Adaptive obstacle-surmounting cooperative travel power mechanism

Abstract

The utility model relates to detection robot power device technical field, especially is adaptive and can cross the power mechanism of barrier cooperation, including an installation seat, the outer peripheral side of installation seat is provided with a plurality of walking components, the walking component includes two fender, and between two fender fixedly has a bearing plate, the left side and right side of bearing plate all is provided with first wheel lever, and the end of first wheel lever is connected with fender bearing, and one of first wheel lever is driven by first drive motor, two driving wheels of front and back settings are fixed on first wheel lever, the below of bearing plate is provided with second wheel lever, and the end of second wheel lever is fixedly connected with fender, and the bearing of second wheel lever is connected with the supporting belt wheel, the lifting assembly includes screw rod, and the left end of screw rod is connected with mounting panel through bearing seat, the utility model can realize crossing the barrier, so that when meeting the paraffin, crude oil bonding and other foreign matters in pipeline, it is not easy to cause the jamming failure.

Description

Technical Field

[0001] This utility model relates to the field of power device technology for detection robots, and in particular to an adaptive obstacle-crossing collaborative movement power mechanism. Background Technology

[0002] With the continuous development of my country's economy, the petroleum energy industry has become deeply embedded in the overall operation of the national economy. As a core infrastructure for energy transportation, oil and gas pipelines commonly suffer various types of damage during long-term service due to alternating loads, media corrosion, and environmental erosion. Among these, defects such as stress corrosion cracking of the inner pipe wall, pipe wall thinning, and weld cracks are more serious, and are highly concealed and randomly distributed. According to industry statistics, in pipelines that have been in service for more than 15 years, approximately 34% of failures are caused by latent defects in stress concentration areas. Once these defects exceed critical dimensions, they may trigger major safety accidents such as oil and gas leaks and explosions, causing irreparable economic losses and ecological disasters.

[0003] With the continuous development of technology, ultrasonic, eddy current, and magnetic flux leakage detection robots have emerged. Metal magnetic memory detection technology, a new method that emerged at the end of the last century, has pioneered the full-lifecycle detection of ferromagnetic materials, from early abnormal stress concentration to macroscopic cracks, by analyzing the magnetic field distortion characteristics on the surface of ferromagnetic materials under the influence of the Earth's magnetic field. Detection robots typically consist of two parts: a detection mechanism and a walking mechanism. The walking mechanism drives the detection mechanism. While existing walking mechanisms can move the detection mechanism, they lack obstacle-crossing capabilities, making them prone to blockage when encountering foreign objects such as wax deposits or crude oil adhesion within pipelines. Utility Model Content

[0004] The purpose of this invention is to provide an adaptive obstacle-crossing cooperative propulsion mechanism that enables obstacle crossing.

[0005] The technical solution of this utility model:

[0006] An adaptive obstacle-crossing cooperative mobility mechanism includes a mounting base with multiple walking components arranged on its outer periphery. Each walking component includes two guard plates with a load-bearing plate fixed between them. A first wheel rod is provided on the left and right sides of the load-bearing plate, with its end connected to a bearing on one of the guard plates. One of the first wheel rods is driven by a first drive motor. Two drive wheels, arranged front and rear, are fixed on the first wheel rod. A second wheel rod is located below the load-bearing plate, with its end fixedly connected to the guard plate. A support wheel is connected to a bearing on the second wheel rod.

[0007] Multiple connecting rods are provided above the load-bearing plate, and the ends of the connecting rods are fixedly connected to the guard plate; a fixing rod is fixed at both the front and rear ends of the bottom of the connecting rod, and the lower end of the fixing rod is fixedly connected to the load-bearing plate; a sliding plate is sleeved on the fixing rod, and the sliding plate is connected to the load-bearing plate by a spring; wheel frames are fixed at both the front and rear ends of the top of the sliding plate, and the wheel frames have grooves for the fixing rods to pass through; a load-bearing wheel is installed between the upper ends of the two wheel frames;

[0008] The walking assembly also includes tracks that pass around the drive wheel, track roller, and road wheel. When an obstacle is encountered, the tracks deform toward the load-bearing plate, thereby driving the road wheel and wheel frame to move toward the load-bearing plate, and then the springs contract to overcome the obstacle.

