Flexible clamping arm of pipeline robot

Abstract

The utility model discloses a flexible clamping arm of a pipeline robot, and relates to the technical field of robot clamping arms. The pipeline cleaning device comprises a moving seat, a mechanical arm is installed at the top of the moving seat, a bearing arm is hinged to the bottom of the left side of the mechanical arm, and the pipeline cleaning device further comprises a cleaning part which is installed at the bottom of the bearing arm and used for cleaning deposits in a pipeline; and the adjusting part is mounted in the moving seat, and the adjusting part is used for adjusting the orientation of the mechanical arm. The cleaning part is arranged, specifically, the moving block drives the first connecting rod and the second connecting rod to conduct overturning motion through the third connecting rod, in the overturning process, the moving block moves in the vertical direction and drives the second connecting rod limited by the third connecting rod to overturn, and overturning of the first connecting rod and the second connecting rod can drive the mechanical claw to move inwards or outwards; therefore, the accumulated objects in the pipeline can be clamped, and the foreign matters in the pipeline can be effectively cleaned.

Description

Technical Field

[0001] This utility model belongs to the field of robot gripper technology, and in particular relates to a flexible gripper arm for a pipeline robot. Background Technology

[0002] The flexible gripper arm of the pipeline robot is a mechanical device designed specifically for efficient and safe operation in complex pipeline environments.

[0003] After long-term use, pipes can easily accumulate stones, branches, garbage, and other debris inside. If these foreign objects are not cleaned in time, they can easily cause blockages, damage, and corrosion to the inside of the pipes, seriously affecting their normal use and lifespan. In addition, the pipes have a small diameter, making it impossible for workers to enter the inside for cleaning. Therefore, we have proposed a flexible gripping arm for a pipe robot. Utility Model Content

[0004] The purpose of this invention is to provide a flexible gripping arm for a pipeline robot. By incorporating a cleaning unit, specifically, a moving block drives connecting rods one and two to rotate via a third link. During this rotation, the moving block moves vertically, causing connecting rod two, which is restricted by the third link, to rotate. The rotation of connecting rods one and two causes the mechanical gripper to move inward or outward, thereby gripping the accumulated material inside the pipeline. This effectively removes foreign objects from the pipeline, solving the problem that existing pipelines easily accumulate stones, branches, and garbage after long-term use. If these foreign objects are not cleaned in time, they can easily cause blockages, damage, and corrosion to the pipeline, seriously affecting its normal use and lifespan. Furthermore, the small diameter of the pipeline makes it difficult for workers to enter and clean it.

[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0006] This utility model relates to a flexible gripping arm for a pipeline robot, comprising a movable base, a robotic arm mounted on the top of the movable base, a support arm hinged to the bottom left side of the robotic arm, and further comprising:

[0007] A cleaning section is installed at the bottom of the support arm and is used to clean up the deposits inside the pipe.

[0008] An adjustment section is installed inside the movable base and is used to adjust the orientation of the robotic arm;

[0009] The robotic arm is used to drive the support arm to work, and the support arm provides a supporting foundation for the cleaning unit.

[0010] Furthermore, the cleaning unit includes a clamping assembly installed on the inner side of the bottom of the support arm, the clamping assembly being used to clamp the deposits inside the pipe;

[0011] A drive assembly, which is mounted on the inner side of the bottom of the support arm, is used to provide power;

[0012] A linkage component is installed at the bottom of the drive component and is used to transmit power to the clamping component;

[0013] The linkage component controls the clamping state of the clamping component.

[0014] Furthermore, the adjustment unit includes a rotating assembly installed inside the movable seat, the rotating assembly being used to change the horizontal angle of the robotic arm.

[0015] Furthermore, the clamping assembly includes two mechanical claws, the bottom of which has an elongated groove, and two connecting rods are hinged inside the mechanical claws, and two connecting rods are hinged at the top of the mechanical claws.

[0016] The connecting rod has a rotating shaft fixedly connected to its outer surface, and the long groove is used for the flow of water in the accumulation material.

[0017] Furthermore, the drive assembly includes a motor installed inside the support arm, and inclined frames are fixedly connected to both the front and back of the support arm, with two connecting rods hinged to the inner bottom of the inclined frames;

[0018] The bottom inner side of the connecting rod three is hinged to the outer surface of the connecting rod two via a pivot.

[0019] Furthermore, the linkage component includes a movable block, the movable block having a threaded hole inside, the threaded hole inside the connecting rod being threadedly connected to a threaded rod, the top output end of the motor being meshed with the top of the threaded rod via a coupling, and the interior of the movable block being hinged to the top outer surface of the connecting rod.

[0020] The movable block is hinged to the outer surface of the connecting rod, and a limit ring is fixedly connected to the bottom of the threaded rod.

