CN106402577A - Traction device for wheeled pipeline robot - Google Patents
Traction device for wheeled pipeline robot Download PDFInfo
- Publication number
- CN106402577A CN106402577A CN201611018993.0A CN201611018993A CN106402577A CN 106402577 A CN106402577 A CN 106402577A CN 201611018993 A CN201611018993 A CN 201611018993A CN 106402577 A CN106402577 A CN 106402577A
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- China
- Prior art keywords
- differential mechanism
- differential
- gear
- shaft
- transfer
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention discloses a traction device for a wheeled pipeline robot. The traction device comprises a housing and a four-axis differential driving device, wherein a power output bevel gear for driving a driving wheel transmission mechanism is arranged on each of four output ends of the four-axis differential driving device; a pipeline diameter adapting mechanism is arranged above the center between two front driving wheel transmission mechanisms, and another pipeline diameter adapting mechanism is arranged above the center between two rear driving wheel transmission mechanisms. According to the traction device for the wheeled pipeline robot, the rotating speed of four axes can be self-adaptively adjusted according to related running conditions in a pipeline; whether in a transition state or a turning state, the four driving wheels can perform differential movement during turning, thus the problem of movement interference on the traction device of a pipeline robot in obstacle crossing or turning can be solved, the driving efficiency can be improved, the abrasion of a driving device can be reduced, and as a result, the service life of the traction device can be prolonged; in addition, the traction device has the advantages of being high in obstacle crossing performance and pipe diameter adapting performance, high in effective driving power, high in structure symmetry, and wide in applicable scope.
Description
Technical field
The invention belongs to pipe robot field, especially relate to a kind of wheeled pipe robot traction apparatuss.
Background technology
Pipeline as a kind of conveying material effective means, in industry, nuclear facilities, oil, natural gas and military equipment etc.
Field is widely used.In order to extend the life-span of pipeline, the generation of the accident such as prevent leakage is it is necessary to periodically carry out effectively to pipeline
Ground detection, cleaning and maintenance.But limited by pipeline local environment, above-mentioned work is difficult to artificially carry out, in order to meet above-mentioned requirements,
Pipe robot arises at the historic moment.Pipe robot traction apparatuss are the important component part of pipe robot, predominantly pipe machine
Device people provides power, can carry or the device such as connecting detection, cleaning provide pull strength for it, meets that pipe robot is overall to exist
Movement needs in pipeline.
Wheeled pipe robot traction apparatuss common at this stage are all independently driven using many motors, the speed of each motor
By servo controller, the traction apparatuss job information according to acquired in airborne sensor is given degree by series of algorithms, but due to
Accurately obtain above- mentioned information more difficult, and control algolithm complexity poor real, therefore when running into irregular tube wall or turning,
Movement interference problem still exists, thus produce power consumption increasing, effective traction declines, driving means are worn and torn, and aggravation etc. is asked
Topic, has a strong impact on work efficiency and the service life of traction apparatuss.At this stage, the traction apparatuss of only a few pipe robot are using poor
Speed drives and solves the above problems, but is three axle differentials, and its motor need to be arranged on outside symmetrical structure, occupies exceptional space,
And because three axle differentials can only realize the differential between axle and axle, every axle two ends kinestate is identical, according to rear and front end
Drive, when traction apparatuss are in the transitive state of turning, that is, front end wheel has entered crook in differential state, and rear end is taken turns still in straight tube
Be in non-differential state, or front-wheel protruding crook in non-differential state, trailing wheel is still in differential state in bend pipe, then two ends phase
Same kinestate leads to parasitic power and movement interference to produce, and the problems referred to above still exist；According to one end drive, one end from
Dynamic, then be unable to the pose of effective control driven end, traction apparatuss kinetic stability be greatly lowered, traction apparatuss simultaneously effective
Driving force is relatively low, and obstacle climbing ability is poor.
Content of the invention
The present invention provides a kind of wheeled pipe robot traction apparatuss for solving technical problem present in known technology,
This device can realize single motor input four axle output, possess preferable obstacle detouring, turning and caliber adaptability, and have drive
Efficiency of movement height, life-span length, strong adaptability, feature applied widely.