[0009] Furthermore, the mounting base includes a mounting plate and a rear seat located to the right of the mounting plate. Fixed seats are fixed on the right side of the mounting plate and the left side of the rear seat. The two fixed seats are connected by a first connecting shaft. Multiple sets of lifting components are arranged between the two fixed seats. The number of lifting components is the same as the number of traveling components.

[0010] The lifting assembly includes a screw, the left end of which is connected to a mounting plate via a bearing seat, and the right end of which passes through a rear seat and is connected to a bearing in the rear seat. Fixed plates are fixed between the mounting plate and the rear seat, and on both the front and rear sides of the screw. A first movable shaft is screwed onto the screw, and both ends of the first movable shaft have first limiting shafts. A first limiting channel for sliding of the first limiting shaft is provided on the fixed plate. A lifting plate is provided above the fixed plate, and the upper end of the lifting plate is fixedly connected to a guard plate. A fixed shaft is provided between the two lifting plates, and the end of the fixed shaft penetrates the lifting plate and is fixedly connected to it. A second movable shaft is also provided between the two lifting plates, and both ends of the second movable shaft have second limiting shafts. A second limiting channel for sliding of the second limiting shaft is provided on the lifting plate.

[0011] The end of the first limiting shaft is hinged to one end of the first swing plate, and the other end of the first swing plate is hinged to the end of the fixed shaft; the end of the second limiting shaft is hinged to one end of the second swing plate, and the other end of the second swing plate is hinged to the fixed plate; a second connecting shaft is provided above the screw, and the middle parts of the first swing plate and the second swing plate are both hinged to the second connecting shaft.

[0012] All screws are driven to rotate by a single drive assembly.

[0013] Furthermore, the drive assembly includes a protective sleeve fixed to the right side of the rear seat, a protective shell fixed to the right end of the protective sleeve, a mounting plate disposed inside the protective shell, a screw connected to the mounting plate bearing, and planetary gears fixed on the screw between the mounting plate and the rear seat. All planetary gears mesh with a sun gear, which is driven by a second drive motor.

[0014] Furthermore, the second drive motor is fixed to the inner wall of the protective shell, the output shaft of the second drive motor penetrates the mounting plate and is connected to the bearing of the mounting plate, and the end of the output shaft of the second drive motor is fixedly connected to the sun gear.

[0015] Furthermore, the inner wall bearing of the protective sleeve is connected to a gear ring, which meshes with a planetary gear.

[0016] Furthermore, the first drive motor is fixed to the guard plate, and the output shaft of the first drive motor is connected to the first wheel rod.

[0017] The beneficial effects of this utility model are:

[0018] (1) When encountering an obstacle, the track deforms towards the load-bearing plate, thereby driving the road wheels and wheel frames to move towards the load-bearing plate, and then the springs contract to overcome the obstacle. When leaving the obstacle, the springs return to their original shape, thereby pushing the wheel frames and road wheels to move away from the load-bearing plate, and then the track returns to its original shape, completing the track adaptive obstacle crossing.

[0019] (2) The lifting component can drive the walking component to rise and fall, which can adapt to different inner diameters in the pipe.

[0020] This invention enables obstacle crossing, making it less prone to blockage when encountering foreign objects such as wax or crude oil adhesion in the pipeline. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model.

[0022] Figure 2 This is a structural diagram of the walking component.

[0023] Figure 3 This is a structural diagram of the walking assembly (without tracks).

[0024] Figure 4 This is a structural diagram of the lifting assembly.

[0025] Figure 5 This is a structural diagram of the lifting assembly (without a lifting plate on one side).

[0026] Figure 6 The structure of the driving component is shown in the schematic diagram.

[0027] Figure 7 This is a schematic diagram of the gear ring structure.

[0028] In the diagram: Mounting base 1, Walking assembly 2, Guard plate 201, Load-bearing plate 202, First wheel rod 203, Drive wheel 204, Second wheel rod 205, Track roller 206, Connecting rod 207, Fixed rod 208, Sliding plate 209, Spring 210, Wheel frame 211, Slide groove 212, Road wheel 213, Track 214, Mounting plate 101, Rear seat 102, Fixed base 103, First connecting shaft 104, Lifting assembly 3, Screw 301, Bearing seat 3 02, Fixed plate 303, First moving shaft 304, Connecting sleeve 305, First limiting channel 306, Lifting plate 307, Fixed shaft 308, Second moving shaft 309, Second limiting channel 310, First swing plate 311, Second swing plate 312, Second connecting shaft 313, Drive assembly 4, Protective sleeve 401, Protective shell 402, Mounting plate 403, Planetary gear 404, Sun gear 405, Second drive motor 406, Gear ring 407. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings.

