CN110977922B - An adaptive crawler device attached to the outer wall of the pipeline - Google Patents

Abstract

A crawler device for self-adaptive attachment of an outer wall of a pipeline. Comprises a track frame component and a rotating shaft component; the crawler frame component comprises a crawler belt upper cover, a crawler belt side plate connected to the crawler belt upper cover, a crawler belt motor connected to the crawler belt side plate, a crawler belt driving wheel, a crawler belt driven wheel, a crawler belt connecting plate mother plate connected to the crawler belt side plate, a crawler belt connecting plate male plate and the like; the rotating shaft part comprises a rotating shaft, a rotating shaft sleeve for fixing the rotating shaft, a universal ball connected with the bottom end of the rotating shaft, and a tensile rope for pulling the track connection mother board and the track connection male board. The crawler belt type automatic diameter-changing device can realize automatic diameter-changing of the crawler belt, realizes automatic attachment of the crawler belt to the outer wall of a pipeline, is applicable to pipelines with most pipe diameters, can realize axial crawling on the pipeline by operating the crawler belt motor, and has strong adaptability and wide application range.

Description

An adaptive crawler device attached to the outer wall of the pipeline

Technical field:

The invention relates to a crawler device applied in the field of pipeline inspection.

Background technique:

With the rapid development of science and technology in modern society, crawler robots are being used more and more in various complex environments, and crawler devices are more and more used in various working conditions. Among them, the existing crawler robots Most of them have special purposes, such as pipeline cleaning crawler robots. The crawler can adapt to the inner diameter of the pipeline and realize crawling in the pipeline. Ground crawler vehicles are being used more and more in various complex environments, especially in hazardous environment monitoring and unknown areas. In various fields such as exploration, planetary exploration, rescue search, and EOD, crawler vehicles can replace workers to perform dangerous work. Most of the existing crawler devices are aimed at dredging and testing the pipeline in the pipeline, but few of them are aimed at driving on the outer wall of the pipeline, and most of the pipelines with different diameters are manually adjusted. Adaptation, few can automatically adapt to pipes of different diameters. CN201821098528 document discloses "A Modular Magnetic Adsorption Pipeline Robot with Quickly Adjustable Angle", which is a device that adapts to smaller diameter pipes by changing its own structural angle. The angle adjustment unit in the body adjustment module changes the shape and size of the robot, but its size must be adjusted manually, and it is a device used to adapt to the change of the inner diameter of the pipe to realize crawling in the pipe. The CN201810200615 document discloses a "Circumferential Track Wheeled Pipe Inspection Robot with Active Adaptive Pipe Diameter Change". In this solution, the crawler wheel is installed on the ball screw through a pressing and adjusting crank-slider mechanism, and the ball screw is connected to the cylinder. The outer wall of the main body sleeve is fixed to each other; the inside of the cylindrical main body sleeve is provided with a pressing force driving motor, and the pressing force driving motor drives each ball screw to move through the transmission gear group at the same time, and the crawler wheel is pressing and adjusting the crank slider. Driven by the mechanism, the adjustment and the pressing force of the inner wall of the pipeline are adapted to the diameter of the pipe by actively adjusting the pressure between the crawler device and the inner wall of the pipeline, and manual adjustment and motor-assisted adjustment are still required.

Invention content:

In order to solve the technical problems mentioned in the background art, the present invention provides a self-adapting crawler device attached to the outer wall of the pipeline, which automatically adjusts the convergence angle of the crawler through the rotating shaft to automatically adapt to the outer wall of the pipeline with different diameters, without manual adjustment, No need for motor-assisted adjustment, practical and convenient, simple structure and wide application.

