阅读说明：本技术 管道机器人装置 (Pipeline robot device ) 是由 宋有聚 熊家利 于 2019-12-11 设计创作，主要内容包括：本申请公开一种管道机器人装置。管道机器人装置包括装置主体、至少两个伸缩杆以及与伸缩杆数量一致的行走轮。每一个伸缩杆的一端连接于装置主体,每一个伸缩杆的另一端连接一个行走轮,伸缩杆的长度可调。本申请提供的管道机器人装置能够解决现有管道机器人难以适应不同口径的管道的问题。(The application discloses pipeline robot device. The pipeline robot device comprises a device main body, at least two telescopic rods and walking wheels with the same number as the telescopic rods. One end of each telescopic rod is connected to the device main body, the other end of each telescopic rod is connected with a walking wheel, and the length of each telescopic rod is adjustable. The application provides a pipeline robot device can solve the problem that current pipeline robot is difficult to adapt to the pipeline of different bores.)

1. A pipeline robotic device, comprising:

a device main body;

at least two telescopic rods; and

a traveling wheel;

one end of each telescopic rod is connected to the device main body, and the other end of each telescopic rod is connected with one travelling wheel;

the length of the telescopic rod is adjustable.

2. The pipeline robotic device of claim 1,

the telescopic link includes first member, second member and retaining member, the one end of first member connect in the device main part, the one end of second member along axial slidable cup joint in first member, the other end of second member is connected the walking wheel, the retaining member be used for with second member unblock ground locking in first member.

3. The pipeline robotic device of claim 2,

a telescopic chamber is formed inside the first rod piece and penetrates through one end of the first rod piece, a through hole is formed in the peripheral wall of the first rod piece, and a plurality of screw holes distributed at intervals are formed in the second rod piece along the axis direction of the second rod piece;

the second rod piece is arranged in the telescopic cavity and is in sliding fit with the first rod piece, the locking piece is a bolt, and the bolt penetrates through the through hole and is matched with the plurality of screw holes alternatively.

4. The pipeline robotic device of claim 1,

the telescopic rod is movably connected with the device main body;

the telescoping pole has a first position for stowing and a second position for deploying for normal operation.

5. The pipeline robotic device of claim 4,

the number of the telescopic rods is four;

the pipeline robot device also comprises two receiving tracks which are parallel to each other and are respectively arranged at two ends of the device main body;

each two telescopic rods correspond to one accommodating track, and one end of each telescopic rod is in sliding fit with the corresponding accommodating track;

the two telescopic rods corresponding to the same accommodating track are far away from each other and are respectively positioned at the two ends of the accommodating track, and the telescopic rods are in the second position;

the two telescopic rods corresponding to the same storage rails are close to each other and are located in the middle of the storage rails, and the telescopic rods are located at the first positions.

6. The pipeline robotic device of claim 5,

the wall surface of the telescopic rod is provided with a sliding block and a locking piece;

two first positioning holes and two second positioning holes are arranged near each containing track, the two first positioning holes are respectively close to two ends of each containing track, and the two second positioning holes are positioned between the two first positioning holes;

the sliding block of the telescopic rod is slidably arranged in the accommodating track;

in the working state, the locking piece of the telescopic rod is matched with the first positioning hole; in the storage state, the locking piece of the telescopic rod is matched with the second positioning hole.

7. The pipeline robotic device of claim 6,

the sliding block is a conical sliding block and can be rotatably matched with the accommodating track;

when the locking piece of the telescopic rod is matched with the first positioning hole, the telescopic rod and the corresponding accommodating track form an obtuse angle;

when the locking piece of the telescopic rod is matched with the second positioning hole, the telescopic rod and the corresponding accommodating track form a right angle.

8. The pipeline robotic device of claim 6,

the locking piece comprises a locking pin penetrating through the telescopic rod and a spring positioned between the locking pin and the telescopic rod.