The present invention is adopted the technical scheme that by solving technical problem present in known technology：A kind of wheeled pipe machine
Device people's traction apparatuss, including housing and four axle differential drive devices, described four axle differential drive devices include being arranged on described shell
Internal transfer gear, differential mechanism I, differential mechanism II and motor, described motor is fixed in described housing, in described drive
On the output shaft of galvanic electricity machine, power output gear is installed；Described transfer gear is provided with front transfer axle and rear transfer axle, in the rear
Transfer axle is provided with the transfer input gear engaging with described power output gear and transfer output gear II, described transfer input
Pinion rotation connects in the rear on transfer axle, and described transfer output gear II fixedly mounts in the rear on transfer axle, in institute
State and be fixed with transfer output gear I on front transfer axle；Described differential mechanism I and described differential mechanism II all include front differential shaft and rear difference
Fast axle, the axis of front differential shaft of differential mechanism I, the axis of rear differential shaft of differential mechanism I, the axis of the front differential shaft of differential mechanism II
In being generally aligned in the same plane with the axis of the rear differential shaft of differential mechanism II, the outfan of front differential shaft of differential mechanism I and differential mechanism I
The outfan of differential shaft is arranged symmetrically afterwards, the output of the outfan of front differential shaft of differential mechanism II and the rear differential shaft of differential mechanism II
End is arranged symmetrically；The input gear being rotated the differential mechanism I being connected with it is provided with the front differential shaft of described differential mechanism I, described
The input gear of differential mechanism I is engaged with described transfer output gear I, is provided with and its turn on the rear differential shaft of described differential mechanism II
The input gear of the differential mechanism II being dynamically connected, the input gear of described differential mechanism II is engaged with described transfer output gear II；?
The outfan of front differential shaft of described differential mechanism I, described differential mechanism I rear differential shaft outfan, in described differential mechanism II
The outfan of front differential shaft and the rear differential shaft of described differential mechanism II outfan be respectively connected with one power output cone tooth
Wheel, described power output bevel gear driving one drives wheel drive mechanism；Described driving wheel drive mechanism includes defeated with described power
Go out the transmission input bevel gear of bevel gear engagement, described transmission input bevel gear is packed on power transmission shaft I, in described power transmission shaft I
On be fixed with travelling gear I, described travelling gear I, idle pulley and travelling gear II engage successively, and described idle pulley is rotatably mounted
On idler shaft, described travelling gear II is packed on power transmission shaft II, is provided with to rotate with it is connected on described power transmission shaft II
Planet circular system housing, is provided with a sun gear and two planetary gears engaging, two institutes in described epicyclic train shell body
State planetary gear to be packed in respectively on two live axles, described sun gear is packed on described power transmission shaft II, two described drivings
One, wheel shaft is arranged on the front lower place of described power transmission shaft II, another back lower place being arranged on described power transmission shaft II, and three is mutual
Parallel, the driving wheel being connected with inner-walls of duct rolling friction is fixed with described live axle, described driving wheel protrudes in institute
State outside housing, described power transmission shaft I and described power transmission shaft II are supported by described housing, and described idler shaft is fixed on described housing
On, described power transmission shaft I, described idler shaft and described power transmission shaft II are arranged in order from the inside to the outside, and two described live axles are by institute
State the supporting of planet circular system housing；Two respectively with the front differential shaft of described differential mechanism I and the front differential shaft pair of described differential mechanism II
The central axis of the described driving wheel drive mechanism answered be located at a radial section in, two respectively with described differential mechanism I after
The corresponding described central axis driving wheel drive mechanism of rear differential shaft of differential shaft and described differential mechanism II is located at another footpath
Into section；Two described middle upper parts driving wheel drive mechanism being located in same radial section in central axis are provided with
One caliber adapts to mechanism, and described caliber adapts to the wheel carrier that mechanism includes being centrally located, and described wheel carrier is by fixing e axle supporting, described solid
The axis of the dead axle central axis that drive wheel drive mechanism described with corresponding two is located in same radial section, described fixation
Axle is installed on the middle part of described wheel carrier, and described wheel carrier is installed in rotation in described fixing axle, in the top of described wheel carrier peace
Equipped with two return idlers being arranged symmetrically in front and back, the oblique bottom of described wheel carrier and two rocking arms being located at both sides around respectively
Upper end hinged, the lower end of two described rocking arms is hinged with screw frame, is connected with screw on described screw frame, described screw dress
Fit on the screw mandrel arranging along the longitudinal direction, described screw mandrel is supported and driven by lead screw motor by described housing, described screw mandrel electricity
Machine is fixing on the housing.
The axis of the axis of described motor, the axis of described differential mechanism I and described differential mechanism II is located at described four
The central axis of axle differential drive device is in the same face of cylinder of axis, and is mutually 120 ° with respect to the axis on this face of cylinder.
