Pipeline anticorrosion robot driving wheel jacking mechanism

Abstract

The utility model relates to pipeline robot technical field, aims at solving the problem of the drive performance and control performance decline caused by the insufficient compression force, motion deviation from the central axis in the pipeline during the movement of pipeline robot, discloses a pipeline anticorrosion robot drive wheel jacking mechanism, including jacking assembly, jacking assembly has electric push rod, and the push rod end connection of electric push rod connects the connecting seat, and the connecting seat connects the guide rail, and the guide rail is connected with the sliding table, and the sliding table connects the jacking mechanism shell, and the connecting seat connects the casing of second joint motor, and the output shaft of second joint motor connects motor support, and the first joint motor is installed on the motor support, and the output shaft of first joint motor is connected with the wheel. The present application can increase the friction of the robot drive wheel along the central axis in the pipeline, so that the robot can move along the central axis.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robot technology, and in particular to a pipeline corrosion prevention robot drive wheel clamping mechanism. Background Technology

[0002] Piping is a crucial component of nuclear power plants, and its reliability directly impacts the safety of the plant's systems. Nuclear power plants have numerous pipelines, some operating in complex environments such as high radiation levels and confined spaces. After long-term operation, these pipelines are highly susceptible to internal corrosion. Using existing conventional technologies and equipment presents limitations in accessibility and operability for maintenance, hindering the implementation of corresponding corrosion inspection and treatment efforts. Utility Model Content

[0003] The purpose of this utility model is to provide a drive wheel clamping mechanism for a pipeline corrosion prevention robot, which solves the problems of insufficient clamping force and deviation from the pipeline central axis during the movement of the pipeline robot, resulting in a decrease in driving performance and control performance. It can increase the friction of the robot drive wheel moving along the pipeline central axis, so that the robot can move along the central axis.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A pipe corrosion prevention robot drive wheel clamping mechanism includes a clamping assembly. The clamping assembly has an electric push rod. The push rod end of the electric push rod is connected to a connecting seat. The connecting seat is connected to a guide rail. A slide is connected to the guide rail. The slide is connected to the clamping mechanism housing. The connecting seat is connected to the housing of a second joint motor. The output shaft of the second joint motor is connected to a motor bracket. A first joint motor is mounted on the motor bracket. The output shaft of the first joint motor is connected to a wheel.

[0006] In some embodiments, a pressure sensor is provided between the connector and the electric actuator.

[0007] In some embodiments, the pressure sensor is connected to the push rod end.

[0008] In some embodiments, the push rod end is connected to the connecting seat via a pin or coupling.

[0009] In some embodiments, the motor bracket is an L-shaped bent plate structure.

[0010] In some embodiments, the motor bracket includes a horizontal mounting surface and a vertical mounting surface, wherein the first joint motor is mounted on the horizontal mounting surface and the second joint motor is mounted on the vertical mounting surface.

[0011] In some embodiments, the clamping components are respectively disposed at both ends of the aluminum profile.

[0012] In some embodiments, the wheel is a pipe rubber wheel.

[0013] In some embodiments, the pipe rubber wheel has a toothed structure.

[0014] In some embodiments, the pipe rubber wheel is fixed to the output shaft of the first joint motor via a shaft or coupling.

[0015] Compared with the prior art, the pipeline corrosion prevention robot drive wheel clamping mechanism provided by this utility model has the following beneficial effects:

[0016] This invention can increase the friction of the robot drive wheel that moves along the central axis of the pipe, so that sufficient positive pressure is formed between the robot wheel and the pipe wall, improving the robot's mobility. At the same time, it enables the robot to move along the central axis, improving the robot's movement accuracy. In addition, the drive wheel clamping mechanism can ensure the robot's stability and fixation during operation, avoiding the impact of vehicle body shaking on the operation accuracy. Attached Figure Description

[0017] To more clearly illustrate the technical solution of this utility model, the accompanying drawings used in the technical description will be briefly introduced below.

[0018] Figure 1 A schematic diagram of the drive wheel clamping mechanism of the pipeline corrosion prevention robot provided by this utility model;

[0019] Figure 2 Enlarged view of the external details of the drive wheel clamping mechanism of the pipeline corrosion prevention robot provided by this utility model;

[0020] Figure 3 Enlarged view of the internal details of the drive wheel clamping mechanism of the pipeline corrosion prevention robot provided by this utility model.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1-Tightening assembly, 2-Aluminum profile, 3-Pipe rubber wheel, 4-Motor bracket, 5-First joint motor, 6-Second joint motor, 7-Tightening mechanism housing, 8-Electric push rod, 9-Pressure sensor, 10-Slide table, 11-Guide rail, 12-Connecting seat. Detailed Implementation

[0023] The following detailed description provides further details on specific implementation methods.

[0024] like Figures 1 to 3 As shown, this utility model provides a pipeline anti-corrosion robot drive wheel clamping mechanism, including clamping components 1 and aluminum profiles 2, with two clamping components 1 respectively installed at both ends of the aluminum profiles 2.

[0025] The clamping assembly 1 includes a pipe rubber wheel 3, a motor bracket 4, a first joint motor 5, a second joint motor 6, a clamping mechanism housing 7, an electric push rod 8, a pressure sensor 9, a slide table 10, a guide rail 11, and a connecting seat 12.

[0026] The clamping mechanism housing 7 is the main housing structure of the drive wheel clamping mechanism and is fixed to the aluminum profile 2. The clamping mechanism housing 7 is arranged outside the pressure sensor 9, slide 10, guide rail 11 and connecting seat 12, and serves to protect and fix the support. The clamping mechanism housing 7 is fixedly connected to the slide 10, providing fixed support for the slide 10.

