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CN-121993693-A - Rotatable telescopic axisymmetric self-adaptive dimension pipeline robot

CN121993693ACN 121993693 ACN121993693 ACN 121993693ACN-121993693-A

Abstract

The invention discloses a rotatable telescopic axisymmetric self-adaptive size pipeline robot which comprises a motor base (1), wherein a driving motor (2) is arranged in the motor base (1), the output end of the driving motor (2) is connected with a grooved pulley rotary table (3), a plurality of arc-shaped guide grooves (4) are uniformly formed in the grooved pulley rotary table (3) around the central line, a plurality of elastic connecting rod assemblies (5) are uniformly arranged on the side of the motor base (1) around the central line, the elastic connecting rod assemblies (5) are in sliding connection with the motor base (1), a wheel body motor (6) is arranged in the elastic connecting rod assemblies (5), the output end of the wheel body motor (6) is connected with a roller (7), and guide wheels (8) are arranged at the upper ends of the elastic connecting rod assemblies (5). According to the invention, rapid diameter-changing adaptation is realized by the diameter-changing adjusting mode of the arc-shaped wheel groove structure, the adaptation efficiency of the robot to pipelines with different diameters is improved, and the smoothness and stability of the diameter-changing adjusting process are improved.

Inventors

  • WAN ANPING
  • CHENG XIAOMIN
  • JIANG JUNJIE
  • CHEN TING
  • LIU LI
  • HU LUOKE
  • LIAO XINGLONG
  • LIU CANXIAN
  • ZHANG ZHENG
  • WANG CHENGLONG
  • MA JIE
  • Tao Guoyi
  • CHEN BIN
  • JI XIAOSHENG

Assignees

  • 浙大城市学院

Dates

Publication Date
20260508
Application Date
20260326

Claims (10)

  1. 1. A rotationally telescopic axisymmetric self-adaptive size pipeline robot comprises a motor base (1) and is characterized in that a driving motor (2) is arranged in the motor base (1), the output end of the driving motor (2) is connected with a grooved pulley rotary table (3), a plurality of arc-shaped guide grooves (4) are uniformly formed in the grooved pulley rotary table (3) around a central line, a plurality of elastic connecting rod assemblies (5) are uniformly arranged on the side portion of the motor base (1) around the central line, the elastic connecting rod assemblies (5) are in sliding connection with the motor base (1), a wheel body motor (6) is arranged in the elastic connecting rod assemblies (5), the output end of the wheel body motor (6) is connected with a roller (7), and guide wheels (8) matched with the arc-shaped guide grooves (4) are arranged at the upper end of the elastic connecting rod assemblies (5).
  2. 2. The rotationally telescopic axisymmetric self-adaptive size pipeline robot disclosed in claim 1, wherein the motor base (1) comprises a bottom plate (9), a base main body (10) is arranged on the bottom plate (9), a motor cavity (11) for accommodating a driving motor (2) is arranged in the base main body (10), a plurality of fixing seats (12) are uniformly arranged on the base main body (10) around a central axis, the elastic connecting rod assembly (5) is arranged in a space between adjacent fixing seats (12), and the sheave turntable (3) is arranged on the upper surface of the fixing seats (12).
  3. 3. The rotationally telescopic axisymmetric self-adaptive size pipeline robot of claim 2, wherein the upper surface of the fixed seat (12) is provided with an arc-shaped bulge (13), and the bottom of the grooved pulley turntable (3) is provided with a ring groove (14) which is matched with the arc-shaped bulge (13).
  4. 4. The rotationally telescopic axisymmetric self-adaptive dimension pipeline robot of claim 2, wherein the elastic connecting rod assembly (5) comprises a main body arm (15) connected with a base main body (10), sealing covers (16) are arranged on two sides of the main body arm (15), a front arm (17) is arranged between the two side sealing covers (16), a positioning shaft (18) is arranged on the side portion of the main body arm (15), a spring (19) is sleeved on the positioning shaft (18), a groove (20) is formed in the sealing cover (16), end portions (21) embedded in the groove (20) are arranged on two sides of the end portion of the front arm (17), the positioning shaft (18) penetrates through hole sites of the end portions (21), one end of the spring (19) is abutted against the end portions (21), the wheel body motor (6) is arranged at one end of the main body arm (15), and the guide wheel (8) is arranged at the upper end of the main body arm (15).
  5. 5. The rotationally telescopic axisymmetric adaptive-sized pipeline robot according to claim 4, wherein the bottom of the main body arm (15) and the sealing cover (16) is provided with a guide strip (22), and the upper surface of the base main body (10) is provided with a guide groove (23) matched with the guide strip (22).
  6. 6. The rotationally telescopic axisymmetric self-adaptive dimension pipeline robot of claim 4, wherein the inner wall of the groove (20) of the sealing cover (16) is provided with a positioning protrusion (24), the rear side of the end head (21) is provided with a clamping groove (25) formed by two sector blocks, and the positioning protrusion (24) is matched with the clamping groove (25).
  7. 7. The rotationally telescopic axisymmetric self-adaptive dimension pipeline robot of claim 4, wherein the guide wheel (8) comprises a pin shaft (26) arranged in a mounting hole on the main body arm (15), the pin shaft (26) is provided with a main wheel (27), and the main wheel (27) is arranged in the arc-shaped guide groove (4).
  8. 8. The rotationally telescopic axisymmetric self-adaptive size pipeline robot of claim 1, wherein the output end of the driving motor (2) is provided with a tooth block (28), and an inner tooth part (29) which is matched with the tooth block (28) is arranged in the shaft body at the bottom of the grooved pulley turntable (3).
  9. 9. The rotationally telescopic axisymmetric self-adaptive size pipeline robot of claim 4, wherein a baffle (30) for blocking the outer side of the grooved pulley turntable (3) is arranged on the fixed seat (12) through a bolt.
  10. 10. The rotationally telescopic axisymmetric adaptive-sized pipeline robot of claim 4, wherein the fixed seat (12) and the base body (10) are of an integral structure.

