An xy-axis turning joint

Abstract

The utility model relates to pipeline climbing robot technical field, concretely relates to a kind of XY axis steering joint, including upper seal plate, the upper surface of upper seal plate is fixedly connected with two groups of mounting plate before and after, steering assembly is installed between two groups of mounting plate, steering assembly includes first connecting shaft, connecting block, universal joint cover, connecting groove, locating groove, second connecting shaft and locating block, the left and right sides of upper seal plate are all installed with limiting plate, the inside of limiting plate is provided with limiting slot, the inner wall of limiting slot is fixedly connected with buffer pad block;First connecting shaft is cooperated with mounting plate, so that second connecting shaft can rotate along X axis, second connecting shaft is cooperated with universal joint cover, so that second connecting shaft can rotate along Y axis, and further make robot moving wheel can carry out multi-angle adjustment, so that it can automatically adapt to different curved surface and pipe diameter pipeline, and further avoid robot moving wheel to occur jam in steering process, improve the stability of robot climbing, effectively improve equipment use safety.

Description

Technical Field

[0001] This utility model relates to the field of pipeline climbing robot technology, specifically to an XY axis steering joint. Background Technology

[0002] A robot is an automated machine, but unlike humans or other living beings, it possesses some intelligent capabilities similar to those of humans or other living beings, such as perception, planning, movement, and coordination. It is a highly flexible automated machine that can assist or even replace humans in completing dangerous, heavy, and complex tasks, improving work efficiency and quality, serving human life, and expanding the scope of human activities and capabilities. In the process of inspecting metal pipes, magnetic pipe climbing robots are often used. These robots move inside the pipe and transmit information from inside the pipe to the outside via a remote signal transmission module, allowing workers to inspect the inside of the pipe from the outside.

[0003] Because the pipes are mostly curved and some are combinations of pipes of different diameters, the robot needs to turn during the climbing process. Existing pipe climbing robots have only one degree of freedom of joints, which can easily cause turning jams during the climbing process. This results in low flexibility in robot posture adjustment, low climbing stability during turning, and a tendency to fall off.

[0004] Therefore, it is necessary to invent an XY axis steering joint to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide an XY-axis steering joint to solve the problem that the single degree of freedom of the joint in the technology easily causes steering jamming, which in turn leads to low flexibility in robot posture adjustment, resulting in low stability of robot climbing during the steering process and easy detachment.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an XY axis steering joint, including an upper sealing plate, with two sets of mounting plates fixedly connected to the upper surface of the upper sealing plate, and a steering assembly installed between the two sets of mounting plates. The steering assembly includes a first connecting shaft, a connecting block, a universal joint sleeve, a connecting groove, a positioning groove, a second connecting shaft, and a positioning block. Limiting plates are installed on both the left and right sides of the upper sealing plate, and limiting grooves are formed inside the limiting plates. Buffer pads are fixedly connected to the inner walls of the limiting grooves.

[0007] By adopting the above technical solution, the robot's moving wheels are installed on the right end of the second connecting shaft. The first connecting shaft cooperates with the mounting plate, allowing the second connecting shaft to rotate along the X-axis. The second connecting shaft cooperates with the universal joint sleeve, allowing the second connecting shaft to rotate along the Y-axis. This enables the robot's moving wheels to be adjusted at multiple angles, allowing them to automatically adapt to pipes with different curvatures and diameters. This avoids the moving wheels getting stuck during robot turning, improves the stability of robot climbing, and effectively enhances the safety of equipment use.

[0008] Optionally, both sets of mounting plates have mounting holes on their inner sides, and copper sleeves are fixedly connected inside the mounting holes.

[0009] Optionally, connecting blocks are fixedly connected to both ends of the first connecting shaft, and the connecting blocks are rotatably connected to the copper sleeve.

[0010] By adopting the above technical solution, the connecting block rotates inside the copper sleeve, reducing the friction during the rotation process and thus improving the smoothness of steering adjustment.

[0011] Optionally, the universal joint sleeve is fixedly connected to the middle of the first connecting shaft, the connecting groove is laterally opened at the middle position of the universal joint sleeve, and the second connecting shaft is inserted into the inner side of the connecting groove.

[0012] Optionally, the inner top wall and inner bottom wall of the connecting groove are provided with positioning grooves, and positioning blocks are fixedly connected to the upper and lower surfaces of the second connecting shaft, and the positioning blocks are rotatably connected to the connecting groove.

[0013] By adopting the above technical solution, the positioning groove and the positioning block cooperate to allow the second connecting shaft to rotate around the universal joint sleeve.