Described front transfer axle, described rear transfer axle, the front differential shaft of described differential mechanism I, the rear differential of described differential mechanism I
The rear differential shaft of axle, the front differential shaft of described differential mechanism II and described differential mechanism II is gear shaft；In described front transfer axle
Rear end is provided with and its integrally formed transfer gear I, and the front end of transfer axle is provided with and its integrally formed transfer tooth in the rear
Wheel II, described transfer gear I and described transfer gear II are simultaneously engaged with transfer planetary gear I and transfer planetary gear II, institute
State transfer planetary gear I and described transfer planetary gear II is installed in rotation in transfer planetary gear shaft, described transfer row
Star gear shaft is supported by transfer gear frame, and described transfer gear frame is fixed in the front side of described transfer input gear；In described difference
The rear end of the front differential shaft of fast device I is provided with the travelling gear I with its integrally formed differential mechanism I, in the rear difference of described differential mechanism I
The front end of fast axle is provided with the travelling gear II with its integrally formed differential mechanism I, the travelling gear I of described differential mechanism I and described
The travelling gear II of differential mechanism I is simultaneously engaged with the planetary gear II of the planetary gear I of differential mechanism I and differential mechanism I, described differential
The planetary gear II of the planetary gear I of device I and described differential mechanism I is installed in rotation in the planetary gear shaft of differential mechanism I, institute
The planetary gear shaft stating differential mechanism I is supported by the tooth rest of differential mechanism I, and the tooth rest of described differential mechanism I is fixed in described differential
The rear side of the input gear of device I；It is provided with and its integrally formed differential mechanism II in the rear end of the front differential shaft of described differential mechanism II
Travelling gear I, be provided with the driving cog with its integrally formed differential mechanism II in the front end of the rear differential shaft of described differential mechanism II
Wheel II, the planetary gear I of the travelling gear of the travelling gear I of described differential mechanism II and described differential mechanism II II and differential mechanism II and
The planetary gear II of differential mechanism II is simultaneously engaged, the planetary gear I of described differential mechanism II and the planetary gear of described differential mechanism II
In II planetary gear shaft being installed in rotation on differential mechanism II, the planetary gear shaft of described differential mechanism II is by the tooth of differential mechanism II
Wheel carrier supports, and the tooth rest of described differential mechanism II is fixed in the front side of the input gear of described differential mechanism II.
Described motor is supported by support, and described front transfer axle is supported by pedestal I, and described rear transfer axle is by pedestal II
Hold, the rear differential shaft of described differential mechanism I is supported by pedestal III, the front differential shaft of described differential mechanism II is supported by pedestal IV, described
Support, described pedestal I, described pedestal II, described pedestal III and described pedestal IV are all fixed in described housing.
120 ° of the phase shifting of the relatively described power transmission shaft II of two described live axles.
Described motor is direct current generator, and described lead screw motor is motor.
The present invention has the advantages and positive effects that：By a Motor drive, a transfer gear transfer and two
Four axles outputs of differential mechanism, can according to traction apparatuss in the duct it is achieved that the differential of single motor input four axles output drives
Operation conditions Automatic adjusument four rotating speed, no matter in an interim state or turn condition during traction apparatuss are turned,
All can achieve the differential motion of four groups of driving wheels, completely solve what pipe robot traction apparatuss existed in obstacle detouring or turning
Movement interference problem, improves drive efficiency, decreases the abrasion of driving means, and then extends the use longevity of traction apparatuss
Life, and there is obstacle climbing ability and caliber is adaptable, effective driving force is high, symmetrical configuration, low cost, and applied widely is excellent
Point.By the structure that interior and same differential mechanism outfan is arranged symmetrically is generally aligned in the same plane using the axis of four output shafts, side
Just structure design and arrangement, expands the scope of application of traction apparatuss；By using the axis of motor and two differential mechanisms
Axis be located in the same face of cylinder with the central axis of device as axis, and be mutually 120 ° with respect to the axis on this face of cylinder
Structure, the compact conformation of traction apparatuss can be made to save and to take up room, and it is stable well that traction apparatuss can be made to have
Property.
Brief description
Fig. 1 is the isometric overall view of the present invention；
Fig. 2 is the internal structure schematic diagram of the present invention；
Fig. 3 is the four axle differential drive device rearviews of the present invention；
Fig. 4 is the sectional view of Section A-A in Fig. 3；
Fig. 5 is the driving wheel drive mechanism overall schematic of the present invention；
Fig. 6 is the driving wheel drive mechanism partial schematic diagram of the present invention；
Fig. 7 is that the caliber of the present invention adapts to mechanism's axial sectional view；
Fig. 8 is that the caliber of the present invention adapts to mechanism's radial cross-section.
