Overturn-preventing pipeline robot

Abstract

The utility model discloses an anti-overturning pipeline robot which is used for solving the problem that a traditional pipeline robot is out of control due to the fact that the robot is prone to overturning. According to the scheme, a long-strip-shaped layout mode is adopted in the main body structure, the probability that the main body structure overturns forwards and backwards is reduced by lowering the center and the arrangement mode of the battery bin, on the other hand, the supporting leg parts are arranged on the two sides of the battery bin, and the walking wheels with spiral surfaces serve as a walking mechanism main body; on one hand, multi-point supporting of the pipeline robot body is achieved through the multiple supporting leg parts, on the other hand, the contact length of the walking wheels on the spiral surface and the ground is increased, and the probability of rollover of the pipeline robot can be greatly reduced; the angle of the intervention supporting leg part is actively adjusted by extending or shortening the electric push rod, so that the posture of the main body structure is corrected; certainly, the buffering part can also be a spring shock-absorbing damper, and elastic supporting of the supporting leg part is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a pipeline robot anti-overturning structure, especially to an anti-overturning pipeline robot. BACKGROUND

[0002] The pipeline robot as a kind of special equipment has important role in detection, rescue, maintenance and other fields.Usually, pipeline robot includes the walking mechanism that walks in pipeline, and also includes the execution mechanism for task execution.Different from open space, once pipeline robot overturns in deep pipeline, it will cause the problem that pipeline robot loses control and cannot return back.So, pipeline robot must have anti-overturning structure to adapt to the environment in pipeline and correct the posture of robot. SUMMARY

[0003] In view of the above problems, the utility model provides an anti-overturning pipeline robot to solve the problem that the body of traditional pipeline robot is prone to overturn in pipeline.

[0004] The technical scheme is further including battery compartment located below the base, the battery compartment is long strip shape structure, the base is located above the battery compartment and can be detachably fixedly connected, the battery compartment is provided with power battery for installation, and the battery compartment is configured as the compartment body extending below the base, and also configured as the upper cover for covering the upper part of compartment body;Further including walking mechanism located below the base, the walking mechanism includes multiple groups of supporting leg portions located on both sides of the battery compartment, one end of the supporting leg portion is hinged with the battery compartment, buffer portion is further arranged between the middle part of the supporting leg portion and the battery compartment, one end of each buffer portion is hinged with the middle part of the supporting leg portion, and the other end of each buffer portion is hinged with the battery compartment;The free end of each supporting leg portion is fixedly connected with motor, the output end of each motor is respectively rotationally connected with long cylindrical walking wheel with helical blade surface, forming the structure that motor drives the rotation of walking wheel, and the helical parameters of the helical blade of each walking wheel are the same.

[0005] In the above or some embodiments, the inside of the battery compartment is divided into counterweight compartment chamber located at both ends and middle compartment chamber by partition plate.

[0006] In the above or some embodiments, the free end of each supporting leg portion includes a cylindrical mounting portion, and the mounting portion is configured to provide a cavity for motor installation.

[0007] In the above or some embodiments, the motor is a servo double-head output motor, each walking wheel includes driving shaft of cylindrical structure, and further includes helical blade fixed at the outer circumferential surface of driving shaft.

[0008] In the above or some embodiments, the spiral blade comprises a spiral blade main body made of a rigid material, and further comprises a rim part wrapped around the outer edge of the spiral blade, which is continuously or intermittently distributed along the outer edge of the spiral blade.

[0009] The main body structure of the scheme adopts a strip-shaped layout mode, by reducing the center of the battery compartment and the arrangement mode, the probability of front and rear overturning of the main body structure is reduced, on the other hand, a plurality of leg parts are arranged on both sides of the battery compartment, and a walking wheel with a spiral surface is used as a walking mechanism main body, on one hand, the plurality of leg parts realize multi-point support of the pipeline robot main body, on the other hand, the walking wheel with a spiral surface increases the length of contact with the ground, which can greatly reduce the probability of the pipeline robot rolling over, and in addition, the buffer part can be electric push rods as needed, and the electric push rod is used to realize active adjustment and intervention of the angle of the leg part, and then correct the posture of the main body structure; of course, the buffer part can also be a spring shock absorber to realize elastic support of the leg part. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 is a use schematic view of the utility model.

[0011] Figure 2 is a perspective view of the utility model.

[0012] Figure 3 is a front view of the utility model.

[0013] Figure 4 is a side view of Figure 3 .

[0014] Figure 5 is a schematic view of the battery compartment structure in the utility model.DETAILED DESCRIPTION

[0015] The embodiments of the utility model are described in detail below, examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the utility model, and cannot be understood as a limitation of the utility model.

[0016] In the description of the utility model, the meaning of "a plurality of" is two or more than two, unless otherwise explicitly and specifically limited.

[0017] The actuator, the base 100, the battery compartment 200, the walking mechanism 300. As a pipeline robot, its actuator is replaced with different actuators according to different tasks, such as a camera actuator with communication and image transmission functions, a cleaning actuator with a brush cleaning mechanism, and a disinfection mechanism with a disinfectant spraying function, etc. In this scheme, the base 100 is a flat plate mechanism, which can be detachably fixed and connected with each actuator through bolts. In order to meet the installation of the product platform and the connection of the actuator, a plurality of bolt connection holes matching different actuators can be arranged on the top of the base, so that each actuator can be fixed through the bolts. It also includes a battery compartment 200 below the base 100, which is a long strip structure, and the base 100 is located above the battery compartment 200 and is detachably fixed and connected through screws, etc. The battery compartment 200 is provided with a power battery for installation, and the battery compartment 200 is configured as a compartment body 201 extending below the base 100, and also configured as an upper cover 202 for covering the upper part of the compartment body 201; in the above or some embodiments, the inside of the battery compartment 200 is divided into a counterweight compartment 203 at both ends and a middle compartment 204 by a partition plate 205, wherein the counterweight compartment 203 can be used to install counterweight blocks, and of course the battery pack can also be installed as a counterweight block.