[0030] like Figures 1-7 As shown, this utility model provides a first embodiment of an adaptive obstacle-crossing cooperative mobility mechanism, including a mounting base 1. Multiple walking components 2 are arranged on the outer periphery of the mounting base 1. Each walking component 2 includes two guard plates 201, with a load-bearing plate 202 fixed between the two guard plates 201. First wheel rods 203 are arranged on the left and right sides of the load-bearing plate 202, with the ends of the first wheel rods 203 connected to the guard plates 201 by bearings. One of the first wheel rods 203 is driven by a first drive motor (not shown). Two drive wheels 204 are fixedly arranged front and rear on the first wheel rods 203. A second wheel rod 205 is arranged below the load-bearing plate 202, with the ends of the second wheel rods 205 fixedly connected to the guard plates 201. A support wheel 206 is connected to the second wheel rod 205 by bearings.

[0031] Multiple connecting rods 207 are provided above the load-bearing plate 202, and the ends of the connecting rods 207 are fixedly connected to the guard plate 201. A fixing rod 208 is fixed at both the front and rear ends of the bottom of the connecting rod 207, and the lower end of the fixing rod 208 is fixedly connected to the load-bearing plate 202. A sliding plate 209 is sleeved on the fixing rod 208, and the sliding plate 209 is connected to the load-bearing plate 202 by a spring 210. Wheel frames 211 are fixed at both the front and rear ends of the top of the sliding plate 209, and the wheel frames 211 have grooves 212 for the fixing rods 208 to pass through. A load-bearing wheel 213 is installed between the upper ends of two wheel frames 211.

[0032] In this embodiment, the connecting rod 207 may include a first connecting rod and a second connecting rod, which are connected by a connecting sleeve 305 for easy assembly and disassembly.

[0033] The walking assembly 2 also includes a track 214, which passes around the drive wheel 204, the track roller 206 and the road wheel 213. When encountering an obstacle, the track 214 deforms towards the load-bearing plate 202, thereby driving the road wheel 213 and the wheel frame 211 to move towards the load-bearing plate 202, and then the spring 210 contracts to overcome the obstacle.

[0034] The first drive motor drives the first wheel rod 203 to rotate, which in turn drives the drive wheel 204 to rotate. The drive wheel 204 then drives the track 214, which in turn drives the track roller 206 and the road wheel 213 to rotate, thus enabling movement. When encountering an obstacle, the track 214 deforms towards the load-bearing plate 202, causing the road wheel 213 and wheel frame 211 to move towards the load-bearing plate 202. This causes the spring 210 to contract, allowing the track to overcome the obstacle. When leaving the obstacle, the spring 210 returns to its original shape, pushing the wheel frame 211 and road wheel 213 away from the load-bearing plate 202. This causes the track 214 to return to its original shape, completing the adaptive and easy obstacle-crossing process.

[0035] Based on the first embodiment, this utility model provides a second embodiment of an adaptive obstacle-crossing cooperative travel power mechanism. The mounting base 1 includes a mounting plate 101 and a rear seat 102 located to the right of the mounting plate 101. The mounting plate 101 is used to connect the detection mechanism. The right side of the mounting plate 101 and the left side of the rear seat 102 are both fixed with a fixing seat 103. The two fixing seats 103 are connected by a first connecting shaft 104. Multiple sets of lifting components 3 are arranged between the two fixing seats 103. The number of lifting components 3 is the same as that of the walking components 2, and the walking components 2 are arranged on the lifting components 3. The lifting components 3 can drive the walking components 2 to rise and fall, and can adapt to different inner diameters in the pipe.