In figure：1- housing, 2- transfer gear, 3- differential mechanism I, 5- motor, 6- drives wheel drive mechanism, and 7- caliber adapts to
Mechanism；
101- support, 102- pedestal I, 103- pedestal II, 104- pedestal III, 105- pedestal IV；
201- transfer input gear, 202- transfer gear frame, 203- transfer planetary gear shaft, 204- transfer planetary gear I,
205- transfer planetary gear II, transfer axle before 206-, transfer axle after 207-, 208- transfer output gear I, 209- transfer output gear
Wheel II, 210- transfer gear I, 211- transfer gear II；
The input gear of 301- differential mechanism I, the tooth rest of 302- differential mechanism I, the planetary gear shaft of 303- differential mechanism I,
The planetary gear I of 304- differential mechanism I, the planetary gear II of 305- differential mechanism I, the front differential shaft of 306- differential mechanism I, 307- differential
The rear differential shaft of device I, 308, the travelling gear I of differential mechanism I, 309, the travelling gear II of differential mechanism I；
The input gear of 401- differential mechanism II, the tooth rest of 402- differential mechanism II, the planetary gear shaft of 403- differential mechanism II,
The planetary gear I of 404- differential mechanism II, the planetary gear II of 405- differential mechanism II, the front differential shaft of 406- differential mechanism II, 407-
The rear differential shaft of differential mechanism II, 408, the travelling gear I of differential mechanism II, 409, the travelling gear II of differential mechanism II；
501- power output gear；
601- power output bevel gear, 602- transmission input bevel gear, 603- power transmission shaft I, 604- travelling gear I, 605-
Idler shaft, 606- idle pulley, 607- power transmission shaft II, 608- travelling gear II, 609- sun gear, 610- planetary gear, 611- driving wheel
Axle, 612- planet circular system housing, 613- driving wheel；
701- lead screw motor, 702- return idler, 703- wheel carrier, 704- fixing axle, 705- rocking arm, 706- screw frame,
707- screw, 708- screw mandrel.
Specific embodiment
For content of the invention, feature and effect of the present invention can be further appreciated that, hereby enumerate following examples, and coordinate accompanying drawing
Describe in detail as follows：
Refer to Fig. 1～Fig. 8, a kind of wheeled pipe robot traction apparatuss, drive dress including housing 1 and four axle differentials
Put, described four axle differential drive devices include transfer gear 2, differential mechanism I 3, differential mechanism II and the driving being arranged in described housing 1
Motor 5, described motor 5 is fixed in described housing 1, is provided with power output on the output shaft of described motor 5
Gear 501.
Described transfer gear 2 is provided with front transfer axle 206 and rear transfer axle 207, in the rear transfer axle 207 be provided with described
The transfer input gear 201 of power output gear 501 engagement and transfer output gear II 209,201 turns of described transfer input gear
It is dynamically connected in the rear on transfer axle 207, described transfer output gear II 209 fixed installation is in the rear on transfer axle 207,
It is fixed with transfer output gear I 208 on described front transfer axle 206.
Described differential mechanism I 3 and described differential mechanism II all include front differential shaft and rear differential shaft, the front differential shaft of differential mechanism I
306 axis, the axis of rear differential shaft 307 of differential mechanism I, the axis of front differential shaft 406 of differential mechanism II and differential mechanism II
In the axis of differential shaft 407 is generally aligned in the same plane afterwards, the outfan of front differential shaft 306 of differential mechanism I and the rear differential of differential mechanism I
The outfan of axle 307 is arranged symmetrically, the outfan of front differential shaft 406 of differential mechanism II and the rear differential shaft 407 of differential mechanism II
Outfan is arranged symmetrically.
The input gear 301 being rotated the differential mechanism I being connected with it, institute are provided with the front differential shaft 306 of described differential mechanism I
The input gear 301 stating differential mechanism I is engaged with described transfer output gear I 208, in the rear differential shaft 407 of described differential mechanism II
It is provided with the input gear 401 rotating the differential mechanism II being connected with it, input gear 401 and the described transfer of described differential mechanism II
Output gear II 209 engages.
Outfan in the front differential shaft 306 of described differential mechanism I, the output of the rear differential shaft 307 in described differential mechanism I
End, the outfan of front differential shaft 406 in described differential mechanism II and the outfan of rear differential shaft 407 in described differential mechanism II
Respectively it is connected with a power output bevel gear 601, described power output bevel gear 601 drives wheel drive mechanism 6.