[0027] The slide table 10 and guide rail 11 form a slide table guide rail module. The slide table guide rail module is located inside the clamping mechanism housing 7, serving as a guiding mechanism. The slide table guide rail module is a box-like structure, with the motor push rod 8 and pressure sensor 9 mounted on its outer side. The slide table 10 is fixed to the clamping mechanism housing 7, forming an integral fixed frame. The guide rail 11 is connected and fixed to the connecting seat 12, ensuring that the connecting seat 12 and the guide rail 11 move in unison.

[0028] The housing of the electric push rod 8 is fixed to the inside of the clamping mechanism housing 7 by a bracket or bolts. The push rod end of the electric push rod 8 is connected to the connecting seat 12 and the pressure sensor 9. As a driving device, the electric push rod 8 extends its push rod during operation to push the connecting seat 12, pressure sensor 9, motor bracket 4, first joint motor 5, and tire 3 to move. The push rod end of the electric push rod 8 is connected to the connecting seat 12 by a pin or coupling. During operation, the push rod of the electric push rod 8 generates linear motion, driving the connecting seat 12 to move.

[0029] The connecting seat 12 is the component that transmits the pushing force generated by the electric push rod 8. The connecting seat 12 is divided into left and right parts, which are fixedly connected to both sides of the guide rail 11 to ensure that the extended push rod of the electric push rod 8 can push the guide rail 11 to slide on the slide table 10 by pushing the connecting seat 11. The right part of the connecting seat 12 is connected to the extended push rod of the electric push rod 8 by a pin, and the left part of the connecting seat 12 is connected to the pressure sensor 9.

[0030] Pressure sensor 9 monitors the thrust in real time. Once a predetermined value is reached, the extended push rod of electric push rod 8 stops pushing the wheel. Pressure sensor 9 is installed between connecting seat 12 and the extended push rod of electric push rod 8. One end of pressure sensor 9 is fixed to connecting seat 12, and the other end is fixedly connected to the extended push rod of electric push rod 8.

[0031] A first joint motor 5 and a second joint motor 6 are mounted on the motor bracket 4. The motor bracket 4 is an L-shaped bent plate structure, including a horizontal mounting surface and a vertical mounting surface. The first joint motor 5 is mounted on the horizontal mounting surface, and the second joint motor 6 is mounted on the vertical mounting surface. The first joint motor 5 drives the pipe rubber wheel 3 to rotate, enabling the robot to move forward or backward. The second joint motor 6 drives the pipe rubber wheel to turn.

[0032] The housing of the first joint motor 5 is fixed to the motor bracket 4 by bolts, and its output shaft is connected to the pipe rubber wheel 3 to provide rotational power. The output shaft of the second joint motor 6 is fixed to the motor bracket 4 by bolts, and the housing of the second joint motor 6 is fixedly connected to the connecting seat 12.

[0033] The pipe rubber wheel 3 is located on the outermost side of the mechanism and is the component that directly contacts the pipe wall. The pipe rubber wheel 3 has a toothed structure to increase adhesion. The pipe rubber wheel 3 is fixed to the output shaft of the first joint motor 5 via a shaft or coupling and is driven to rotate by the first joint motor 5.

[0034] The above description is only a specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.

Claims

1. A drive wheel clamping mechanism for a pipeline corrosion prevention robot, characterized in that, The device includes a clamping assembly (1), which has an electric push rod (8). The push rod end of the electric push rod (8) is connected to a connecting seat (12). The connecting seat (12) is connected to a guide rail (11). A slide (10) is connected to the guide rail (11). The slide (10) is connected to the clamping mechanism housing (7). The connecting seat (12) is connected to a second joint motor (6). The second joint motor (6) is connected to a motor bracket (4). A first joint motor (5) is mounted on the motor bracket (4). The first joint motor (5) is equipped with wheels.

2. The pipeline corrosion prevention robot drive wheel clamping mechanism according to claim 1, characterized in that, A pressure sensor (9) is provided between the connecting seat (12) and the electric push rod (8).

3. The pipeline corrosion prevention robot drive wheel clamping mechanism according to claim 2, characterized in that, The pressure sensor (9) is connected to the push rod end.

4. The pipeline corrosion prevention robot drive wheel clamping mechanism according to claim 1, characterized in that, The push rod end is connected to the connecting seat (12) by a pin or coupling.

5. The pipeline corrosion prevention robot drive wheel clamping mechanism according to claim 1, characterized in that, The motor bracket (4) is an L-shaped bent plate structure.

6. The pipeline corrosion prevention robot drive wheel clamping mechanism according to claim 5, characterized in that, The motor bracket (4) includes a horizontal mounting surface and a vertical mounting surface. The first joint motor (5) is mounted on the horizontal mounting surface, and the second joint motor (6) is mounted on the vertical mounting surface.

7. The pipeline corrosion prevention robot drive wheel clamping mechanism according to claim 1, characterized in that, The clamping components (1) are respectively installed at both ends of the aluminum profile (2).

8. The pipeline corrosion prevention robot drive wheel clamping mechanism according to claim 1, characterized in that, The wheel is a pipe rubber wheel (3).

9. The pipeline corrosion prevention robot drive wheel clamping mechanism according to claim 8, characterized in that, The pipe rubber wheel (3) has a toothed structure.

10. The pipeline corrosion prevention robot drive wheel clamping mechanism according to claim 8, characterized in that, The pipe rubber wheel (3) is fixed to the output shaft of the first joint motor (5) via a shaft or coupling.

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