The technical solution of the present invention is: the self-adaptive crawler device attached to the outer wall of the pipe includes a crawler frame part and a rotating shaft part, and the crawler frame part includes a crawler track, a crawler track upper cover, and a crawler track connected to the crawler track upper cover through a crawler track hinge. Side plates, track motors connected to the track side plates via track hinges, track drive wheels fastened to the track side plates by screws, track driven wheels fastened to the track side plates by screws, connected to the track side via track hinges The track connection mother plate of the shoe, the track connection male plate connected to the track side plate by the track hinge, the tension spring, the spring base fastened to the track connection mother plate by the screw, the spring hook and the screw fastened to the track connection mother The shoe and the crawler are connected to the stretch rope of the male shoe to fasten the base. Among them, the spring hooks are respectively fixed on the track connecting male plate and the track connecting mother plate, the track connecting mother plate and the track connecting male plate form a sliding mechanism that closely fits, and one end of the tension spring is connected with the spring hook of the track connecting male plate, The other end of the extension spring is connected with the spring hook of the track connecting mother board; the slideway mechanism composed of the track connecting mother board and the track connecting male board has a rotating shaft travel slide, and the rotating shaft travel slide will follow the track connecting mother board and The length of the track connection male plate is changed by the aggregation and reset. The reset is the process in which the track connection mother plate and the track connection male plate are pulled away due to the tension generated by the tension spring, and the travel of the rotary shaft is shortened. , and the reset is completed when the travel slide of the rotating shaft coincides with the rotating shaft.

The track frame part is used to realize the rotation of the track side plate relative to the track upper cover, the rotation of the track connecting mother plate and the track connecting male plate relative to the track side plate, and the sliding of the track connecting male shoe in the track connecting mother plate, so as to realize the function of the track connecting plate. When the connecting male plate slides in the crawler connecting mother plate, the tension spring is stretched; the slideway structure composed of the crawler connecting mother plate and the crawler connecting male plate has one set at the front and rear positions of the crawler side plates.

The rotating shaft component includes a rotating shaft, a rotating shaft sleeve, a universal ball, a tensile rope, a rotating shaft end cover, an end cover bolt and a rotating shaft compression spring; wherein the upper part of the rotating shaft has a spiral groove, and the inside of the rotating shaft sleeve has a spiral groove. For the screw table corresponding to the helical groove, the rotating shaft sleeve can fix the rotating shaft and make the rotating shaft rotate in the rotating shaft sleeve; after the rotating shaft is inserted into the rotating shaft sleeve, the end cover of the rotating shaft is rotated, and the end cover bolts are fastened in the rotating shaft. The top of the shaft is used to prevent the rotating shaft from disengaging from the rotating shaft sleeve; the bolt shaft of the universal ball is connected to the bolt hole at the bottom end of the rotating shaft; the rotating shaft compression spring is sleeved on the outside of the rotating shaft sleeve, and one end of the rotating shaft compression spring is against the track. The other end of the cover rests on the tensioning rope fastening seat of the rotating shaft, and the end cover of the rotating shaft is pressed against the upper cover of the crawler by the elastic force of the compression spring of the rotating shaft; one end of the tensioning rope is fastened with the tensioning rope of the track frame part The base is connected, and the other end is connected with the tensioning rope fastening seat of the rotating shaft;

The rotating shaft component is used to realize the following action process:

When the universal ball at the bottom end of the rotating shaft is subjected to upward pressure, the rotating shaft rotates and moves upward in the rotating shaft sleeve, and the stretching rope connected to the tightening seat of the stretching rope on the rotating shaft will be forced to wrap around the rotating shaft, causing the stretching The crawler connecting male plate at the other end of the rope and the crawler connecting mother plate are aggregated by force, which drives the left crawler side plate and the right crawler side plate to aggregate to make the crawler produce an angle to adapt to the pipe, and at the same time aggregate to tighten the tension spring; the rotating shaft The upward movement causes the compression spring of the rotating shaft to be compressed; therefore, when the force of the universal ball disappears, the tension of the compression spring of the rotating shaft will make the rotating shaft reset, and the traction force of the tension spring will make the track connecting male plate and the track connecting mother plate Reset, and then the angle of the side plate of the track returns to normal, and the track returns to a flat state.

The rotating shaft components have two identical front and rear groups corresponding to the crawler belt connecting mother plate and the crawler belt connecting male plate respectively.

