A pipeline robot adaptive guiding support structure

Abstract

The utility model relates to pipeline robot technical field especially is a kind of pipeline robot self-adapting guiding support structure, including pipeline robot ontology, the pipeline robot ontology both ends are fixedly connected with multiple fixed frame, multiple the fixed frame inside are rotatably connected with support rod, the support rod outer periphery slidingly connected with extension rod, the extension rod other end is installed with wheel, the pipeline robot ontology both ends are provided with angle adjusting assembly, the extension rod inside is provided with length adjusting assembly;The angle adjusting assembly includes bidirectional screw rod, the bidirectional screw rod rotationally connects in the pipeline robot ontology both ends.The utility model, by starting motor can drive bidirectional screw rod rotation to adjust angle, make the wheel of extension rod end portion adhere to pipeline inner wall, and spring one can buffer the impact of pipeline inner wall protrusion to support structure, avoid rigid collision damage component.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robot technology, and in particular to an adaptive guiding support structure for pipeline robots. Background Technology

[0002] Pipeline robots are automated devices that can penetrate deep into pipelines that are difficult for humans to reach, and perform tasks such as inspection, maintenance, and cleaning. They are widely used in pipeline operation and maintenance in municipal, chemical and other fields. Because the inner diameter of pipelines often varies and the inner wall may have irregular structures such as protrusions and pits, if the robot lacks a support structure, it is prone to problems such as deviation, jamming or even tipping over, and cannot complete the work stably. Therefore, a support structure is required to adapt to the pipe diameter and ensure the guidance and stability of movement.

[0003] Existing support structures for pipeline robots can provide good support, but there are still some shortcomings in their use. Existing support structures are difficult to adapt quickly to pipes with different inner diameters and lack buffer components. When encountering protrusions on the inner wall of the pipe, rigid collisions are likely to occur, which cannot meet the requirements for efficient and stable operation in complex pipeline environments. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing an adaptive guiding support structure for pipeline robots.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an adaptive guiding support structure for a pipeline robot, comprising a pipeline robot body, wherein multiple fixed frames are fixedly connected to both ends of the pipeline robot body, and a support rod is rotatably connected inside each of the multiple fixed frames, an extension rod is slidably connected to the outer periphery of the support rod, and a wheel is installed at the other end of the extension rod; angle adjustment components are provided at both ends of the pipeline robot body, and length adjustment components are provided inside the extension rod.

[0006] The angle adjustment component includes a bidirectional threaded rod, which is rotatably connected to both ends of the pipeline robot body. Two moving blocks are threadedly connected to the outer circumference of the bidirectional threaded rod. A spring is fixedly connected to one side of each of the two moving blocks. A buffer block is fixedly connected to the other end of each of the two springs. Multiple connecting rods are rotatably connected to the outer circumference of the buffer block. The other ends of the multiple connecting rods are rotatably connected to the outer circumference of multiple support rods. A drive component is provided on the left side of the pipeline robot body.

[0007] further:

[0008] The length adjustment component includes two locking blocks, both of which are slidably connected inside the extension rod. Each of the two locking blocks is fixedly connected to a pull rod on one side away from each other. Each of the two pull rods is fitted with a spring. The support rod has multiple evenly distributed slots on its outer periphery, and the two locking blocks are respectively engaged in the two corresponding slots.

[0009] further:

[0010] The drive assembly includes two sets of fixed rods, which are respectively fixedly connected to both ends of the pipeline robot body. Support blocks are respectively fixedly connected to the other ends of the two sets of fixed rods. A motor is installed on the left side of the support block, and the output end of the motor is fixedly connected to the left side of the bidirectional threaded rod.

[0011] further:

[0012] The two ends of the bidirectional threaded rod are respectively rotatably connected to the two support blocks on opposite sides.

[0013] further:

[0014] The extension rod has two limiting grooves inside, and the two pull rods are slidably connected inside the two limiting grooves respectively. Each of the two pull rods is fixedly connected to a limiting block on one side away from each other, and each of the two limiting blocks is fixedly connected to a handle on the other end.

[0015] further:

[0016] Two sliders are fixedly connected to the outer periphery of the support rod, and two grooves are opened inside the extension rod, with the two sliders slidably connected inside the two grooves respectively.

[0017] This utility model has the following beneficial effects:

[0018] 1. Compared with existing technologies, this adaptive guiding support structure for pipeline robots can drive a bidirectional threaded rod to rotate by starting a motor. The rotation of the bidirectional threaded rod pulls the connecting rod through the moving block and buffer block. The connecting rod drives the support rod to rotate to adjust the angle, so that the wheel at the end of the extension rod fits against the inner wall of the pipe. At the same time, the spring can buffer the impact of the protrusion of the inner wall of the pipe on the support structure, avoiding rigid collision damage to the components. This not only allows the robot to adapt to pipes with different inner diameters, but also improves the stability of its movement inside the pipe.