The described transmission driving wheel drive mechanism 6 to include engaging with described power output bevel gear 601 inputs bevel gear
602, described transmission input bevel gear 602 is packed on power transmission shaft I 603, is fixed with travelling gear I on described power transmission shaft I 603
604, described travelling gear I 604, idle pulley 606 and travelling gear II 608 engage successively, and described idle pulley 606 is installed in rotation on
On idler shaft 605, described travelling gear II 608 is packed on power transmission shaft II 607, is provided with and it on described power transmission shaft II 607
Rotate the planet circular system housing 612 connecting, be provided with a sun gear 609 in described planet circular system housing 612 and engage
Two planetary gears 610, two described planetary gears 610 are packed on two live axles 611 respectively, and described sun gear 609 is solid
It is contained on described power transmission shaft II 607, two described 611 front lower places being arranged on described power transmission shaft II 607 of live axle, separately
Piece back lower place being arranged on described power transmission shaft II 607, three is parallel to each other, and is fixed with and manages on described live axle 611
The driving wheel 613 that road inwall rolling friction connects, described driving wheel 613 protrudes outside described housing 1, described power transmission shaft I 603
Supported by described housing 1 with described power transmission shaft II 607, described idler shaft 605 is fixed on described housing 1, described power transmission shaft I
603rd, described idler shaft 605 and described power transmission shaft II 607 are arranged in order from the inside to the outside, and two described live axles 611 are by described
Planet circular system housing 612 supports.Planet circular system housing 612 has and pinion frame equivalent action, in pipe robot traction
When device obstacle detouring or turning, planet circular system housing 612 can drive live axle 611 to rotate around power transmission shaft II 607.
Two respectively with the front differential shaft 306 of described differential mechanism I and the corresponding institute of front differential shaft 406 of described differential mechanism II
State and drive the central axis of wheel drive mechanism 6 to be located in a radial section, two rear differential shafts with described differential mechanism I respectively
307 and described differential mechanism II rear differential shaft 407 corresponding described drive wheel drive mechanism 6 central axis be located at another footpath
Into section.
The middle upper part of two described driving wheel drivers 6 being located in same radial section in central axis is provided with one
Caliber adapts to mechanism 7, and described caliber adapts to the wheel carrier 703 that mechanism 7 includes being centrally located, and described wheel carrier 703 is by fixing axle 704
Hold, the axis of described fixing axle 704 central axis that drive wheel drive mechanism 6 described with corresponding two cuts open positioned at same radial direction
In face, described fixing axle 704 is installed on the middle part of described wheel carrier 703, and described wheel carrier 703 is installed in rotation on described fixing axle
On 704, on the top of described wheel carrier 703 two return idlers being arranged symmetrically in front and back 702 are installed, described wheel carrier 703 oblique
Bottom is hinged with the upper end being located at two rocking arms 705 of both sides around respectively, the lower end of two described rocking arms 705 and screw frame
706 is hinged, is connected with and screw 707 on described screw frame 706, and described screw 707 is assemblied in the silk arranging along the longitudinal direction
On bar 708, described screw mandrel 708 is supported and driven by lead screw motor 701 by described housing 1, and described lead screw motor 701 is fixed on institute
State on housing 1.
In the present embodiment, in order that traction apparatuss compact conformation, saving takes up room, the axis of described motor 5,
The axis of the axis of described differential mechanism I 3 and described differential mechanism II is located at
In the same face of cylinder of axis, and it is mutually 120 ° with respect to the axis on this face of cylinder.
In order to be suitable for the needs of miniaturization, before described front transfer axle 206, described rear transfer axle 207, described differential mechanism I
Differential shaft 306, the rear differential shaft 307 of described differential mechanism I, the front differential shaft 406 of described differential mechanism II and described differential mechanism II
Differential shaft 407 is gear shaft afterwards.
It is provided with and its integrally formed transfer gear I 210 in the rear end of described front transfer axle 206, transfer axle in the rear
207 front end is provided with and its integrally formed transfer gear II 211, described transfer gear I 210 and described transfer gear II 211
It is simultaneously engaged with transfer planetary gear I 204 and transfer planetary gear II 205, described transfer planetary gear I 204 and described transfer
Planetary gear II 205 is installed in rotation in transfer planetary gear shaft 203, and described transfer planetary gear shaft 203 is by transfer tooth
Wheel carrier 202 supports, and described transfer gear frame 202 is fixed in the front side of described transfer input gear 201.