[0036] The lifting assembly 3 includes a screw 301. The left end of the screw 301 is connected to the mounting plate 101 via a bearing seat 302, and the right end passes through the rear seat 102 and is connected to the bearing of the rear seat 102. A fixing plate 303 is fixed between the mounting plate 101 and the rear seat 102, and on both the front and rear sides of the screw 301. A first moving shaft 304 is screwed onto the screw 301. The front and rear ends of the first moving shaft 304 have first limiting shafts. The fixing plate 303 has a first limiting channel 306 for sliding of the first limiting shaft. When the screw 301 rotates, the first moving shaft 304 is limited by the first limiting shaft and the first limiting channel 306, so that the first moving shaft 304 can move left and right on the screw 301. During the left and right movement of the first moving shaft 304, the first limiting shaft slides in the first limiting channel 306, which plays a guiding role for the first moving shaft 304.

[0037] A lifting plate 307 is provided above the fixed plate 303, and the upper end of the lifting plate 307 is fixedly connected to the guard plate 201; a fixed shaft 308 is provided between the two lifting plates 307, and the end of the fixed shaft 308 penetrates the lifting plate 307 and is fixedly connected to the lifting plate 307; a second moving shaft 309 is also provided between the two lifting plates 307, and the front and rear ends of the second moving shaft 309 have second limiting shafts; a second limiting channel 310 for sliding of the second limiting shaft is provided on the lifting plate 307.

[0038] The end of the first limiting shaft is hinged to one end of the first swing plate 311, and the other end of the first swing plate 311 is hinged to the end of the fixed shaft 308; the end of the second limiting shaft is hinged to one end of the second swing plate 312, and the other end of the second swing plate 312 is hinged to the fixed plate 303; a second connecting shaft 313 is provided above the screw 301, and the middle parts of the first swing plate 311 and the second swing plate 312 are both hinged to the second connecting shaft 313;

[0039] When the first moving shaft 304 moves back and forth, it can drive the first limiting shaft to slide within the first limiting channel 306, thereby driving the first swing plate 311 to move back and forth. The movement of the first swing plate 311 drives the second swing plate 312 to move back and forth, thereby driving the second limiting shaft to slide within the second limiting channel 310; and then driving the lifting plate 307 to rise and fall, so as to drive the walking component 2 to rise and fall.

[0040] All screws 301 are driven to rotate by a drive assembly 4. The drive assembly 4 can drive all screws 301 to rotate at the same time, so that all walking assemblies 2 can be raised and lowered at the same time.

[0041] The drive assembly 4 includes a protective sleeve 401 fixed to the right side of the rear seat 102. A protective shell 402 is fixed to the right end of the protective sleeve 401. A mounting plate 403 is disposed inside the protective shell 402. The screw 301 is bearing-connected to the mounting plate 403. Planetary gears 404 are fixed on the screw 301 between the mounting plate 403 and the rear seat 102. All planetary gears 404 mesh with a sun gear 405, which is driven by a second drive motor 406. The second drive motor 406 can drive the sun gear 405 to rotate, thereby driving the planetary gears 404 to rotate. The rotation of the planetary gears 404 can drive the screw 301 to rotate.

[0042] Based on the second embodiment, this utility model provides a third embodiment of an adaptive obstacle-crossing cooperative motion power mechanism. The second drive motor 406 is fixed on the inner wall of the protective shell 402. The output shaft of the second drive motor 406 penetrates the mounting plate 403 and is connected to the bearing of the mounting plate 403. The end of the output shaft of the second drive motor 406 is fixedly connected to the sun gear 405, which can drive the sun gear 405 to rotate.

[0043] Based on the second or third embodiment, this utility model provides a fourth embodiment of the adaptive obstacle-crossing cooperative propulsion mechanism, wherein the inner wall bearing of the protective sleeve 401 is connected to a gear ring 407, which meshes with the planetary gear 404, so that the planetary gear 404 can rotate better.

[0044] Based on any of the above embodiments, the present invention provides a fifth embodiment of an adaptive obstacle-crossing cooperative motion power mechanism, wherein the first drive motor is fixed on the guard plate 201, and the output shaft of the first drive motor is connected to the first wheel rod 203, which can drive the first wheel rod 203 to rotate.

[0045] The above description is only a preferred embodiment of the present utility model and should not be construed as a limitation of this application. All equivalent changes and modifications made within the scope of the patent application of the present utility model should be included in the scope of the present utility model.