[0019] 2. Compared with the existing technology, this adaptive guide support structure for pipeline robots allows the pull rod to slide when the handle is pulled. The pull rod pulls the locking block out of the slot of the support rod. At this time, the extension rod can be pushed to slide along the support rod to adjust the support length. After the handle is released, the spring will push the locking block to re-enter the corresponding slot to achieve fixation. This structure can further adapt to pipelines with large differences in pipe diameter. Attached Figure Description

[0020] Figure 1 This is a perspective view of the present utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the bidirectional threaded rod of this utility model;

[0022] Figure 3 This is a schematic diagram of the extension rod of this utility model;

[0023] Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0024] Legend:

[0025] 1. Pipeline robot body; 2. Fixing frame; 3. Support rod; 4. Extension rod; 5. Wheel; 6. Bidirectional threaded rod; 7. Moving block; 8. Spring 1; 9. Buffer block; 10. Connecting rod; 11. Fixing rod; 12. Support block; 13. Motor; 14. Locking block; 15. Pull rod; 16. Spring 2; 17. Limiting block; 18. Handle; 19. Slot; 20. Limiting slot; 21. Slider; 22. Slide. Detailed Implementation

[0026] Reference Figures 1-4 The present invention provides an adaptive guiding support structure for a pipeline robot: including a pipeline robot body 1, multiple fixed frames 2 are fixedly connected to both ends of the pipeline robot body 1, and a support rod 3 is rotatably connected inside each of the multiple fixed frames 2. An extension rod 4 is slidably connected to the outer periphery of the support rod 3, and a wheel 5 is installed at the other end of the extension rod 4. An angle adjustment component is provided at both ends of the pipeline robot body 1, and a length adjustment component is provided inside the extension rod 4.

[0027] Specifically, the fixed frame 2 is used to connect the pipeline robot body 1 and the support rod 3 and allows the support rod 3 to rotate. The support rod 3 can slide with the extension rod 4 to adapt to the support requirements. One end of the extension rod 4 is slidably connected to the support rod 3, and the other end is used to install the wheel 5. The wheel 5 can assist the robot to move and travel on the inner wall of the pipeline.

[0028] Reference Figures 1-2The angle adjustment component includes a bidirectional threaded rod 6, which is rotatably connected to both ends of the pipe robot body 1. Two moving blocks 7 are threadedly connected to the outer circumference of the bidirectional threaded rod 6. Springs 8 are fixedly connected to the opposite side of the two moving blocks 7. Buffer blocks 9 are fixedly connected to the other ends of the two springs 8. Multiple connecting rods 10 are rotatably connected to the outer circumference of the buffer blocks 9. The other ends of the multiple connecting rods 10 are rotatably connected to the outer circumference of multiple support rods 3. A drive component is provided on the left side of the pipe robot body 1. The drive component includes two sets of fixed rods 11, which are fixedly connected to both ends of the pipe robot body 1. Support blocks 12 are fixedly connected to the other ends of the two sets of fixed rods 11. A motor 13 is installed on the left side of the left support block 12. The output end of the motor 13 is fixedly connected to the left side of the bidirectional threaded rod 6. The two ends of the bidirectional threaded rod 6 are rotatably connected to the opposite side of the two support blocks 12.

[0029] Specifically, the bidirectional threaded rod 6 can drive the moving block 7 to move by rotation, and both ends are rotatably connected to the support block 12. The moving block 7 is used to connect the spring 8 and move with the bidirectional threaded rod 6. The spring 8 can play a buffering role to reduce impact. The buffer block 9 is used to connect the spring 8 and the connecting rod 10 and allow the connecting rod 10 to rotate. The connecting rod 10 can pull or push the support rod 3 to adjust the angle. The fixed rod 11 is used to connect the pipeline robot body 1 and the support block 12. The support block 12 is used to support the motor 13 to provide rotation for the bidirectional threaded rod 6. The motor 13 can provide power to drive the bidirectional threaded rod 6 to rotate.

[0030] Reference Figures 3-4 The length adjustment component includes two locking blocks 14, both of which are slidably connected inside the extension rod 4. A pull rod 15 is fixedly connected to the opposite side of each locking block 14. A spring 16 is sleeved around the outer periphery of each pull rod 15. Multiple evenly distributed slots 19 are formed on the outer periphery of the support rod 3. The two locking blocks 14 are respectively engaged within two corresponding slots 19. Two limiting grooves 20 are formed inside the extension rod 4. The two pull rods 15 are slidably connected within the two limiting grooves 20. A limiting block 17 is fixedly connected to the opposite side of each pull rod 15. A handle 18 is fixedly connected to the other end of each limiting block 17. Two sliders 21 are fixedly connected to the outer periphery of the support rod 3. Two sliding grooves 22 are formed inside the extension rod 4. The two sliders 21 are slidably connected within the two sliding grooves 22.

[0031] Specifically, the locking block 14 can be locked in the slot 19 to fix the relative position of the extension rod 4 and the support rod 3. The extension rod 4 can slide along the support rod 3 to adjust the support length. The pull rod 15 can pull the locking block 14 out of the slot 19 and slide along the limiting groove 20. The spring 16 can push the locking block 14 back into the slot 19. The slot 19 is opened on the outer periphery of the support rod 3 for the locking block 14 to engage. The limiting groove 20 is opened inside the extension rod 4 to limit the sliding direction of the pull rod 15. The limiting block 17 connects the pull rod 15 and the handle 18 and prevents the pull rod 15 from sliding out of the extension rod 4. The handle 18 is convenient to manually pull to drive the pull rod 15 to move. The slider 21 is fixed on the outer periphery of the support rod 3 and slides along the sliding groove 22. The sliding groove 22 is opened inside the extension rod 4 for the slider 21 to slide to prevent the extension rod 4 from deviating.