Description

Rotatable telescopic axisymmetric self-adaptive dimension pipeline robot Technical Field The invention relates to the field of pipeline robots, in particular to a rotationally telescopic axisymmetric self-adaptive size pipeline robot. Background The operation safety and the integrity of various pipelines serving as core carriers for conveying fluid media are critical, and timely detection and maintenance are needed. In order to meet the detection operation requirements of pipelines with different diameters, the variable-diameter pipeline robot gradually becomes core equipment in the pipeline detection field by virtue of the characteristic that the variable-diameter pipeline robot can adapt to various pipe diameters, and various related schemes of the variable-diameter pipeline robot exist in the prior art, for example, china patent utility model with the bulletin number of CN213705613U discloses a variable-diameter petroleum pipeline inner wall inspection robot. The inspection robot mainly comprises a frame, two tripodia travelling mechanisms and an adjusting mechanism, wherein the frame comprises a tripod for installing the tripodia travelling mechanisms, a triangular installation platform for installing a working body and a fixed supporting rod for connecting the tripod with the triangular installation platform, the tripodia travelling mechanisms comprise three travelling legs connected with the tripod, travelling wheels arranged at the tail ends of the travelling legs, a pair of meshing bevel gears in transmission connection with the travelling wheels, and a second gear motor, the meshing bevel gears are driven to rotate by the second gear motor, and the travelling wheels are driven to operate, so that the movement of the whole inspection robot in a pipeline is realized However, the reducing adjusting function of the traditional reducing pipeline robot is mainly realized by a screw structure, and has certain limitation in the practical application process, on one hand, the transmission mode of screw adjustment causes lower reducing response speed and is difficult to adapt to pipeline environments with different pipe diameters quickly, so that the efficiency of detection operation is affected, on the other hand, impurities such as greasy dirt, rust residues, dust and the like often exist in the pipeline, and are easily accumulated in a thread groove of the screw, so that the phenomenon of clamping and stagnation occurs in the screw adjusting process, and the operation stability and reliability of the robot are reduced. Disclosure of Invention The invention aims to provide a rotationally telescopic axisymmetric self-adaptive pipeline robot. According to the invention, rapid diameter-changing adaptation is realized by the diameter-changing adjusting mode of the arc-shaped wheel groove structure, the adaptation efficiency of the robot to pipelines with different diameters is improved, and the smoothness and stability of the diameter-changing adjusting process are improved. The technical scheme is that the rotationally telescopic axisymmetric self-adaptive size pipeline robot comprises a motor base, wherein a driving motor is arranged in the motor base, the output end of the driving motor is connected with a grooved pulley turntable, a plurality of arc-shaped guide grooves are uniformly formed in the grooved pulley turntable around a central line, a plurality of elastic connecting rod assemblies are uniformly arranged on the side of the motor base around the central line of the grooved pulley turntable, the elastic connecting rod assemblies are in sliding connection with the motor base, a wheel body motor is arranged in the elastic connecting rod assemblies, the output end of the wheel body motor is connected with a roller, and guide wheels matched with the arc-shaped guide grooves are arranged at the upper end of the elastic connecting rod assemblies. In the rotationally telescopic axisymmetric self-adaptive size pipeline robot, the motor base comprises a bottom plate, a base main body is arranged on the bottom plate, a motor cavity for accommodating a driving motor is arranged in the base main body, a plurality of fixing seats are uniformly arranged on the base main body around a central axis, the elastic connecting rod assemblies are arranged in spaces between adjacent fixing seats, and the sheave turntable is arranged on the upper surface of the fixing seats. In the rotationally telescopic axisymmetric self-adaptive size pipeline robot, the upper surface of the fixing seat is provided with the arc-shaped bulge, and the bottom of the grooved pulley turntable is provided with the annular groove matched with the arc-shaped bulge. In the rotationally telescopic axisymmetric self-adaptive pipeline robot, the elastic connecting rod assembly comprises a main body arm connected with the base body, sealing covers are arranged on two sides of the main body arm, a front arm is arranged between the sealing covers on