of the first telescopic mechanism (3) are connected with first sleeves (10), and third hinged seats (20) are fastened on the side wall of the side plate (4) and the mounting support (1), and the first sleeves (10) are rotationally connected with the third hinged seats (20).

7. The self-adapting pipeline inspection robot walking device of claim 6, wherein, The first telescopic mechanism (3) and the second telescopic mechanism (11) are electric push rods.

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