It is provided with the travelling gear I with its integrally formed differential mechanism I in the rear end of the front differential shaft 306 of described differential mechanism I
308, it is provided with the travelling gear II 309 with its integrally formed differential mechanism I in the front end of the rear differential shaft 307 of described differential mechanism I,
The travelling gear II 309 of the travelling gear I 308 of described differential mechanism I and described differential mechanism I and the planetary gear I 304 of differential mechanism I
It is simultaneously engaged with the planetary gear II 305 of differential mechanism I, the planetary gear I 304 of described differential mechanism I and the planet of described differential mechanism I
Gear II 305 is installed in rotation in the planetary gear shaft 303 of differential mechanism I, the planetary gear shaft 303 of described differential mechanism I by
The tooth rest 302 of differential mechanism I supports, after the tooth rest 302 of described differential mechanism I is fixed in the input gear 301 of described differential mechanism I
Side.
It is provided with the travelling gear with its integrally formed differential mechanism II in the rear end of the front differential shaft 406 of described differential mechanism II
I 408, it is provided with the travelling gear II with its integrally formed differential mechanism II in the front end of the rear differential shaft 407 of described differential mechanism II
409, the planet tooth of the travelling gear of the travelling gear I 408 of described differential mechanism II and described differential mechanism II II 409 and differential mechanism II
Take turns I 404 and the planetary gear II 405 of differential mechanism II be simultaneously engaged, the planetary gear I 404 of described differential mechanism II and described differential
The planetary gear II 405 of device II is installed in rotation in the planetary gear shaft 403 of differential mechanism II, the planet of described differential mechanism II
Gear shaft 403 is supported by the tooth rest 402 of differential mechanism II, and the tooth rest 402 of described differential mechanism II is fixed in described differential mechanism II
Input gear 401 on front side of.
In the present embodiment, described motor 5 is supported by support 101, and described front transfer axle 206 is by pedestal I 102
Hold, described rear transfer axle 207 is supported by pedestal II 103, the rear differential shaft 307 of described differential mechanism I is supported by pedestal III 104, institute
The front differential shaft 406 stating differential mechanism II is supported by pedestal IV 105, described support 101, described pedestal I 102, described pedestal II
103rd, described pedestal III 104 and described pedestal IV 105 are all fixed in described housing 1.Two described live axle 611 institutes relatively
State 120 ° of the phase shifting of power transmission shaft II 607.Described motor 5 is direct current generator, and described lead screw motor 701 is stepping electricity
Machine.
The operation principle of the present invention：
Wheeled pipe robot traction apparatuss along rectilinear duct move when, the power being exported by motor 5 is via transfer
Device 2 is averagely allocated to differential mechanism I 3 and differential mechanism II, then is averagely allocated to described differential mechanism I via differential mechanism I 3 and differential mechanism II
Front differential shaft 306, the rear differential shaft 307 of described differential mechanism I, the front differential shaft 406 of described differential mechanism II and described differential mechanism
II rear differential shaft 407, described transfer gear I 204, described transfer gear II 205, the planetary gear I 304 of described differential mechanism I,
The planetary gear of the planetary gear II 305 of described differential mechanism I, the planetary gear I 404 of described differential mechanism II and described differential mechanism II
II 405 revolution not rotations, now the rotating speed of four output shafts of driving means is identical.
When wheeled pipe robot traction apparatuss obstacle detouring or turning, the power being exported by motor 5 is via transfer gear 2 one
Front differential shaft 306, the described differential mechanism I of described differential mechanism I is distributed to after secondary decoupling, differential mechanism I 3 and II 2 decouplings of differential mechanism
Rear differential shaft 307, the front differential shaft 406 of described differential mechanism II and described differential mechanism II rear differential shaft 407, described transfer tooth
Take turns I 204, described transfer gear II 205, the planetary gear I 304 of described differential mechanism I, the planetary gear II of described differential mechanism I
305th, the planetary gear I 404 of described differential mechanism II and the planetary gear II 405 of described differential mechanism II while revolution corresponding from
Turn, now the rotating speed of four output shafts of driving means is different, realize the function of differential driving.
Although being described to the preferred embodiments of the present invention above in conjunction with accompanying drawing, the invention is not limited in
The specific embodiment stated, above-mentioned specific embodiment is only schematically, is not restricted, this area common
Technical staff, under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, also may be used
To make a lot of forms, these belong within protection scope of the present invention.