[0014] Optionally, the left and right ends of the second connecting shaft pass through the limiting grooves on both sides.

[0015] By adopting the above technical solution, the limiting plate, the limiting groove, and the second connecting shaft cooperate to limit the turning angle of the second connecting shaft, thereby limiting the angle of the robot's moving wheels and avoiding the impact on the movement of the equipment after the angle rotation is too large.

[0016] Optionally, connecting plates are fixedly connected to both the upper and lower sides of the limiting plate, and reinforcing ribs are fixedly connected to the sides of the connecting plates.

[0017] By adopting the above technical solution, the reinforcing ribs improve the structural strength of the limiting plate and the connecting plate.

[0018] Optionally, the upper sealing plate has mounting grooves on both the left and right sides, and the lower connecting plate is fixed inside the mounting grooves.

[0019] By adopting the above technical solution, the connecting plate passes through the mounting groove from top to bottom and is locked and fixed with screws.

[0020] The technical effects and advantages provided by this utility model in the above technical solution are as follows:

[0021] 1. This utility model allows the second connecting shaft to rotate along the X-axis by cooperating with the first connecting shaft and the mounting plate, and the second connecting shaft to rotate along the Y-axis by cooperating with the universal joint sleeve. This allows the robot's moving wheels to be adjusted at multiple angles, enabling them to automatically adapt to pipes with different curvatures and diameters. This avoids the moving wheels getting stuck during the robot's turning process, improves the stability of the robot's climbing, and effectively enhances the safety of the equipment.

[0022] 2. This utility model installs limiting plates on both the left and right sides of the upper sealing plate and passes the second connecting shaft through the limiting grooves in the two sets of limiting plates. The limiting plates and limiting grooves work together to limit the turning angle of the second connecting shaft, avoiding large angle rotation from affecting the movement of the equipment and further improving the stability of the equipment movement. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is a schematic diagram of the steering component structure of this utility model;

[0025] Figure 3 This is a schematic diagram of the upper sealing plate structure of this utility model;

[0026] Figure 4 This is a schematic diagram of the first connecting shaft and the second connecting shaft of this utility model;

[0027] Figure 5 This is a schematic diagram of the limiting plate structure of this utility model.

[0028] Explanation of reference numerals in the attached figures:

[0029] 1. Top sealing plate; 11. Mounting plate; 12. Mounting hole; 13. Copper sleeve; 14. Mounting groove; 2. First connecting shaft; 21. Connecting block; 22. Universal joint sleeve; 23. Connecting groove; 24. Positioning groove; 25. Second connecting shaft; 26. Positioning block; 3. Limiting plate; 31. Limiting groove; 32. Buffer pad; 33. Connecting plate; 34. Reinforcing rib. Detailed Implementation

[0030] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0031] This utility model provides, for example Figures 1 to 4 An XY-axis steering joint is shown, including an upper cover plate 1. Two sets of mounting plates 11 are fixedly connected to the upper surface of the upper cover plate 1. A steering assembly is installed between the two sets of mounting plates 11. The steering assembly includes a first connecting shaft 2, a connecting block 21, a universal joint sleeve 22, a connecting groove 23, a positioning groove 24, a second connecting shaft 25, and a positioning block 26. Mounting holes 12 are opened on the inner side of both sets of mounting plates 11. A copper sleeve 13 is fixedly connected inside the mounting hole 12. The connecting blocks 21 are fixedly connected to both the front and rear ends of the first connecting shaft 2. The connecting blocks 21 are rotatably connected to the copper sleeve 13. The universal joint sleeve 22 is fixedly connected to the middle of the first connecting shaft 2. The connecting groove 23 is opened laterally in the middle position of the universal joint sleeve 22. The second connecting shaft 25 is inserted into the inner side of the connecting groove 23. Positioning grooves 24 are opened on the inner top wall and inner bottom wall of the connecting groove 23. Positioning blocks 26 are fixedly connected to the upper and lower surfaces of the second connecting shaft 25. The positioning blocks 26 are rotatably connected to the connecting groove 23.

[0032] The copper sleeve 13 is fitted into the mounting hole 12 by an interference fit. During use, when the robot's moving wheels need to be adjusted up and down, the second connecting shaft 25 will drive the universal joint sleeve 22 and the first connecting shaft 2 to rotate around the X-axis, thereby causing the connecting block 21 to rotate inside the copper sleeve 13.

[0033] The copper sleeve 13 effectively reduces the friction generated by rotation, thereby improving the smoothness of the rotation of the connecting block 21 and facilitating the rapid turning of the moving roller.