The track frame part and the rotating shaft part are combined into one body in the following way: the rotating shaft sleeve is fixed on the upper cover of the track by screws, and the rotating shaft passes through the rotating shaft of the slideway structure composed of the track connecting mother plate and the track connecting male plate After the slideway is traveled, the rotary shaft compression spring is sleeved on the rotary shaft, and then the rotary shaft passes through the rotary shaft sleeve, the top of the rotary shaft and the end cover of the rotary shaft are fixed by the end cover bolts, and one end of the tension rope is fixed to the track connection mother board The stretch rope fastening base which is connected with the crawler track is connected to the male plate, and one end is fixed on the stretch rope fastening seat of the rotating shaft to form a unified whole.

The present invention has the following beneficial effects:

By applying the self-adapting crawler device attached to the outer wall of the pipeline according to the present invention, the crawler device can be automatically adapted to the outer wall of the pipeline through the rotating shaft component, so that the crawler can be closely attached to the outside of the pipeline, and can be automatically adapted without adjustment. Be applicable. At the same time, it can not only move by adhering to the outer wall of the pipe, but also move normally on the plane. After carrying different carriers, it can realize different functions, which is practical and convenient, and the structure is simplified.

Description of drawings:

FIG. 1 is a schematic diagram 1 of the present invention.

FIG. 2 is a schematic diagram 2 of the present invention.

Figure 3 is an inverted side view of the present invention.

Figure 4 is a front view of the present invention.

Figure 5 is a bottom view of the present invention.

6 is a schematic side view of a slideway structure composed of a crawler track connecting mother plate and a crawler track connecting male plate according to the present invention.

FIG. 7 is a plan view of the slideway structure composed of the track connecting mother plate and the track connecting male plate according to the present invention.

FIG. 8 is a schematic diagram of the universal ball of the present invention.

FIG. 9 is a schematic diagram of the rotating shaft sleeve of the present invention.

FIG. 10 is a schematic diagram of the rotating shaft of the present invention.

In the figure, 1-track frame part, 2-rotating shaft part, 3-track upper cover, 4-track side plate, 5-track motor, 6-track driving wheel, 7-track driven wheel, 8-track connection motherboard, 9- Track connection male plate, 10- Rotating shaft, 11- Rotating shaft sleeve, 12- Universal ball, 13- Tension rope, 14- Rotating shaft end cover, 15- End cover bolt, 16- Rotating shaft compression spring, 17- Track, 18- Spiral groove, 19- Spiral table, 20- Bolt hole, 21- Tension rope fastening seat, 22- Tension rope fastening base, 23- Spring hook, 24- Crawler hinge, 25- Motherboard spring base, 26-tension spring, 27-bolt shaft, 28-rotating shaft travel slide.

Detailed ways:

The present invention will be further described below in conjunction with the accompanying drawings:

As shown in FIG. 1 to FIG. 10 , the self-adaptive crawler device attached to the outer wall of the pipe includes a crawler frame part 1 and a rotating shaft part 2 .

The track frame part 1 comprises a track 17, a track cover 3, a track side plate 4 connected to the track cover 3 through a track hinge 24, a track motor 5 connected to the track side plate 4 through a track hinge 24, and a screw The crawler driving wheel 6 fastened to the crawler side plate 4, the crawler driven wheel 7 fastened to the crawler side plate 4 by screws, the crawler connecting mother plate 8 connected to the crawler side plate 4 through the crawler hinge 24, through the crawler hinge 24 The track connecting male plate 9 connected to the track side plate 4, the tension spring 26, the spring base 25 fastened to the track connecting mother plate 8 by screws, the spring hook 23, the track connecting mother plate 8 and the track fastened by screws The base 22 is fastened by the tensile cord connecting the male plate 9 . Among them, the spring hooks 23 are respectively fixed on the track connecting male plate 9 and the track connecting mother plate 8, the track connecting mother plate 8 and the track connecting male plate 9 form a slideway mechanism that closely fits, and one end of the tension spring 26 is connected with the track connecting male plate The spring hook 23 of 9 is connected, and one end is connected with the spring hook 23 of the track connecting motherboard 8; The length changes as the track link mother plate and the track link male plate converge and reset. The reset is a process in which the crawler connecting mother plate 8 and the crawler connecting male plate 9 are pulled away due to the pulling force generated by the tension spring 26, and the rotating shaft travel slide 28 is shortened, until the rotating shaft travel slide 28 Coincidence with the rotating shaft 10 completes the reset.