Claims (6)
1. a kind of wheeled pipe robot traction apparatuss are it is characterised in that include housing and four axle differential drive devices, and described four
Axle differential drive device includes transfer gear, differential mechanism I, differential mechanism II and the motor being arranged in described housing, described drive
Galvanic electricity machine is fixed in described housing, is provided with power output gear on the output shaft of described motor；
Described transfer gear is provided with front transfer axle and rear transfer axle, and transfer axle is provided with and is nibbled with described power output gear in the rear
The transfer input gear closing and transfer output gear II, described transfer input gear is rotatably connected on described rear transfer axle, institute
State transfer output gear II to fixedly mount in the rear on transfer axle, described front transfer axle is fixed with transfer output gear I；
Described differential mechanism I and described differential mechanism II all include front differential shaft and rear differential shaft, the axle of the front differential shaft of differential mechanism I
Line, the axis of the rear differential shaft of the axis of rear differential shaft of differential mechanism I, the axis of front differential shaft of differential mechanism II and differential mechanism II
In being generally aligned in the same plane, the outfan of front differential shaft of differential mechanism I is arranged symmetrically with the outfan of the rear differential shaft of differential mechanism I,
The outfan of front differential shaft of differential mechanism II is arranged symmetrically with the outfan of the rear differential shaft of differential mechanism II；
The input gear being rotated the differential mechanism I being connected with it, described differential mechanism I are provided with the front differential shaft of described differential mechanism I
Input gear engage with described transfer output gear I, the rear differential shaft of described differential mechanism II be provided with to rotate with it be connected
Differential mechanism II input gear, the input gear of described differential mechanism II engaged with described transfer output gear II；
Outfan in the front differential shaft of described differential mechanism I, the outfan of the rear differential shaft in described differential mechanism I, in described difference
The outfan of front differential shaft of fast device II and to be respectively connected with a power defeated in the outfan of the rear differential shaft of described differential mechanism II
Go out bevel gear, described power output bevel gear driving one drives wheel drive mechanism；
The described transmission driving wheel drive mechanism to include engaging with described power output bevel gear inputs bevel gear, and described transmission is defeated
Enter bevel gear to be packed on power transmission shaft I, travelling gear I, described travelling gear I, idle pulley and biography are fixed with described power transmission shaft I
Moving gear II engages successively, and described idle pulley is installed in rotation on idler shaft, and described travelling gear II is packed in power transmission shaft II
On, described power transmission shaft II is provided with and rotates the planet circular system housing being connected with it, in described epicyclic train shell body, be provided with one
Individual sun gear and two planetary gears engaging, two described planetary gears are packed on two live axles respectively, described too
Sun wheel is packed on described power transmission shaft II, and two described piece front lower places being arranged on described power transmission shaft II of live axle are another
Root is arranged on the back lower place of described power transmission shaft II, and three is parallel to each other, and is fixed with and inner-walls of duct rolling on described live axle
The driving wheel that dynamic friction connects, described driving wheel protrudes outside described housing, and described power transmission shaft I and described power transmission shaft II are by institute
State housing supporting, described idler shaft is fixing on the housing, described power transmission shaft I, described idler shaft and described power transmission shaft II from
Interior to being arranged in order outward, two described live axles are supported by described planet circular system housing；
Two respectively described driving wheel corresponding with the front differential shaft of described differential mechanism I and the front differential shaft of described differential mechanism II pass
The central axis of motivation structure is located in a radial section, two rear differential shaft and described differentials with described differential mechanism I respectively
The corresponding described central axis driving wheel drive mechanism of rear differential shaft of device II is located in another radial section；
Two described middle upper parts driving wheel drive mechanism being located in same radial section in central axis are provided with a pipe
Footpath adapts to mechanism, and described caliber adapts to the wheel carrier that mechanism includes being centrally located, described wheel carrier by fixing e axle supporting, described fixing axle
Axis described with corresponding two drive wheel drive mechanism central axis be located at same radial section in, described fixing axle is worn
It is contained in the middle part of described wheel carrier, described wheel carrier is installed in rotation in described fixing axle, is provided with the top of described wheel carrier
Two return idlers being arranged symmetrically in front and back, the oblique bottom of described wheel carrier be located at the upper of two rocking arms of both sides around respectively
End is hinged, and the lower end of two described rocking arms is hinged with screw frame, is connected with screw, described screw is assemblied on described screw frame
On the screw mandrel arranging along the longitudinal direction, described screw mandrel is supported and driven by lead screw motor by described housing, and described lead screw motor is solid
Determine on the housing.
2. wheeled pipe robot traction apparatuss according to claim 1 are it is characterised in that the axle of described motor
The axis of line, the axis of described differential mechanism I and described differential mechanism II is located at the central axis of described four axle differential drive devices
For in the same face of cylinder of axis, and it is mutually 120 ° with respect to the axis on this face of cylinder.
