Multi-degree of freedom lifting arm for a pipe robot

Abstract

The utility model discloses a kind of multi-degree-of-freedom lifting arms for pipeline robot, it is arranged between robot chassis and cleaning device, including base, action lever and support pole group, the base is set on robot chassis, the action lever and support pole group are set on base, the top of the action lever and support pole group is connected on cleaning device;The base includes carousel and sliding assembly, the carousel is movably set on robot chassis, the sliding assembly is set on carousel, the bottom of the action lever is movably set on carousel, the bottom of the support pole group is movably set on sliding assembly.The utility model is lifted to cleaning device by the cooperation of action lever and support pole group, with greater action range, so that the cleaning range of cleaning device increases, and then it can be applicable to larger pipe diameter pipeline cleaning work, and with the advantages of convenient adjustment, good stability.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a multi-degree-of-freedom lifting arm for pipeline robots. Background Technology

[0002] Municipal construction requires the cleaning and repair of old municipal pipelines. For pipes with a diameter less than DN600mm, only pipeline robots can be used. To extend the robot's operating range to pipes with diameters between DN200-600mm, long-arm pipeline robots are typically used. These robots cover a larger area through their robotic arm movements, allowing them to be applied to pipes of varying diameters. However, long-arm pipeline robots are prone to instability and tipping, limiting their operational range. Therefore, cleaning larger diameter pipes requires larger robots or manual cleaning, resulting in high costs and safety hazards. This invention provides a multi-degree-of-freedom lifting arm for pipeline robots to solve these problems. Utility Model Content

[0003] This invention provides a multi-degree-of-freedom lifting arm for pipeline robots. By coordinating rotation and lifting actions, it expands the working range, making the pipeline robot more applicable and reducing construction costs.

[0004] The technical solution adopted by this utility model to solve the above-mentioned technical problems is: A multi-degree-of-freedom lifting arm for a pipeline robot is disposed between the robot chassis and a cleaning device, and includes a base, a actuator rod and a support rod assembly. The base is disposed on the robot chassis, and the actuator rod and the support rod assembly are disposed on the base. The top ends of the actuator rod and the support rod assembly are both connected to the cleaning device. The base includes a turntable and a sliding assembly. The turntable is movably mounted on the robot chassis, the sliding assembly is mounted on the turntable, the bottom end of the action rod is movably mounted on the turntable, and the bottom end of the support rod assembly is movably mounted on the sliding assembly.

[0005] Furthermore, the support rod assembly includes an upper support rod, a lower support rod, and a guide rod. The upper and lower ends of the upper and lower support rods are respectively movably mounted on the cleaning device and the sliding assembly. The top end of the guide rod is connected to the top end of the upper support rod, and the lower end of the guide rod is movably connected to the lower support rod.

[0006] Furthermore, the lower support rod is provided with a limiting groove, and the lower end of the guide rod is disposed in the limiting groove.

[0007] Furthermore, the sliding assembly includes a slide rail and a slider. The slide rail is fixedly mounted on the turntable, the slider is mounted on the slide rail, and the bottom ends of the upper support rod and the lower support rod are both connected to the slider.

[0008] Furthermore, the actuating rod is located on the front side of the support rod assembly.

[0009] Furthermore, the support rods are arranged in pairs, with the two support rod groups symmetrically arranged on both sides of the cleaning device.

[0010] Preferably, the actuating lever is a lifting electric cylinder.

[0011] The beneficial effects of this utility model are as follows: The cleaning device is lifted by the cooperation of the actuating rod and the support rod assembly, which has a larger range of motion, thus increasing the cleaning range of the cleaning device. This makes it suitable for cleaning pipes with larger diameters, and it also has the advantages of convenient adjustment and good stability. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the usage state of this utility model; Figure 2 This is a side view schematic diagram of the utility model in use; Figure 3 This is a schematic diagram of the overall structure of this utility model; Figure 4 This is a schematic diagram of the base structure of this utility model; Figure 5 This is a schematic diagram showing the configuration of the support rod assembly of this utility model; Figure 6 This is a schematic diagram of the support rod assembly structure of this utility model.

[0013] Reference numerals: 1. Base; 11. Turntable; 12. Sliding assembly; 121. Slide rail; 122. Slider; 2. Actuating rod; 3. Support rod assembly; 31. Upper support rod; 32. Lower support rod; 321. Limiting groove; 33. Guide connecting rod. Detailed Implementation

[0014] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0015] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0016] like Figure 1 , 2 As shown in Figure 3, a multi-degree-of-freedom lifting arm for a pipeline robot is disposed between the robot chassis and the cleaning device. It includes a base 1, an actuator rod 2, and a support rod assembly 3. The base 1 is disposed on the robot chassis, serving as the mounting base for the actuator rod 2 and the support rod assembly 3, and providing rotation functionality. The actuator rod 2 and the support rod assembly 3 are disposed on the base 1, and their top ends are connected to the cleaning device. The actuator rod 2 acts as the active rod, actively performing extension and retraction movements, while the support rod assembly 3 acts as the passive rod, cooperating with the actuator rod 2 in its movements. Through the coordinated movements of the actuator rod 2 and the support rod assembly 3, the lifting and retraction of the lifting arm are achieved.

[0017] The ends of the actuator rod 2 and the support rod assembly 3 of this utility model are movably connected. When the lifting arm is raised or retracted, the actuator rod 2 extends or retracts, and the support rod assembly 3 is also subjected to force and moves in coordination with the actuator rod 2, raising or retracting the cleaning device upward or downward. When raised, the working range of the cleaning device can be applied to pipes with a diameter of up to DN800mm. When retracted, the working range of the cleaning device can be applied to pipes with a diameter of up to DN200mm. Compared with existing long-arm integrated pipe robots, the working range is larger, and the movement of the lifting arm is more flexible during operation.