Claims

1. An adaptive obstacle-crossing cooperative propulsion mechanism, characterized in that, The device includes a mounting base, on the outer periphery of which are provided multiple walking components. Each walking component includes two guard plates, with a load-bearing plate fixed between them. A first wheel rod is provided on the left and right sides of the load-bearing plate, the end of which is connected to a bearing on the guard plate. One of the first wheel rods is driven by a first drive motor. Two drive wheels, arranged front and rear, are fixed on the first wheel rod. A second wheel rod is provided below the load-bearing plate, the end of which is fixedly connected to the guard plate. A support wheel is connected to a bearing on the second wheel rod. Multiple connecting rods are provided above the load-bearing plate, and the ends of the connecting rods are fixedly connected to the guard plate; a fixing rod is fixed at both the front and rear ends of the bottom of the connecting rod, and the lower end of the fixing rod is fixedly connected to the load-bearing plate; a sliding plate is sleeved on the fixing rod, and the sliding plate is connected to the load-bearing plate by a spring; wheel frames are fixed at both the front and rear ends of the top of the sliding plate, and the wheel frames have grooves for the fixing rods to pass through; a load-bearing wheel is installed between the upper ends of the two wheel frames; The walking assembly also includes tracks that pass around the drive wheel, track roller, and road wheel. When an obstacle is encountered, the tracks deform toward the load-bearing plate, thereby driving the road wheel and wheel frame to move toward the load-bearing plate, and then the springs contract to overcome the obstacle.

2. The adaptive obstacle-crossing cooperative propulsion mechanism according to claim 1, characterized in that, The mounting base includes a mounting plate and a rear seat located to the right of the mounting plate. The right side of the mounting plate and the left side of the rear seat are both fixed with a fixed seat. The two fixed seats are connected by a first connecting shaft. Multiple sets of lifting components are arranged between the two fixed seats. The number of lifting components is the same as the number of traveling components. The lifting assembly includes a screw, the left end of which is connected to a mounting plate via a bearing seat, and the right end of which passes through a rear seat and is connected to a bearing in the rear seat. Fixed plates are fixed between the mounting plate and the rear seat, and on both the front and rear sides of the screw. A first movable shaft is screwed onto the screw, and both ends of the first movable shaft have first limiting shafts. A first limiting channel for sliding of the first limiting shaft is provided on the fixed plate. A lifting plate is provided above the fixed plate, and the upper end of the lifting plate is fixedly connected to a guard plate. A fixed shaft is provided between the two lifting plates, and the end of the fixed shaft penetrates the lifting plate and is fixedly connected to it. A second movable shaft is also provided between the two lifting plates, and both ends of the second movable shaft have second limiting shafts. A second limiting channel for sliding of the second limiting shaft is provided on the lifting plate. The end of the first limiting shaft is hinged to one end of the first swing plate, and the other end of the first swing plate is hinged to the end of the fixed shaft; the end of the second limiting shaft is hinged to one end of the second swing plate, and the other end of the second swing plate is hinged to the fixed plate; a second connecting shaft is provided above the screw, and the middle parts of the first swing plate and the second swing plate are both hinged to the second connecting shaft. All screws are driven to rotate by a single drive assembly.

3. The adaptive obstacle-crossing cooperative propulsion mechanism according to claim 2, characterized in that, The drive assembly includes a protective sleeve fixed to the right side of the rear seat, a protective shell fixed to the right end of the protective sleeve, a mounting plate disposed inside the protective shell, a screw connected to the mounting plate bearing, and planetary gears fixed on the screw between the mounting plate and the rear seat. All planetary gears mesh with a sun gear, which is driven by a second drive motor.

4. The adaptive obstacle-crossing cooperative propulsion mechanism according to claim 3, characterized in that, The second drive motor is fixed on the inner wall of the protective shell. The output shaft of the second drive motor penetrates the mounting plate and is connected to the bearing of the mounting plate. The end of the output shaft of the second drive motor is fixedly connected to the sun gear.

5. The adaptive obstacle-crossing cooperative propulsion mechanism according to claim 3 or 4, characterized in that, The inner wall bearing of the protective sleeve is connected to a gear ring, which meshes with a planetary gear.

6. The adaptive obstacle-crossing cooperative propulsion mechanism according to claim 1, characterized in that, The first drive motor is fixed to the guard plate, and the output shaft of the first drive motor is connected to the first wheel rod.

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