The above combination constitutes the crawler track frame part 1, which can mainly realize that the crawler track side plate 4 can rotate relative to the crawler track upper cover 3, the crawler track connecting mother plate 8 and the crawler track connecting male plate 9 can rotate relative to the crawler track side plate 4, and the crawler track connecting male plate 9 can be The crawler connecting mother plate 8 slides, and when the crawler connecting male plate 9 slides in the crawler connecting mother plate 8, the tension spring 26 will be stretched. the same two groups.

The rotating shaft component 2 includes a rotating shaft 10 , a rotating shaft sleeve 11 , a universal ball 12 , a tension rope 13 , a rotating shaft end cover 14 , an end cover bolt 15 , and a rotating shaft compression spring 16 . The upper part of the rotating shaft 10 is provided with a helical groove 18, and the interior of the rotating shaft sleeve 11 has a helical table 19 corresponding to the helical groove 18; The function of rotation; after the rotating shaft 10 is inserted into the rotating shaft sleeve 11, the rotating shaft end cover 14 is fastened to the top of the rotating shaft 10 by the end cover bolts 15 to prevent the rotating shaft 10 from being detached from the rotating shaft sleeve 11; the bolt shaft 27 of the universal ball 12 Connected to the bolt hole 20 at the bottom end of the rotating shaft 10; the rotating shaft compression spring 16 is sleeved on the outside of the rotating shaft sleeve 11, one end is against the crawler cover 3, and the other end is on the tension rope tightening seat 21 of the rotating shaft 10, the rotating shaft The elastic force of the compression spring 16 makes the end cover 14 of the rotating shaft close to the upper cover 3 of the crawler; The seat 21 is connected, and the tension rope 13 is taut, so that the crawler belt connecting male plate 9 and the crawler belt connecting mother plate 8 are tightly attached to the rotating shaft 10 . The above combination constitutes the rotating shaft component 2, which can mainly realize that when the universal ball at the bottom end of the rotating shaft 10 is subjected to upward pressure, the rotating shaft 10 will rotate and move upward in the rotating shaft sleeve 11; the tension rope on the rotating shaft 10 is tightened The stretching rope 13 connected by the seat 21 will be forced to wrap around the rotating shaft 10, so that the crawler connecting male plate 9 and the crawler connecting mother plate 8 at the other end of the stretching rope 13 will be aggregated by force, driving the left crawler side plate 4 and the right crawler side plate 4. The crawler side plate 4 is aggregated to make the crawler angled to adapt to the pipeline, and at the same time, the tension spring 26 is tightened by the aggregation; the rotation shaft 10 moves up so that the rotation shaft compression spring 16 is compressed; Because the tension of the rotary shaft compression spring 16 will reset the rotary shaft 10, the traction force of the tension spring 10 will reset the track connecting male plate 9 and the track connecting mother plate 8, and then the angle of the track side plate 4 will return to normal, and the track will return to a flat state. Said rotating shaft component 2 has two identical front and rear groups corresponding to the crawler belt connecting mother plate 8 and the crawler belt connecting male plate 9 .