3. wheeled pipe robot traction apparatuss according to claim 1 are it is characterised in that described front transfer axle, described
Afterwards transfer axle, the front differential shaft of described differential mechanism I, the rear differential shaft of described differential mechanism I, the front differential shaft of described differential mechanism II and
The rear differential shaft of described differential mechanism II is gear shaft；
It is provided with and its integrally formed transfer gear I in the rear end of described front transfer axle, the front end of transfer axle is provided with the rear
With its integrally formed transfer gear II, described transfer gear I and described transfer gear II and transfer planetary gear I and transfer row
Star gear II is simultaneously engaged, and described transfer planetary gear I and described transfer planetary gear II are installed in rotation on transfer planet
On gear shaft, described transfer planetary gear shaft is supported by transfer gear frame, and described transfer gear frame is fixed in described transfer input
The front side of gear；
It is provided with the travelling gear I with its integrally formed differential mechanism I in the rear end of the front differential shaft of described differential mechanism I, described
The front end of the rear differential shaft of differential mechanism I is provided with the travelling gear II with its integrally formed differential mechanism I, the biography of described differential mechanism I
The planetary gear II of the planetary gear I of the travelling gear II of moving gear I and described differential mechanism I and differential mechanism I and differential mechanism I is simultaneously
Engagement, the planetary gear I of described differential mechanism I and the planetary gear II of described differential mechanism I are installed in rotation on the row of differential mechanism I
On star gear shaft, the planetary gear shaft of described differential mechanism I is supported by the tooth rest of differential mechanism I, and the tooth rest of described differential mechanism I is solid
It is connected on the rear side of the input gear of described differential mechanism I；
It is provided with the travelling gear I with its integrally formed differential mechanism II in the rear end of the front differential shaft of described differential mechanism II, in institute
The front end stating the rear differential shaft of differential mechanism II is provided with travelling gear II with its integrally formed differential mechanism II, described differential mechanism II
Travelling gear I and the travelling gear II of described differential mechanism II and the planetary gear I of differential mechanism II and the planet tooth of differential mechanism II
Wheel II is simultaneously engaged, and the planetary gear I of described differential mechanism II and the planetary gear II of described differential mechanism II are installed in rotation on
In the planetary gear shaft of differential mechanism II, the planetary gear shaft of described differential mechanism II is supported by the tooth rest of differential mechanism II, described difference
The tooth rest of fast device II is fixed in the front side of the input gear of described differential mechanism II.
4. wheeled pipe robot traction apparatuss according to claim 1 are it is characterised in that described motor is by support
Supporting, described front transfer axle supports by pedestal I, and described rear transfer axle is supported by pedestal II, the rear differential shaft of described differential mechanism I by
Pedestal III supports, and the front differential shaft of described differential mechanism II is supported by pedestal IV, described support, described pedestal I, described pedestal II,
Described pedestal III and described pedestal IV are all fixed in described housing.
5. wheeled pipe robot traction apparatuss according to claim 1 are it is characterised in that two described live axle phases
120 ° of the phase shifting to described power transmission shaft II.
6. wheeled pipe robot traction apparatuss according to claim 1 are it is characterised in that described motor is direct current
Motor, described lead screw motor is motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611018993.0A CN106402577B (en) | 2016-11-17 | 2016-11-17 | A kind of wheeled pipe robot draw-gear |
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| CN201611018993.0A CN106402577B (en) | 2016-11-17 | 2016-11-17 | A kind of wheeled pipe robot draw-gear |
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| CN106402577B CN106402577B (en) | 2018-05-04 |
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| CN109990165A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | A kind of pipe robot support arm synchronous drive device with adaptation function |
| CN110337348A (en) * | 2018-04-25 | 2019-10-15 | 深圳市大疆创新科技有限公司 | Excessively curved and the progress control method, device of robot |
| CN112066155A (en) * | 2020-09-08 | 2020-12-11 | 沈阳工业大学 | Differential supporting wheel type pipeline robot |
| CN114833519A (en) * | 2021-02-02 | 2022-08-02 | 中国石油天然气集团有限公司 | Pipe internal butt-joint device |
| CN117722533B (en) * | 2024-02-07 | 2024-04-19 | 临汾淼森能源工程有限公司 | Auxiliary equipment for laying thermal pipeline |
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| CN114833519A (en) * | 2021-02-02 | 2022-08-02 | 中国石油天然气集团有限公司 | Pipe internal butt-joint device |
| CN117722533B (en) * | 2024-02-07 | 2024-04-19 | 临汾淼森能源工程有限公司 | Auxiliary equipment for laying thermal pipeline |
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| CN106402577B (en) | 2018-05-04 |
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