[0032] Working principle: When the pipeline robot needs to adapt to pipelines with different inner diameters and ensure travel stability, the motor 13 is started. The motor 13 drives the bidirectional threaded rod 6 to rotate. The rotation of the bidirectional threaded rod 6 will cause the two moving blocks 7 connected by the outer circumferential thread to move towards or away from each other. The movement of the moving blocks 7 will push the buffer block 9 to move synchronously through the spring 8. The movement of the buffer block 9 will pull the multiple connecting rods 10 connected by the outer circumferential rotation. The connecting rods 10 will then drive the support rod 3 to rotate around the fixed frame 2 to adjust the angle. Finally, the wheel 5 at the end of the extension rod 4 will be tightly attached to the inner wall of the pipeline. At the same time, the impact generated by the bulge of the inner wall of the pipeline will be buffered by the spring 8 to avoid rigid collision of parts and ensure that the robot travels stably in the pipeline.

[0033] When the pipe diameter varies significantly and the support length needs further adjustment, the operator pulls the handle 18. The handle 18 causes the limiting block 17 and the pull rod 15 to slide along the limiting groove 20 inside the extension rod 4. The sliding of the pull rod 15 will pull the locking block 14 out of the locking groove 19 on the outer periphery of the support rod 3. At this time, the extension rod 4 can be pushed to slide along the support rod 3. The slider 21 on the support rod 3 will slide synchronously along the sliding groove 22 inside the extension rod 4 to prevent the extension rod 4 from deviating. After adjusting to the appropriate length, the handle 18 is released. The elastic force of the spring 16 will push the locking block 14 to re-engage in the corresponding locking groove 19, thereby fixing the support length and allowing the robot to adapt to a wider range of pipe diameter requirements.

[0034] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An adaptive guiding support structure for a pipeline robot, comprising a pipeline robot body (1), characterized in that: The pipeline robot body (1) has multiple fixed frames (2) fixedly connected to both ends. Each of the multiple fixed frames (2) has a support rod (3) rotatably connected inside. An extension rod (4) is slidably connected to the outer periphery of the support rod (3). A wheel (5) is installed at the other end of the extension rod (4). An angle adjustment component is provided at both ends of the pipeline robot body (1). A length adjustment component is provided inside the extension rod (4). The angle adjustment component includes a bidirectional threaded rod (6), which is rotatably connected to both ends of the pipeline robot body (1). Two moving blocks (7) are threadedly connected to the outer circumference of the bidirectional threaded rod (6). Springs (8) are fixedly connected to the two moving blocks (7) on opposite sides. Buffer blocks (9) are fixedly connected to the other ends of the two springs (8). Multiple connecting rods (10) are rotatably connected to the outer circumference of the buffer blocks (9). The other ends of the multiple connecting rods (10) are rotatably connected to the outer circumference of the multiple support rods (3). A drive component is provided on the left side of the pipeline robot body (1).

2. The adaptive guiding support structure for a pipeline robot according to claim 1, characterized in that: The length adjustment assembly includes two locking blocks (14), both of which are slidably connected inside the extension rod (4). Each of the two locking blocks (14) is fixedly connected to a pull rod (15) on one side away from each other. Each of the two pull rods (15) is fitted with a spring (16) on its outer periphery. The support rod (3) has multiple evenly distributed slots (19) on its outer periphery. The two locking blocks (14) are respectively engaged in the two corresponding slots (19).

3. The adaptive guiding support structure for a pipeline robot according to claim 1, characterized in that: The drive assembly includes two sets of fixed rods (11), which are fixedly connected to both ends of the pipeline robot body (1). The other ends of the two sets of fixed rods (11) are fixedly connected to support blocks (12). A motor (13) is installed on the left side of the support block (12), and the output end of the motor (13) is fixedly connected to the left side of the bidirectional threaded rod (6).

4. The adaptive guiding support structure for a pipeline robot according to claim 3, characterized in that: The two ends of the bidirectional threaded rod (6) are rotatably connected to the two support blocks (12) on opposite sides.

5. The adaptive guiding support structure for a pipeline robot according to claim 2, characterized in that: The extension rod (4) has two limiting grooves (20) inside. The two pull rods (15) are slidably connected inside the two limiting grooves (20). The two pull rods (15) are fixedly connected to the limiting blocks (17) on one side away from each other. The other end of the two limiting blocks (17) is fixedly connected to the handles (18).

6. The adaptive guiding support structure for a pipeline robot according to claim 2, characterized in that: The support rod (3) has two sliders (21) fixedly connected to its outer periphery. The extension rod (4) has two grooves (22) inside, and the two sliders (21) are slidably connected inside the two grooves (22).

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