[0018] like Figure 3 , 4 As shown, the base 1 includes a turntable 11 and a sliding assembly 12. The turntable 11 is movably mounted on the robot chassis and can rotate 360°. The sliding assembly 12 is mounted on the turntable 11. The bottom end of the action rod 2 is movably mounted on the turntable 11. The bottom end of the support rod group 3 is movably mounted on the sliding assembly 12.

[0019] Conventional long-arm pipeline robots can reach various positions on the inner wall of the pipeline after rotating to a certain angle. The lifting mechanism of the actuator 2 and support rod group 3 only expands the vertical movement range of the lifting arm. However, due to the short length of the cleaning device, it cannot effectively reach the pipe walls on both sides, which leads to a reduction in the working radius. This utility model, by setting up a turntable 11, changes the direction of the lifting arm, which makes up for the short length of the cleaning device. At the same time, it retains the advantage of the large movement range of the actuator 2 and support rod group 3, so that the lifting arm has a large movement range in the circumferential direction of the pipe diameter, thus meeting the cleaning work of pipes with larger diameters.

[0020] like Figure 4 As shown, the sliding assembly 12 further includes a slide rail 121 and a slider 122. The slide rail 121 is fixedly mounted on the turntable 11, and the slider 122 is mounted on the slide rail 121. The bottom ends of the upper support rod 31 and the lower support rod 32 are both connected to the slider 122.

[0021] The sliding component 12 is designed to allow the support rod assembly 3 to coordinate with the movement of the actuating rod 2, ensuring that the freedom of the support rod assembly 3 is sufficient to cooperate with the actuating rod 2. It also allows for small-range pitching movements of the cleaning device. When the front end of the cleaning device needs to be lifted upwards, the slider 122 moves backwards, pulling the support rod assembly 3 backwards, causing the cleaning device to lift upwards around the top of the actuating rod 2. Conversely, when the front end of the cleaning device needs to be lowered downwards, the opposite operation is used. Simultaneously, it controls the lifting angle of the lifting arm, ensuring structural stability and preventing overturning.

[0022] Preferably, two slide rails 121 are provided, arranged along the front-to-back direction.

[0023] like Figure 5 , 6 As shown, the support rod assembly 3 further includes an upper support rod 31, a lower support rod 32, and a guide rod 33. The upper and lower ends of the upper support rod 31 and the lower support rod 32 are respectively movably mounted on the cleaning device and the sliding assembly 12. The top end of the guide rod 33 is connected to the top end of the upper support rod 31, and the lower end of the guide rod 33 is movably connected to the lower support rod 32. The lower support rod 32 is provided with a limiting groove 321, and the lower end of the guide rod 33 is disposed in the limiting groove 321. The guide rod 33 and the limiting groove 321 serve as physical limits, and the range of motion of the guide rod 33 is the length of the limiting groove 321, thereby limiting the range of motion of the action rod 2 and the support rod assembly 3.

[0024] Furthermore, the actuating rod 2 is located on the front side of the support rod assembly 3.

[0025] Furthermore, the support rod groups 3 are arranged in pairs, with the two support rod groups 3 symmetrically arranged on both sides of the cleaning device, and the bottom ends of the two support rod groups 3 are respectively arranged on both sides of the slider 122.

[0026] Preferably, the actuating lever 2 is a lifting electric cylinder.

[0027] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A multi-degree-of-freedom lifting arm for a pipeline robot, disposed between the robot chassis and the cleaning device, characterized in that: It includes a base (1), an action rod (2) and a support rod group (3). The base (1) is set on the robot chassis, and the action rod (2) and the support rod group (3) are set on the base (1). The top ends of the action rod (2) and the support rod group (3) are both connected to the cleaning device. The base (1) includes a turntable (11) and a sliding assembly (12). The turntable (11) is movably mounted on the robot chassis, the sliding assembly (12) is mounted on the turntable (11), the bottom end of the action rod (2) is movably mounted on the turntable (11), and the bottom end of the support rod group (3) is movably mounted on the sliding assembly (12).

2. The multi-degree-of-freedom lifting arm for a pipeline robot according to claim 1, characterized in that: The support rod assembly (3) includes an upper support rod (31), a lower support rod (32), and a guide rod (33). The upper and lower ends of the upper support rod (31) and the lower support rod (32) are respectively movably mounted on the cleaning device and the sliding assembly (12). The top end of the guide rod (33) is connected to the top end of the upper support rod (31), and the lower end of the guide rod (33) is movably connected to the lower support rod (32).

3. A multi-degree-of-freedom lifting arm for a pipeline robot according to claim 2, characterized in that: The lower support rod (32) is provided with a limiting groove (321), and the lower end of the guide rod (33) is set in the limiting groove (321).

4. A multi-degree-of-freedom lifting arm for a pipeline robot according to claim 2, characterized in that: The sliding assembly (12) includes a slide rail (121) and a slider (122). The slide rail (121) is fixedly mounted on the turntable (11), and the slider (122) is mounted on the slide rail (121). The bottom ends of the upper support rod (31) and the lower support rod (32) are both connected to the slider (122).

5. A multi-degree-of-freedom lifting arm for a pipeline robot according to claim 1, characterized in that: The actuating rod (2) is located on the front side of the support rod assembly (3).

6. A multi-degree-of-freedom lifting arm for a pipeline robot according to claim 1, characterized in that: The support rod groups (3) are arranged in pairs, with the two support rod groups (3) symmetrically arranged on both sides of the cleaning device.

7. A multi-degree-of-freedom lifting arm for a pipeline robot according to claim 1, characterized in that: The actuating lever (2) is a lifting electric cylinder.

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