Obstacle crossing mechanism for pipeline robot
By combining the obstacle-crossing and leg-climbing module with the hydraulic shock absorber, the problem of the pipeline robot passing through pipelines of different specifications and large obstacles was solved, achieving stable movement and effective cleaning.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ZHEJIANG TUNTONG TECHNOLOGY CO LTD
- Filing Date
- 2025-04-11
- Publication Date
- 2026-06-26
AI Technical Summary
Existing pipeline robots are difficult to adapt to pipelines of different specifications and cannot pass smoothly when encountering large obstacles.
The obstacle-crossing and climbing leg module includes a sliding sleeve and a fixed sleeve, support legs, hydraulic shock absorbers, and a climbing wheel mechanism. Through the elastic compression of the hydraulic shock absorbers and the crushing function of the drill bit, combined with a three-point support and holding device at the center of the pipeline, the extension angle of the support legs can be adjusted to adapt to different specifications of pipelines and to pass through large-volume obstacles.
It enables the pipeline robot to pass smoothly and overcome obstacles effectively in pipelines of different specifications, enhances the ability to crush large obstacles, and ensures the cleaning effect of the drill bit and the stable movement of the device.
Smart Images
Figure CN224414698U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of pipeline maintenance technology, specifically relating to an obstacle-crossing mechanism for pipeline robots. Background Technology
[0002] With the acceleration of urbanization, the laying and maintenance of underground pipelines have become increasingly important. Pipeline robots, as automated equipment, are widely used in pipeline inspection, cleaning, and maintenance. However, the internal environment of pipelines is complex, often containing various obstacles such as sediments, foreign objects, and pipeline deformation. These obstacles can severely affect the normal operation of pipeline robots. Traditional pipeline robots typically use wheeled or tracked mobile mechanisms, which, while possessing some obstacle-crossing ability, often struggle to effectively pass through larger obstacles, and may even become stuck or damaged.
[0003] To improve the obstacle-crossing ability of pipeline robots, several improvement schemes have been proposed in the existing technology. For example, elastic support legs or hydraulic shock absorbers are used to enhance the robot's obstacle-crossing performance. However, these schemes still have some problems in practical applications. First, the structural design of the support legs is not flexible enough and it is difficult to adapt to pipes of different specifications; second, the deployment angle of the support legs is fixed and cannot be dynamically adjusted according to the height of the obstacle.
[0004] Furthermore, when encountering large obstacles, the robot's size limits its ability to pass through, making it unable to pass smoothly through pipes even when the support legs are retracted. Utility Model Content
[0005] To address the above problems, the purpose of this utility model is to provide an obstacle-crossing mechanism for pipeline robots, solving the problems that existing pipeline robots cannot be applied to pipelines of different specifications and cannot pass smoothly when encountering large obstacles.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: an obstacle-crossing mechanism for a pipeline robot, comprising an obstacle-crossing leg module, which is mounted on a front support rod and a rear support rod. An electrical module is connected to one end of each support rod. The output shaft of a motor installed inside the electrical module rotates through the front end of the front support rod and is connected to a chuck. The chuck is adapted to clamp a drill bit. The obstacle-crossing leg module includes a sliding sleeve and a fixed sleeve. The fixed sleeve is fixedly mounted on the front and rear support rods, and the sliding sleeve is slidably mounted on the front and rear support rods. One end of the sliding sleeve abuts against one end of a limiting pipe clamp clamped on the front and rear support rods. A connecting seat one and a connecting seat two are respectively mounted on the sliding sleeve and the fixed sleeve. The connecting seat one and the connecting seat two are rotatably connected to a hydraulic shock absorber and one end of a support leg via pins. The other end of the hydraulic shock absorber is rotatably connected to the support leg via a pin. A climbing wheel mechanism is mounted on the other end of the support leg.
[0007] The beneficial effects of this utility model are as follows: when the device is subjected to small-volume obstacles in the pipeline during its movement, the hydraulic shock absorber is pushed by the support leg to generate elastic compression, enabling the climbing wheel mechanism to effectively climb over the obstacle; the drill bit can rotate under the drive of the electrical module to crush and remove large-volume foreign objects attached to the inner wall of the pipeline, allowing the device to pass smoothly.
[0008] To ensure that the drill bit can effectively clean the foreign objects adhering to the inner wall of the pipe;
[0009] As a further improvement to the above technical solution: the number of support legs is three, and they are equidistantly spaced around the axes of the front support rod and the rear support rod, and the axis of the clamp is collinear with the axes of the front support rod and the rear support rod.
[0010] The beneficial effects of this improvement are: the three-point support of the obstacle-crossing and climbing leg module effectively keeps the entire device in the center of the pipeline, thereby ensuring the cleaning effect of the drill bit.
[0011] To allow for quick and easy adjustment of the support leg's extension angle so that the device can be adapted to various pipe sizes;
[0012] As a further improvement to the above technical solution: the limiting tube clamp is set on the side of the sliding sleeve facing away from the fixed sleeve.