[0018] Further comprising a walking mechanism 300 located below the base 100, the walking mechanism 300 comprises a plurality of leg parts 301 made of light rigid material located on both sides of the battery compartment 200, in the above or some embodiments, the leg parts include a left leg part group and a right leg part group, in the scheme, the left and right leg part groups are respectively composed of three leg parts, and are connected at the same height position to realize the hinge connection with the battery compartment through the hinge seat. A buffer part 302 is further arranged between the middle part of each leg part 301 and the battery compartment 200. The buffer part can be designed to be light in weight, for example, a hollow structure in the middle part can be used. The two ends of each buffer part 302 are respectively provided with hinge positions. One end of each buffer part 302 is hinged to the middle part of the leg part 301, and the other end of each buffer part 302 is hinged to the battery compartment 200. The free end of each leg part 301 is fixedly connected with a motor 303. The motor 303 is a servo double-head output motor 303. The output end of each motor 303 is rotationally connected with a long cylindrical walking wheel having a helical blade 304 surface, forming a structure in which the motor 303 drives the walking wheel to rotate. The helical parameters of the helical blades 304 of each walking wheel are the same. The free end of each leg part 301 comprises a cylindrical mounting part 305, which is configured as a cavity for mounting the motor 303. The buffer part 302 can optionally use an electric push rod, which can realize the angle adjustment and intervention of the leg part 301, and realize the posture adjustment of the main body mechanism of the controller. Of course, the electric push rod is not the only choice, and a spring shock absorber can also be selected to adjust the buffer effect of the leg part 301 walking, so as to avoid the problem of unstable posture caused by rigid impact. The motor 303 can be a hub motor or a micro stepping motor.

[0019] In the above or some embodiments, each walking wheel comprises a driving shaft 306 in a cylindrical structure, further comprising a helical blade 304 fixed on the outer circumferential surface of the driving shaft 306. The helical blade 304 comprises a helical blade 304 main part made of a rigid material, which includes but is not limited to engineering plastics and other hard wear-resistant and corrosion-resistant materials. Further comprising a rim 307 wrapped around the outer edge of the helical blade 304, which is continuously or intermittently distributed along the outer edge of the helical blade 304. The rim 307 can be provided with a clamping groove in the middle, which is inlaid with the edge of the helical blade 304. The rim 307 is detachably fixed on the helical blade 304 by screws.

[0020] The main body structure of the scheme adopts a strip-shaped layout mode, the probability of front and rear overturning of the main body structure is reduced by reducing the center of the battery compartment and the arrangement mode, on the other hand, a plurality of leg portions are arranged on both sides of the battery compartment, and a walking wheel with a spiral surface is used as a walking mechanism main body, on the one hand, the plurality of leg portions realize multi-point support of the pipeline robot main body, on the other hand, the length of the walking wheel with the spiral surface in contact with the ground is increased, the probability of the pipeline robot rolling over can be greatly reduced, and in addition, the buffer portion can be electric push rods according to the need, the angle of the active intervention leg portion is adjusted by the extension or shortening of the electric push rod, and then the posture of the main body structure is corrected; of course, the buffer portion can also be selected as a spring shock absorber to realize the elastic support of the leg portion.

Claims

1. An anti-tipping pipeline robot, comprising a base (100) and a battery compartment (200) located below the base (100), the base (100) being located above and detachably fixedly connected to the battery compartment (200), the battery compartment (200) being provided with a power battery for installation, and the battery compartment (200) being configured as a compartment body (201) extending downward from the base (100), and further configured to cover an upper cover (202) above the compartment body (201); characterized in that: It also includes a walking mechanism (300) located below the base (100). The walking mechanism (300) includes multiple sets of support legs (301) located on both sides of the battery compartment (200). One end of each support leg (301) is hinged to the battery compartment (200). A buffer part (302) is also provided between the middle of each support leg (301) and the battery compartment (200). One end of each buffer part (302) is hinged to the middle of each support leg (301), and the other end of each buffer part (302) is hinged to the battery compartment (200). The free ends of each support leg (301) are fixedly connected. The motor (303) has its output end connected to a long cylindrical walking wheel with a surface of helical blades (304) to prevent rotation, forming a structure in which the motor (303) drives the walking wheel to rotate. The helical parameters of the helical blades (304) of each walking wheel are the same. The battery compartment (200) is divided into a counterweight compartment (203) at both ends and a middle compartment (204) by a partition plate (205). The free end of each support leg (301) includes a cylindrical mounting part (305), which is configured to provide a cavity for mounting the motor (303).

2. The anti-tipping pipeline robot according to claim 1, characterized in that, The motor (303) is a servo dual-head output motor (303), and each of the walking wheels includes a cylindrical drive shaft (306) and a spiral blade (304) fixed on the outer circumferential surface of the drive shaft (306).

3. The anti-tipping pipeline robot according to claim 2, characterized in that, The helical blade (304) includes a helical blade (304) body made of rigid material, and a rim portion (307) covering the outer edge of the helical blade (304), the rim portion (307) being continuously or intermittently distributed along the outer edge of the helical blade (304).

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