9. The pipeline robotic device of claim 6,

the pipeline robot device further comprises an extension spring, wherein the extension spring is positioned in the accommodating track, and two ends of the extension spring are respectively connected with two sliding blocks positioned in the accommodating track.

10. The pipeline robotic device of claim 1,

the traveling wheel is a hub motor.

Technical Field

The application relates to the technical field of robots, in particular to a pipeline robot device.

Background

The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer.

According to relevant detection standard, when pipeline robot detected, its camera had to rise to the pipeline central point, just can be better more comprehensive detection pipeline internal conditions, however, current pipeline robot can not adapt to the pipeline of different bores because of the reason of self size model, leads to the camera of pipeline robot can't be in the central point of pipeline.

Disclosure of Invention

The application provides a pipeline robot device, and pipeline robot device can solve the problem that current pipeline robot is difficult to adapt to the pipeline of different bores.

The application provides a pipeline robot device, pipeline robot device include device main part, two at least telescopic links and with the walking wheel of telescopic link quantity unanimity. One end of each telescopic rod is connected to the device main body, the other end of each telescopic rod is connected with a walking wheel, and the length of each telescopic rod is adjustable.

In the above-mentioned scheme, a pipeline robot device is provided, and pipeline robot device includes device main part, adjustable length's telescopic link and walking wheel. The device main part passes through the telescopic link with the walking wheel and is connected, when needs use pipeline robot device, according to the bore of pipeline, adjusts the length of telescopic link, then puts into the pipeline with the device main part for the walking wheel is contradicted in the inner wall of pipeline, thereby can walk in the pipeline. Through the length adjustment of at least two telescopic rods, can be so that the device main part is in the center of pipeline to can adapt to the pipeline of different bores. In a similar way, the device main part can have the camera, according to the pipeline of difference, adjusts the length of telescopic link for the device main part is in the pipeline center, and when the device main part was in the pipeline center, the camera was then in the pipeline center equally, so need not adjust the height of camera.

Optionally, in a possible implementation manner, the telescopic rod includes a first rod, a second rod and a locking member, one end of the first rod is connected to the device main body, one end of the second rod is axially slidably sleeved on the first rod, the other end of the second rod is connected to the traveling wheel, and the locking member is used for locking the second rod to the first rod in an unlockable manner.

Optionally, in a possible implementation manner, a telescopic chamber is formed inside the first rod piece, the telescopic chamber penetrates through one end of the first rod piece, a through hole is formed in the peripheral wall of the first rod piece, and the second rod piece is provided with a plurality of screw holes distributed at intervals along the axial direction of the second rod piece;

the second rod piece is placed in the telescopic cavity and is in sliding fit with the first rod piece, the locking piece is a bolt, and the bolt penetrates through the through hole and is matched with the screw holes alternatively.

Optionally, in one possible embodiment, the telescoping rod is movably connected to the device body;

the telescopic rod has a first position for storage and a second position for deployment.

Optionally, in a possible implementation manner, the number of the telescopic rods is four;

the pipeline robot device also comprises two receiving tracks which are parallel to each other and are respectively arranged at the two ends of the device main body;

each two telescopic rods correspond to one accommodating track, and one end of each telescopic rod is in sliding fit with the corresponding accommodating track;

the two telescopic rods corresponding to the same accommodating track are far away from each other and are respectively positioned at the two ends of the accommodating track, and the telescopic rods are in a second position;

two telescopic links corresponding to the same accommodating track are close to each other and are both positioned in the middle of the accommodating track, and the telescopic links are in a state of a first position.

Optionally, in a possible implementation, the wall surface of the telescopic rod is provided with a sliding block and a locking piece;

two first positioning holes and two second positioning holes are arranged near each containing track, the two first positioning holes are respectively close to two ends of each containing track, and the two second positioning holes are positioned between the two first positioning holes;

the sliding block of the telescopic rod is slidably arranged in the accommodating track;

in a working state, the locking piece of the telescopic rod is matched with the first positioning hole; in the storage state, the locking piece of the telescopic rod is matched with the second positioning hole.