[0013] The beneficial effects of this improvement are: by adjusting the position of the limiting tube clamp on the front support rod and the rear support rod, the maximum distance between the sliding sleeve and the fixed sleeve, i.e. the maximum unfolding angle of the support leg, can be quickly adjusted, so that the device can be effectively placed into pipes of different specifications.
[0014] In order for the device to effectively overcome obstacles;
[0015] As a further improvement to the above technical solution: the angle between the support leg and the front support rod and the rear support rod in the direction toward the drill bit is not less than 90 degrees.
[0016] The beneficial effect of this improvement is that the support leg maintains an obtuse angle with the front and rear support rods in the direction towards the drill bit, so that when the device moves forward and encounters an obstacle, it can squeeze the hydraulic shock absorber to achieve angle contraction and thus overcome the obstacle.
[0017] To ensure the stable movement of the device and to perform the task of crushing deposits on the pipe wall;
[0018] As a further improvement to the above technical solution: the surface of the wheels of the climbing wheel mechanism is provided with anti-slip ridges.
[0019] The beneficial effects of this improvement are: the anti-slip ridges effectively increase the friction between the device and the pipe wall, which is beneficial for the device to move forward in the pipeline and for crushing operations.
[0020] To ensure stable rotation of the drill bit;
[0021] As a further improvement to the above technical solution: the front support rod is a circular tube structure, and a bearing is installed between the output shaft of the motor in the electrical module and the front support rod.
[0022] The beneficial effect of this improvement is that, with the support of the bearing, the motor in the electrical module can drive the chuck to rotate the drill bit stably.
[0023] The parts of the device not covered herein are the same as or can be implemented using existing technologies. Attached Figure Description
[0024] Figure 1 This is a schematic diagram of the structure of this utility model;
[0025] Figure 2 This is a schematic diagram of the obstacle-crossing and leg-climbing module in this utility model;
[0026] Figure 3 This is an enlarged view of A in this utility model;
[0027] In the diagram: 1. Front support rod; 2. Rear support rod; 3. Electrical module; 4. Obstacle-crossing and climbing leg module; 5. Limiting pipe clamp; 6. Chuck; 7. Drill bit; 8. Sliding sleeve; 9. Fixed sleeve; 10. Connecting seat one; 11. Connecting seat two; 12. Hydraulic shock absorber; 13. Support leg; 14. Climbing wheel mechanism; 141. Anti-slip ridge. Detailed Implementation
[0028] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in detail below with reference to the accompanying drawings. The description in this part is only exemplary and explanatory, and should not be used to limit the scope of protection of the present invention in any way.
[0029] Example 1:
[0030] like Figure 1As shown in Figure 3: An obstacle-crossing mechanism for a pipeline robot includes an obstacle-crossing leg-climbing module 4. The obstacle-crossing leg-climbing module 4 is mounted on a front support rod 1 and a rear support rod 2. One end of the front support rod 1 and the rear support rod 2 is connected to an electrical module 3. The output shaft of a motor installed inside the electrical module 3 rotates through the front end of the front support rod 1 and is connected to a chuck 6. The chuck 6 is adapted to clamp a drill bit 7. The obstacle-crossing leg-climbing module 4 includes a sliding sleeve 8 and a fixed sleeve 9. The fixed sleeve 9 is fixedly mounted on the front support rod 1 and the rear support rod 2. The sliding sleeve 8 is slidably fitted onto the front support rod 1 and the rear support rod 2. One end of the sliding sleeve 8 abuts against one end of a limiting pipe clamp 5 clamped on the front support rod 1 and the rear support rod 2. Connecting seat 10 and connecting seat 2 11 are respectively installed on sliding sleeve 8 and fixed sleeve 9. Connecting seat 10 and connecting seat 2 11 are rotatably connected to one end of hydraulic shock absorber 12 and support leg 13 via pins. The other end of hydraulic shock absorber 12 is rotatably connected to support leg 13 via pins. A climbing wheel mechanism 14 is installed on the other end of support leg 13. When the device encounters a small obstacle in the pipe during movement, the hydraulic shock absorber 12 is pushed by support leg 13 to generate elastic compression, allowing climbing wheel mechanism 14 to effectively climb over the obstacle. Drill bit 7 can rotate under the drive of electrical module 3 to crush and remove large foreign objects attached to the inner wall of the pipe, allowing the device to pass smoothly. The number of support legs 13 is [number missing]. Three legs are equidistantly arranged around the axes of the front support rod 1 and the rear support rod 2. The axis of the chuck 6 is collinear with the axes of the front support rod 1 and the rear support rod 2. The three-point support of the obstacle-crossing and climbing leg module 4 effectively keeps the entire device in the center position of the pipe, thereby ensuring the cleaning effect of the drill bit 7. The limiting pipe clamp 5 is set on the side of the sliding sleeve 8 facing away from the fixed sleeve 9. By adjusting the position of the limiting pipe clamp 5 on the front support rod 1 and the rear support rod 2, the maximum distance between the sliding sleeve 8 and the fixed sleeve 9, that is, the maximum unfolding angle of the support leg 13, can be quickly adjusted, so that the device can be effectively placed into pipes of different specifications. The support leg 13 is aligned with the front support rod 1 and the rear support rod 2 in the direction facing the drill bit 7. The included angle between the two is not less than 90 degrees. The support leg 13 maintains an obtuse angle with the front support rod 1 and the rear support rod 2 in the direction facing the drill bit 7. This allows the hydraulic shock absorber 12 to be squeezed to compress the angle and overcome the obstacle when the device moves forward and encounters an obstacle. The surface of the wheel of the climbing wheel mechanism 14 is provided with anti-slip ridges 141. The anti-slip ridges 141 effectively increase the friction between the device and the pipe wall, which is beneficial for the device to move forward in the pipeline and for crushing work. The front support rod 1 is a round tube structure. A bearing is installed between the output shaft of the motor in the electrical module 3 and the front support rod 1. With the support of the bearing, the motor in the electrical module 3 can drive the chuck 6 to drive the drill bit 7 to rotate stably.