[0021] Furthermore, the rotating assembly includes a second motor installed inside the movable seat, a gear fixedly connected to the bottom output end of the second motor, a circular groove opened inside the movable seat, a turntable connected to the rotating shaft inside the circular groove, and the top of the turntable fixedly connected to the bottom of the robotic arm;

[0022] The turntable has a toothed groove inside, which meshes with the left side of a gear.

[0023] This utility model has the following beneficial effects:

[0024] 1. This utility model, by setting up a cleaning unit, specifically, involves a moving block driving a third link to rotate a first link and a second link. During the rotation, the moving block moves vertically and causes the second link, which is restricted by the third link, to rotate. The rotation of the first and second links causes the mechanical claw to move inward or outward, thereby clamping the accumulated material inside the pipe and effectively cleaning the foreign objects inside the pipe.

[0025] 2. This utility model uses a rotating component, specifically a robotic arm, to adjust the height and angle of the support arm, making it easier to clean the debris inside the pipe. The motor drives the gear to rotate, and the gear drives the turntable to rotate through the tooth grooves inside the turntable. The turntable then drives the robotic arm to rotate, thereby adjusting the orientation of the cleaning section.

[0026] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0029] Figure 2 This is a schematic diagram of the mechanical claw structure of this utility model;

[0030] Figure 3 This is a schematic diagram of the three-part linkage structure of this utility model;

[0031] Figure 4 This is a schematic diagram of the movable block structure of this utility model;

[0032] Figure 5 This is a schematic diagram of the turntable structure of this utility model.

[0033] The attached diagram lists the components represented by each number as follows:

[0034] 1. Moving seat; 2. Robotic arm; 3. Bearing arm; 4. Cleaning unit; 41. Clamping assembly; 411. Mechanical claw; 412. Long slot; 413. Link 1; 414. Link 2; 42. Drive assembly; 421. Motor 1; 422. Inclined frame; 423. Link 3; 43. Linkage assembly; 431. Moving block; 432. Threaded rod; 5. Adjustment unit; 51. Rotation assembly; 511. Turntable; 512. Gear; 513. Motor 2. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0036] Please see Figures 1-5As shown, this utility model is a flexible gripping arm for a pipeline robot, including a movable base 1, a robotic arm 2 mounted on the top of the movable base 1, and a support arm 3 hinged to the bottom left side of the robotic arm 2. It also includes a cleaning section 4, which is installed at the bottom of the support arm 3 and is used to clean debris inside the pipeline. A movable block 431 drives connecting rods 413 and 414 to rotate via a connecting rod 3 423. During the rotation, the movable block 431 moves vertically and causes connecting rod 414, which is restricted by connecting rod 3 423, to rotate. The rotation of connecting rods 413 and 414 causes the robotic gripper 411 to rotate. The robot arm 2 moves inward or outward to grip and remove debris from the pipe. An adjustment unit 5, installed inside the movable base 1, adjusts the orientation of the robotic arm 2. The robotic arm 2 drives the support arm 3, which provides a support base for the cleaning unit 4. The cleaning unit 4 includes a gripping assembly 41 installed on the inner bottom of the support arm 3, used to grip and remove debris from the pipe. A drive assembly 42, installed on the inner bottom of the support arm 3, provides power. A linkage assembly 43 is installed... Mounted at the bottom of the drive assembly 42, the linkage assembly 43 transmits power to the clamping assembly 41; the linkage assembly 43 controls the clamping state of the clamping assembly 41. The adjustment part 5 includes a rotating assembly 51 installed inside the moving base 1, which is used to change the horizontal angle of the robotic arm 2. The clamping assembly 41 includes two mechanical claws 411, with a long groove 412 at the bottom of each claw. Two connecting rods 413 are hinged inside each claw, and two connecting rods 414 are hinged at the top of each claw. A rotating shaft is fixedly connected to the outer surface of each connecting rod 414. The long groove 412 is used to remove moisture from the accumulated material. The circulation and drive assembly 42 includes a motor 421 installed inside the support arm 3. The support arm 3 is fixedly connected to the front and back of the inclined frame 422. Two connecting rods 423 are hinged to the inner bottom of the inclined frame 422. The inner bottom of the connecting rod 423 is hinged to the shaft on the outer surface of the connecting rod 414. The linkage assembly 43 includes a moving block 431. The moving block 431 has a threaded hole inside. The threaded hole inside the connecting rod 413 is threadedly connected to a threaded rod 432. The top output end of the motor 421 is meshed with the top of the threaded rod 432 through a coupling. The inside of the moving block 431 is hinged to the top outer surface of the connecting rod 413.The movable block 431 is hinged to the outer surface of the connecting rod 414. A limit ring is fixedly connected to the bottom of the threaded rod 432. The rotating assembly 51 includes a motor 513 installed inside the movable seat 1. A gear 512 is fixedly connected to the bottom output end of the motor 513. A circular groove is formed inside the movable seat 1, and a turntable 511 is connected to a rotating shaft inside the groove. The top of the turntable 511 is fixedly connected to the bottom of the robotic arm 2. The robotic arm 2 adjusts the height and angle of the bearing arm 3 to facilitate cleaning the accumulated material inside the pipe. Starting the motor 513 drives the gear 512 to rotate. The gear 512 drives the turntable 511 to rotate through the toothed groove inside the turntable 511. The turntable 511 drives the robotic arm 2 to rotate, thereby adjusting the orientation of the cleaning section 4. The turntable 511 has a toothed groove inside, which meshes with the left side of the gear 512.