Optionally, in a possible implementation, the slider is a conical slider, which is rotatably engaged with the receiving track;

when the locking piece of the telescopic rod is matched with the first positioning hole, the telescopic rod and the corresponding accommodating track form an obtuse angle;

when the locking piece of telescopic link and second locating hole cooperation, the telescopic link is at right angle with the track of accomodating that corresponds.

Optionally, in one possible implementation, the locking member comprises a locking pin threaded through the telescoping rod and a spring located between the locking pin and the telescoping rod.

Optionally, in a possible implementation manner, the pipeline robot device further includes an extension spring, the extension spring is located in the receiving track, and two ends of the extension spring are respectively connected to two sliding blocks located in the receiving track.

Optionally, in one possible implementation, the road wheel is a hub motor.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a top view of the pipe robot apparatus of the present embodiment;

FIG. 2 is a bottom view of the pipe robot apparatus of this embodiment;

FIG. 3 is a schematic view of the pipe robot apparatus and the pipe in this embodiment;

FIG. 4 is a schematic structural view of the extendable rod of the present embodiment;

FIG. 5 is a schematic view of the pipeline robot apparatus in a storage state in the present embodiment;

fig. 6 is a bottom view of the apparatus main body in this embodiment.

Icon: 10-a pipeline robotic device; 10 a-a pipe; 11-a device body; 12-a telescopic rod; 12 a-a slider; 12 b-a locking element; 13-a travelling wheel; 14-a receiving track; 21-a locking pin; 22-a spring; 31-an extension spring; 81-a first locating hole; 82-a second positioning hole; 120-a first rod; 121-a second rod; 122-a retaining member; 1210-screw hole.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The technical solution in the present application will be described below with reference to the accompanying drawings.

The present embodiment provides a pipeline robot device 10, and the pipeline robot device 10 can solve the problem that the existing pipeline robot is difficult to adapt to pipelines with different calibers.

Referring to fig. 1, 2 and 3, fig. 1 shows a plan view of the pipe robot apparatus 10 in the present embodiment, fig. 2 shows a bottom view of the pipe robot in the present embodiment, and fig. 3 shows schematic structures of the pipe robot apparatus 10 and the pipe 10 a.

The pipe robot apparatus 10 includes an apparatus main body 11, at least two telescopic bars 12, and traveling wheels 13 in accordance with the number of the telescopic bars 12. One end of each telescopic rod 12 is connected to the device main body 11, the other end of each telescopic rod 12 is connected to a traveling wheel 13, and the length of each telescopic rod 12 is adjustable.

It should be noted that, in the present embodiment, the number of the telescopic rods 12 is four. In other embodiments, the number of telescoping rods 12 is not limited.

In this embodiment, road wheels 13 are hub motors.

In the above embodiment, there is provided a pipe robot apparatus 10, and the pipe robot apparatus 10 includes an apparatus main body 11, a telescopic bar 12 whose length is adjustable, and traveling wheels 13. Device main part 11 is connected through telescopic link 12 with walking wheel 13, when needs use pipeline robot device 10, according to the bore of pipeline, adjusts the length of telescopic link 12, then puts into pipeline 10a with device main part 11 for walking wheel 13 conflicts in the inner wall of pipeline 10a, thereby can walk in pipeline 10a (as figure 3). Through the length adjustment of at least two telescopic links 12, can make device main part 11 be in the center of pipeline to can adapt to the pipeline of different bores. Similarly, the device main body 11 can have a camera, and the length of the telescopic rod 12 is adjusted according to different pipelines, so that the device main body 11 is located at the center of the pipeline, and when the device main body 11 is located at the center of the pipeline, the camera is also located at the center of the pipeline, and therefore the height of the camera does not need to be adjusted.