[0031] The working principle of this technical solution is as follows: Based on the pipe specifications, the position of the limiting clamp 5 on the front support rod 1 and the rear support rod 2 is adjusted to determine the maximum distance between the sliding sleeve 8 and the fixed sleeve 9, thereby adjusting the unfolding angle of the support leg 13 to ensure that the angle between the support leg 13 and the front support rod 1 and the rear support rod 2 in the direction facing the drill bit 7 is not less than 90 degrees. When the device moves inside the pipe, if it encounters a small obstacle, the support leg 13 will push the hydraulic shock absorber 12 to generate elastic compression, allowing the climbing wheel mechanism 14 to effectively climb over the obstacle. When encountering a large foreign object, the electrical module 3 drives the drill bit 7 to rotate, crushing and removing the foreign object attached to the inner wall of the pipe. The surface of the wheels of the climbing wheel mechanism 14 is provided with anti-slip ridges 141, increasing the friction between the device and the pipe wall, which is beneficial for the device's forward movement and crushing work in the pipe. The front support rod 1 is a round tube structure, and a bearing is installed between the output shaft of the motor in the electrical module 3 and the front support rod 1 to ensure that the drill bit 7 can rotate stably.
[0032] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0033] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, there are objectively infinite specific structures. For those skilled in the art, several improvements, modifications, or changes can be made without departing from the principles of the present invention, and the above technical features can also be combined in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.
Claims
1. An obstacle-crossing mechanism for a pipeline robot, characterized in that: The system includes an obstacle-crossing and leg-climbing module (4), which is mounted on a front support rod (1) and a rear support rod (2). One end of the front support rod (1) and the rear support rod (2) is connected to an electrical module (3). The output shaft of a motor installed inside the electrical module (3) rotates through the front end of the front support rod (1) and is connected to a chuck (6). The chuck (6) is adapted to clamp a drill bit (7). The obstacle-crossing and leg-climbing module (4) includes a sliding sleeve (8) and a fixed sleeve (9). The fixed sleeve (9) is fixed on the front support rod (1) and the rear support rod (2), and the sliding sleeve (8) is slidably fitted onto the front support rod (1). On the support rod (1) and the rear support rod (2), one end of the sliding sleeve (8) abuts against one end of the limiting tube clamp (5) clamped on the front support rod (1) and the rear support rod (2). The sliding sleeve (8) and the fixed sleeve (9) are respectively equipped with connecting seat one (10) and connecting seat two (11). The connecting seat one (10) and connecting seat two (11) are rotatably connected to one end of the hydraulic shock absorber (12) and the support leg (13) through a pin. The other end of the hydraulic shock absorber (12) is rotatably connected to the support leg (13) through a pin. The other end of the support leg (13) is equipped with a climbing wheel mechanism (14).
2. The obstacle-crossing mechanism for a pipeline robot according to claim 1, characterized in that: The number of the support legs (13) is three, and they are equidistantly arranged around the axes of the front support rod (1) and the rear support rod (2). The axis of the clamp (6) is collinear with the axes of the front support rod (1) and the rear support rod (2).
3. The obstacle-crossing mechanism for a pipeline robot according to claim 1, characterized in that: The limiting clamp (5) is located on the side of the sliding sleeve (8) facing away from the fixed sleeve (9).
4. The obstacle-crossing mechanism for a pipeline robot according to claim 1, characterized in that: The angle between the support leg (13) and the front support rod (1) and the rear support rod (2) in the direction toward the drill bit (7) is not less than 90 degrees.
5. The obstacle-crossing mechanism for a pipeline robot according to claim 1, characterized in that: The surface of the wheel of the climbing wheel mechanism (14) is provided with anti-slip ridges (141).
6. The obstacle-crossing mechanism for a pipeline robot according to claim 1, characterized in that: The front support rod (1) is a circular tube structure, and a bearing is installed between the output shaft of the motor in the electrical module (3) and the front support rod (1).