The crawler frame part 1 and the rotating shaft part 2 are combined into one body in the following way: the rotating shaft sleeve 11 is fixed on the crawler upper cover 3 by screws, and the rotating shaft 10 passes through the crawler connecting mother plate 8 and the crawler connecting male plate 9. After the rotary shaft travel slide 28 of the slideway structure, the rotary shaft compression spring 16 is sleeved on the rotary shaft 10, and then the rotary shaft 10 passes through the rotary shaft sleeve 11, and the top of the rotary shaft 10 and the rotary shaft end cover 14 pass through the end cover The bolts 15 are fixed, one end of the tension rope 13 is fixed to the tension rope fastening base 22 of the crawler belt connecting mother plate 8 and the crawler belt connecting male plate 9, and one end is fixed to the tension rope fastening seat 21 of the rotating shaft 10, forming a unified Overall.

The working process of this device is as follows:

1. When working on a plane, the crawler device is in the initial state, and the normal movement of the crawler can be realized by running the motor, in which the universal ball contacts the plane and rolls with the operation of the crawler device.

2. When the pipe needs to be attached to the pipe, the required device is installed on the upper cover of the crawler, so that the universal ball of the crawler is first close to the pipe wall. When the universal ball touches the pipe wall, it is subjected to an upward force. If it is continuously applied, the rotating shaft will be forced to rotate and rise in the rotating shaft sleeve, and the tensioning rope fastening seat of the rotating shaft will drive the tensioning rope to wrap around the rotating shaft, and the tensioning rope will drive the crawler connecting male plate and the crawler connecting mother plate to aggregate. , then the crawler side plates will aggregate accordingly to realize the diameter change of the crawler device. Since the crawler side plates are drawn by the tension rope wound around the rotating shaft to generate an angle, it is a rapid diameter reduction system, which can easily change the diameter to the required angle. Allows the crawler to stick to the pipe wall. The movement of the outer wall of the pipe can be realized by running the crawler motor after getting close to it.

Claims (1)

1. The utility model provides an attached pipeline outer wall crawler attachment of self-adaptation, includes track frame part (1) and swivel axis part (2), its characterized in that:

the crawler frame component (1) comprises a crawler (17), a crawler upper cover (3), a crawler side plate (4) connected to the crawler upper cover (3) through a crawler hinge (24), a crawler motor (5) connected to the crawler side plate (4) through the crawler hinge (24), a crawler driving wheel (6) fastened on the crawler side plate (4) through a screw, and a crawler driven wheel (7) fastened on the crawler side plate (4) through a screw, the crawler belt connecting device comprises a crawler belt connecting mother plate (8) connected to crawler belt side plates (4) through crawler belt hinges (24), a crawler belt connecting male plate (9) connected to the crawler belt side plates (4) through the crawler belt hinges (24), a tension spring (26), a spring base (25) fastened to the crawler belt connecting mother plate (8) through screws, a spring hook (23) and a tension rope fastening base (22) fastened to the crawler belt connecting mother plate (8) and the crawler belt connecting male plate (9) through screws; the crawler belt connecting mechanism comprises a male crawler belt connecting plate (9), a female crawler belt connecting plate (8), a spring hook (23), a tension spring (26), a slide way mechanism, a spring hook mechanism and a spring hook mechanism, wherein the spring hook (23) is respectively fixed on the male crawler belt connecting plate (9) and the female crawler belt connecting plate (8), the female crawler belt connecting plate (8) and the male crawler belt connecting plate (9) form the slide way mechanism which is tightly attached to each other, one end of the tension spring (26) is connected with the spring hook (23) of the male crawler belt; the slide mechanism consisting of the track connecting mother board (8) and the track connecting male board (9) is provided with a rotating shaft stroke slide way (28), and the length of the rotating shaft stroke slide way (28) is changed along with the aggregation and reset of the track connecting mother board (8) and the track connecting male board (9);

the crawler frame component (1) is used for realizing the rotation of the crawler side plates (4) relative to the crawler upper cover (3), the rotation of the crawler connecting mother plate (8) and the crawler connecting male plate (9) relative to the crawler side plates (4) and the sliding of the crawler connecting male plate (9) in the crawler connecting mother plate (8), and is used for realizing the stretching of the stretching spring (26) when the crawler connecting male plate (9) slides in the crawler connecting mother plate (8); the caterpillar track is connected with a slideway structure consisting of a mother board (8) and a male board (9), and a group of the caterpillar track is arranged at the front and the rear of the caterpillar track side board (4);