Referring to fig. 4, fig. 4 shows a specific structure of the telescopic rod 12 in the present embodiment.

The telescopic rod 12 comprises a first rod piece 120, a second rod piece 121 and a locking piece 122, one end of the first rod piece 120 is connected to the device main body 11, one end of the second rod piece 121 is sleeved on the first rod piece 120 in an axially slidable mode, the other end of the second rod piece 121 is connected with the traveling wheel 13, and the locking piece 122 is used for locking the second rod piece 121 on the first rod piece 120 in an unlocking mode.

The first rod 120 and the second rod 121 can slide relative to each other, and the first rod 120 and the second rod 121 are in a sleeved connection, so that when the first rod 120 and the second rod 121 slide relative to each other, the total length of the first rod 120 and the second rod 121 is changed, and the length of the telescopic rod 12 is changed. In order to keep the relative positions of the first rod 120 and the second rod 121, a locking member 122 is provided, and the second rod 121 is locked on the first rod 120 through the locking member 122, so that the length of the telescopic rod 12 is fixed, and when the length needs to be adjusted, the locking member 122 needs to be unlocked first, so that the first rod 120 and the second rod 121 can slide relatively.

In a possible implementation manner, a telescopic chamber is formed inside the first rod 120, and the telescopic chamber penetrates through one end of the first rod 120, a through hole is formed in a peripheral wall of the first rod 120, and a plurality of screw holes 1210 distributed at intervals are formed in the second rod 121 along an axial direction thereof.

The second rod 121 is disposed in the telescopic chamber and slidably engaged with the first rod 120, and the locking member 122 is a bolt passing through the through hole and selectively engaged with the plurality of screw holes 1210.

It should be noted that, since the second rod 121 is placed in the telescopic cavity of the first rod 120, the second rod 121 is radially abutted by the first rod 120 and can only slide along the axial direction, and the second rod 121 can be locked with respect to the first rod 120 by fitting a bolt through a screw hole 1210 formed in the second rod 121 selected by the first rod 120, and since the second rod is radially abutted, the telescopic rod 12 does not affect the stability of the traveling wheel 13, and the robot device 10 can stably travel in the pipeline under the condition that the length of the telescopic rod 12 is adjustable.

It should be noted that the distance between the screw holes 1210 of the second rod member 121 can be determined according to the increasing or decreasing value of the caliber of the pipeline, so that the length adjustment of the telescopic rod 12 is effective.

In other embodiments, the telescopic rod 12 further includes other rods capable of being extended and retracted, i.e., the number of rods in the telescopic rod 12 is not limited, and for example, the telescopic rod further includes a third rod, a fourth rod, etc., which are extended and retracted and locked in the same manner as the first rod 120 and the second rod 121.

Wherein, optionally, in a possible implementation, the telescopic rod 12 is movably connected with the device body 11, so that the telescopic rod 12 has a first position for storage and a second position for deployment for normal operation.

That is, the telescopic link 12 has a storage state and an operating state by the change of the position relative to the apparatus main body 11 of the telescopic link 12.

Referring to fig. 5 and 6, fig. 5 shows a schematic structure of the pipe robot apparatus 10 in the storage state in the present embodiment, and fig. 6 shows a bottom view of the apparatus main body 11 in the present embodiment.

The pipe robot 10 further includes two storage rails 14, and the two storage rails 14 are parallel to each other and are respectively provided at both ends of the apparatus main body 11.

Every two telescopic rods 12 correspond to one storage rail 14, and one end of each telescopic rod 12 is in sliding fit with the corresponding storage rail 14.

The pipe robot 10 has an operating state and a storage state:

in the working state (see fig. 1), that is, the state when the telescopic rod is in the second position is: the two telescopic rods 12 corresponding to the same accommodating rail 14 are far away from each other and are respectively positioned at two ends of the accommodating rail 14.