[0037] A specific application of this embodiment is as follows: After preparing the necessary equipment, the clamping arm is tested. Once everything is normal, the movable seat 1 can be controlled to enter the pipe. The movable seat 1 is moved to a designated position. The height and angle of the bearing arm 3 are adjusted by the robotic arm 2 to facilitate the cleaning of the debris inside the pipe. The motor 2 513 is started to drive the gear 512 to rotate. The gear 512 drives the turntable 511 to rotate through the tooth grooves inside the turntable 511. The turntable 511 drives the robotic arm 2 to rotate, thereby adjusting the direction of the cleaning part 4. Then, the motor 421 is started to drive the threaded rod 432 to rotate. The threaded rod 432 drives the moving block 431 to slide along the inside of the bearing arm 3. The moving block 431 drives the connecting rod 413 and the connecting rod 414 to rotate through the connecting rod 423. During the rotation, the moving block 431 moves in the vertical direction and drives the connecting rod 414, which is restricted by the connecting rod 423, to rotate. The rotation of the connecting rod 413 and the connecting rod 414 will drive the mechanical claw 411 to move inward or outward, so as to achieve the gripping of the accumulated material in the pipe.

[0038] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is 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.

[0039] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the present utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A flexible clamping arm of a pipe robot, comprising a moving base (1), a mechanical arm (2) is mounted on the top of the moving base (1), a bearing arm (3) is hinged on the left bottom of the mechanical arm (2), characterized in that, Also includes: Cleaning section (4), which is installed at the bottom of the support arm (3), is used to clean up the deposits inside the pipe; An adjustment part (5) is installed inside the movable base (1) and is used to adjust the orientation of the robotic arm (2); The robotic arm (2) is used to drive the support arm (3) to work, and the support arm (3) provides a support base for the cleaning unit (4).

2. The flexible gripper arm of a pipe robot according to claim 1, characterized in that The cleaning unit (4) includes a clamping assembly (41) installed on the inner side of the bottom of the support arm (3), the clamping assembly (41) being used to clamp the deposits inside the pipe; A drive assembly (42) is mounted on the inner side of the bottom of the support arm (3) and is used to provide power; Linkage component (43), which is installed at the bottom of drive component (42), is used to transmit power to clamping component (41); The linkage component (43) controls the clamping state of the clamping component (41).

3. A flexible gripper arm for a pipe robot according to claim 2, characterized in that The adjustment unit (5) includes a rotating component (51) installed inside the movable seat (1), the rotating component (51) being used to change the horizontal angle of the robotic arm (2).

4. The flexible gripper arm of a pipe robot according to claim 3, characterized in that The clamping assembly (41) includes two mechanical claws (411), the bottom of the mechanical claws (411) is provided with a long groove (412), two connecting rods (413) are hinged inside the mechanical claws (411), and two connecting rods (414) are hinged at the top of the mechanical claws (411). The connecting rod (414) has a rotating shaft fixedly connected to its outer surface, and the long groove (412) is used for the flow of water in the accumulation.

5. A flexible gripper arm for a pipe robot according to claim 4, characterized in that The drive assembly (42) includes a motor (421) installed inside the support arm (3). The support arm (3) is fixedly connected to a slant frame (422) on both the front and back sides. Two connecting rods (423) are hinged to the inner bottom of the slant frame (422). The bottom inner side of the third link (423) is hinged to the pivot on the outer surface of the second link (414).

6. A flexible gripper arm for a pipe robot according to claim 5, characterized in that The linkage component (43) includes a movable block (431), which has a threaded hole inside. The threaded hole inside the connecting rod (413) is threadedly connected to a threaded rod (432). The top output end of the motor (421) is meshed with the top of the threaded rod (432) through a coupling. The inside of the movable block (431) is hinged to the top outer surface of the connecting rod (413). The movable block (431) is hinged to the outer surface of the connecting rod (414), and the bottom of the threaded rod (432) is fixedly connected to a limit ring.

7. The flexible gripping arm of a pipeline robot according to claim 6, characterized in that, The rotating assembly (51) includes a second motor (513) installed inside the movable seat (1). A gear (512) is fixedly connected to the bottom output end of the second motor (513). A circular groove is opened inside the movable seat (1). A turntable (511) is connected to the rotating shaft inside the circular groove. The top of the turntable (511) is fixedly connected to the bottom of the robotic arm (2). The inner part of the rotating disc (511) is provided with a tooth groove, and the tooth groove in the inner part of the rotating disc (511) is connected with the left side of the gear (512) in meshing mode.

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