the rotary shaft component (2) comprises a rotary shaft (10), a rotary shaft sleeve (11), a universal ball (12), a tensile rope (13), a rotary shaft end cover (14), an end cover bolt (15) and a rotary shaft compression spring (16); wherein, the upper part of the rotating shaft (10) is provided with a spiral groove (18), a spiral table (19) corresponding to the spiral groove (18) is arranged in the rotating shaft sleeve (11), and the rotating shaft sleeve (11) plays a role in fixing the rotating shaft (10) and enabling the rotating shaft (10) to rotate in the rotating shaft sleeve (11); after the rotating shaft (10) is inserted into the rotating shaft sleeve (11), a rotating shaft end cover (14) is fastened at the top end of the rotating shaft (10) through an end cover bolt (15) and used for preventing the rotating shaft (10) from being separated from the rotating shaft sleeve (11); a bolt shaft (27) of the universal ball (12) is connected with a bolt hole (20) at the bottom end of the rotating shaft (10); a rotating shaft compression spring (16) is sleeved on the outer side of the rotating shaft sleeve (11), one end of the rotating shaft compression spring (16) is propped against the upper crawler cover (3), the other end of the rotating shaft compression spring (16) is propped against a tensile rope fastening seat (21) of the rotating shaft (10), and the rotating shaft end cover (14) is enabled to be tightly attached to the upper crawler cover (3) through the elastic force of the rotating shaft compression spring (16); one end of the stretching rope (13) is connected with a stretching rope fastening base (22) of the track frame component (1), and the other end is connected with a stretching rope fastening base (21) of the rotating shaft (10); the stretching rope (13) is tightened and used for drawing the caterpillar track to connect the male plate (9) and the caterpillar track to connect the female plate (8);

the rotating shaft component (2) is used for realizing the following action processes:

when a universal ball at the bottom end of the rotating shaft (10) is pressed upwards, the rotating shaft (10) rotates and moves upwards in the rotating shaft sleeve (11), the stretching rope (13) connected with the stretching rope fastening seat (21) on the rotating shaft (10) is stressed to wind the rotating shaft (10), so that the crawler connecting male plate (9) and the crawler connecting female plate (8) at the other end of the stretching rope (13) are stressed and polymerized, the left crawler side plate (4) and the right crawler side plate (4) are driven to be polymerized to form an angle for adapting to a pipeline, and meanwhile, the stretching spring (26) is tensioned by polymerization; the rotating shaft (10) moves up so that the rotating shaft compression spring (16) is compressed; therefore, after the universal ball (12) is stressed and disappears, the rotating shaft (10) can reset due to the tension of the rotating shaft compression spring (16), the traction force of the extension spring (10) can reset the track connection male plate (9) and the track connection female plate (8), the angle of the track side plate (4) is restored to be normal, and the track is restored to be in a plane state;

the rotating shaft part (2) is provided with two groups which are respectively corresponding to the track connecting mother board (8) and the track connecting male board (9) and have the same front and back;

the track frame component (1) and the rotating shaft component (2) are combined into a whole in the following way: the rotary shaft sleeve (11) is fixed on the upper crawler belt cover (3) through screws, after a rotary shaft (10) penetrates through a rotary shaft travel slide way (28) of a slide way structure consisting of a crawler belt connection mother plate (8) and a crawler belt connection male plate (9), a rotary shaft compression spring (16) is sleeved on the rotary shaft (10), then the rotary shaft (10) penetrates through the rotary shaft sleeve (11), the top end of the rotary shaft (10) is fixed with a rotary shaft end cover (14) through an end cover bolt (15), one end of a tensile rope (13) is fixed on a tensile rope fastening base (22) of the crawler belt connection mother plate (8) and the crawler belt connection male plate (9), and one end of the tensile rope fastening base (21) is fixed on the rotary shaft (10) to form a unified whole.

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