In the storage state (see fig. 5), i.e. the state when the telescopic rod is in the first position is: the two telescopic rods 12 corresponding to the same storage rail 14 are close to each other and are both located in the middle of the storage rail 14.

In order to facilitate storage, the present embodiment provides the technical solutions described above. When needs are accomodate, can make telescopic link 12 slide at accomodating track 14 for two telescopic links 12 are close to each other, thereby have reduced the occupation of land space of pipeline robot device 10, simultaneously, the length of telescopic link 12 is adjusted to the accessible, further reduces the occupation of land space of pipeline robot device 10, thereby is convenient for accomodate.

In a possible embodiment, as shown in fig. 4, the wall of the telescopic rod 12 is provided with a slider 12a and a locking element 12 b. Referring to fig. 5, two first positioning holes 81 and two second positioning holes 82 are provided near each of the storage rails 14, the two first positioning holes 81 are respectively close to both ends of the storage rail 14, and the two second positioning holes 82 are located between the two first positioning holes 81.

Wherein the slider 12a and the locking member 12b are located at the first pin 120.

The slider 12a of the telescopic rod 12 is slidably disposed in the receiving track 14 such that the telescopic rod 12 can slide relative to the receiving track 14.

In the working state, the locking member 12b of the telescopic rod 12 is engaged with the first positioning hole 81 (see fig. 2). In the storage state, the locking member 12b of the telescopic rod 12 is engaged with the second positioning hole 82 (see fig. 5).

The slider 12a is a conical slider which is rotatably engaged with the storage rail 14, and the conical slider 12a rotates in the storage rail 14 with its axis as a rotation axis.

When the locking piece 12b of the telescopic bar 12 is engaged with the first positioning hole 81, the telescopic bar 12 forms an obtuse angle with the corresponding receiving rail 14 (see fig. 2).

When the locking member 12b of the telescopic rod 12 is engaged with the second positioning hole 82, the telescopic rod 12 is at a right angle to the corresponding receiving rail 14 (see fig. 5).

Meanwhile, it should be noted that, in other specific embodiments, the number of the first positioning holes 81 may be multiple, so that when the locking piece 12b of the telescopic rod 12 is alternatively matched with one of the first positioning holes 81, the telescopic rod 12 and the corresponding receiving track 14 form different angles, thereby satisfying pipelines with different calibers.

Meanwhile, it should be noted that in other specific embodiments, the technical effect of the angle adjustment of the telescopic rod 12 relative to the device body 11 can be achieved through other technical solutions that can be thought of by those skilled in the art.

Referring to fig. 4, the locking member 12b includes a locking pin 21 inserted through the telescopic rod 12 and a spring 22 disposed between the locking pin 21 and the telescopic rod 12.

When an external force is not applied to the lock pin 21, the lock pin 21 abuts against the first positioning hole 81 or the second positioning hole 82 by the elastic force of the spring 22. If the position of the telescopic rod 12 needs to be changed, the locking pin 21 needs to be pulled outwards to overcome the elastic force of the spring 22, so that the positioning pin can be separated from the first positioning hole 81 or the second positioning hole 82.

Meanwhile, because the locking pin 21 is connected to the telescopic rod 12 through the spring 22, the locking pin 21 has an integral structure so as to prevent the locking pin 21 from being lost, and simultaneously, because of the spring 22, the locking stability of the locking pin 21 is ensured.

In one possible implementation, the pipe robot 10 further includes an extension spring 31, and the extension spring 31 is located in the receiving track 14, and two ends of the extension spring 31 are respectively connected to two sliders 12a located in the receiving track 14.

Referring to fig. 2 and 5, by providing the extension spring 31, when the locking pin 21 is disengaged from the first positioning hole 81, the two telescopic rods 12 can be pulled inward by the elastic force, so as to conveniently make the two telescopic rods 12 located in the same storage track 14 slide rapidly, thereby being in the storage state rapidly.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.