[0034] When the robot's moving wheels are adjusted left and right, they will rotate around the Y-axis inside the universal joint sleeve 22 via the second connecting shaft 25. At this time, the positioning block 26 will rotate inside the positioning groove 24. The positioning block 26 and the positioning groove 24 cooperate to position the second connecting shaft 25.

[0035] See Figure 1 , Figure 3 and Figure 5 Limiting plates 3 are installed on both the left and right sides of the upper sealing plate 1. Limiting grooves 31 are opened inside the limiting plates 3. Buffer pads 32 are fixedly connected to the inner wall of the limiting grooves 31. The left and right ends of the second connecting shaft 25 pass through the limiting grooves 31 on both sides respectively. Connecting plates 33 are fixedly connected to both the upper and lower sides of the limiting plates 3. Reinforcing ribs 34 are fixedly connected to the side of the connecting plates 33. Mounting grooves 14 are opened on both the left and right sides of the upper sealing plate 1. The lower connecting plate 33 is fixed inside the mounting groove 14.

[0036] Meanwhile, during the rotation of the second connecting shaft 25, its left and right ends will swing inside the limit grooves 31 on both sides. The side wall of the limit groove 31 controls the swing amplitude of the second connecting shaft 25. When the swing reaches the maximum amplitude, the second connecting shaft 25 will touch the side wall of the limit groove 31. At the same time, the buffer pad 32 buffers the second connecting shaft 25 to avoid damage to the second connecting shaft 25 or the limit plate 3 due to long-term collision, thereby improving the safety of equipment use.

[0037] The working principle of this utility model is as follows: The first connecting shaft 2 cooperates with the mounting plate 11, allowing the second connecting shaft 25 to rotate along the X-axis. The second connecting shaft 25 cooperates with the universal joint sleeve 22, allowing the second connecting shaft 25 to rotate along the Y-axis. This enables the robot's moving wheels to be adjusted at multiple angles, allowing them to automatically adapt to pipes with different curvatures and diameters. This prevents the moving wheels from getting stuck during robot turning, improves the stability of robot climbing, and effectively enhances the safety of equipment use. At the same time, the limiting plate 3 and the limiting groove 31 work together to limit the turning angle of the second connecting shaft 25, preventing large angle rotation from affecting the movement of the equipment and further improving the stability of equipment movement.

[0038] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. An XY-axis steering joint, comprising an upper sealing plate (1), characterized in that: The upper surface of the upper sealing plate (1) is fixedly connected to two sets of mounting plates (11) at the front and rear. A steering assembly is installed between the two sets of mounting plates (11). The steering assembly includes a first connecting shaft (2), a connecting block (21), a universal joint sleeve (22), a connecting groove (23), a positioning groove (24), a second connecting shaft (25), and a positioning block (26). Limiting plates (3) are installed on both the left and right sides of the upper sealing plate (1). A limiting groove (31) is opened inside the limiting plate (3). A buffer pad (32) is fixedly connected to the inner wall of the limiting groove (31).

2. The XY-axis steering joint according to claim 1, characterized in that: Both sets of mounting plates (11) have mounting holes (12) on their inner sides, and copper sleeves (13) are fixedly connected inside the mounting holes (12).

3. The XY-axis steering joint according to claim 1, characterized in that: Both ends of the first connecting shaft (2) are fixedly connected to connecting blocks (21), and the connecting blocks (21) are rotatably connected to the copper sleeve (13).

4. An XY-axis steering joint according to claim 1, characterized in that: The universal joint sleeve (22) is fixedly connected to the middle of the first connecting shaft (2), and the connecting groove (23) is opened laterally in the middle of the universal joint sleeve (22). The second connecting shaft (25) is inserted into the inner side of the connecting groove (23).

5. An XY-axis steering joint according to claim 1, characterized in that: The inner top wall and inner bottom wall of the connecting groove (23) are provided with positioning grooves (24), and the upper and lower surfaces of the second connecting shaft (25) are fixedly connected with positioning blocks (26), and the positioning blocks (26) are rotatably connected to the connecting groove (23).

6. An XY-axis steering joint according to claim 1, characterized in that: The left and right ends of the second connecting shaft (25) pass through the limiting grooves (31) on both sides respectively.

7. An XY-axis steering joint according to claim 1, characterized in that: The upper and lower sides of the limiting plate (3) are fixedly connected to the connecting plate (33), and the side of the connecting plate (33) is fixedly connected to the reinforcing rib (34).

8. An XY-axis steering joint according to claim 7, characterized in that: The upper sealing plate (1) has mounting grooves (14) on both the left and right sides, and the lower connecting plate (33) is fixed inside the mounting groove (14).

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