CN106402577B - A kind of wheeled pipe robot draw-gear - Google Patents
A kind of wheeled pipe robot draw-gear Download PDFInfo
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- CN106402577B CN106402577B CN201611018993.0A CN201611018993A CN106402577B CN 106402577 B CN106402577 B CN 106402577B CN 201611018993 A CN201611018993 A CN 201611018993A CN 106402577 B CN106402577 B CN 106402577B
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- Prior art keywords
- gear
- differential mechanism
- differential
- 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 kind of wheeled pipe robot draw-gear, including housing and four axis differential drive devices, a power output bevel gear is respectively provided with four output terminals of four axis differential drive devices, power output bevel gear driving one drives wheel drive mechanism, and being respectively provided with a caliber in the middle upper part positioned at two anterior driving wheel drive mechanisms and the middle upper part in two driving wheel drive mechanisms positioned at rear portion adapts to mechanism.The present invention can be according to its four rotating speed of operation conditions automatic adjusument in the duct, during turning no matter in an interim state or turn condition, the differential motion of four groups of driving wheels can be achieved, solves the problems, such as pipe robot draw-gear existing movement interference in obstacle detouring or turning, improve drive efficiency, reduce the abrasion of driving device, and then extend the service life of draw-gear, it is and adaptable with obstacle climbing ability and caliber, effective driving force is high, structural symmetry is good, it is applied widely the advantages of.
Description
Technical field
The invention belongs to pipe robot field, more particularly, to a kind of wheeled pipe robot draw-gear.
Background technology
Pipeline is as a kind of effective means for conveying material, in industry, nuclear facilities, oil, natural gas and military equipment etc.
Field is widely used.In order to extend the generation of the accidents such as the service life of pipeline, prevent leakage, it is necessary to periodically pipeline is carried out effective
Ground detection, cleaning and maintenance.But being limited by pipeline local environment, above-mentioned work is difficult artificially to carry out, in order to meet above-mentioned requirements,
Pipe robot comes into being.Pipe robot draw-gear is the important component of pipe robot, predominantly pipe machine
Device people provides power, can carry or the device such as connecting detection, cleaning and provide tractive force for it, meet that pipe robot integrally exists
Movement needs in pipeline.
Wheeled pipe robot draw-gear common at this stage is independently driven using more motors, each speed for driving motor
Degree is provided as servo controller according to the draw-gear job information acquired in airborne sensor by series of algorithms, but due to
The accurate above- mentioned information that obtains is more difficult, and control algolithm complexity real-time is poor, therefore when running into irregular tube wall or turning,
Movement interference problem still remains, so as to produce power consumption increase, effective traction decline, driving device abrasion aggravation etc. are asked
Topic, seriously affects the work efficiency and service life of draw-gear.At this stage, only a few pipe robot draw-gear is using poor
Speed driving solves the above problems, but is three axis differentials, it drives motor to be installed on outside symmetrical structure, occupies exceptional space,
And since three axis differentials can only realize the differential between axis and axis, every axis both ends motion state is identical, according to rear and front end
Driving, when draw-gear is in the transition state turned, i.e. front end wheel is taken turns still in straight tube into crook in differential state, rear end
In non-differential state, or protruding crook is still in differential state to front-wheel in non-differential state, trailing wheel in bend pipe, then both ends phase
Same motion state causes parasitic power and movement interference to produce, and the above problem still remains；According to one end drive, one end from
It is dynamic, then the pose of driven end cannot be effectively controlled, draw-gear kinetic stability is greatly lowered, while draw-gear is effective
Driving force is relatively low, and obstacle climbing ability is poor.
The content of the invention
The present invention provides a kind of wheeled pipe robot draw-gear to solve technical problem present in known technology,
The device can realize that single motor inputs the output of four axis, possess preferable obstacle detouring, turning and caliber adaptability, and with drive
It is efficiency of movement height, long lifespan, adaptable, it is applied widely the characteristics of.
The present invention is adopted the technical scheme that to solve technical problem present in known technology：A kind of wheeled pipe machine
Device people's draw-gear, including housing and four axis differential drive devices, the four axis differential drive device include being installed on the shell
Internal transfer gear, differential mechanism I, differential mechanism II and driving motor, the driving motor is fixed in the housing, in the drive
Power output gear is installed on the output shaft of dynamic motor；The transfer gear is equipped with preceding transfer axis and rear transfer axis, in the rear
Transfer axis is equipped with the transfer input gear and transfer output gear II engaged with the power output gear, the transfer input
Gear rotation connection is in the rear on transfer axis, and the transfer output gear II is fixedly mounted in the rear on transfer axis, in institute
Before stating transfer output gear I is fixed with transfer axis；The differential mechanism I and the differential mechanism II include preceding differential shaft and rear poor
Fast axis, the axis of the preceding differential shaft of differential mechanism I, the axis of the rear differential shaft of differential mechanism I, differential mechanism II preceding differential shaft axis
Interior, output terminal and the differential mechanism I of the preceding differential shaft of differential mechanism I are generally aligned in the same plane with the axis of the rear differential shaft of differential mechanism II
The output terminal of differential shaft is arranged symmetrically afterwards, the output of the output terminal of the preceding differential shaft of differential mechanism II and the rear differential shaft of differential mechanism II
End is arranged symmetrically；The input gear for the differential mechanism I being rotatablely connected with it is equipped with the preceding differential shaft of the differential mechanism I, it is described
The input gear of differential mechanism I is engaged with the transfer output gear I, is equipped with and its turn on the rear differential shaft of the differential mechanism II
The input gear of the differential mechanism II of dynamic connection, the input gear of the differential mechanism II are engaged with the transfer output gear II；
The output terminal of the preceding differential shaft of the differential mechanism I, the differential mechanism I rear differential shaft output terminal, in the differential mechanism II
The output terminal of preceding differential shaft and the output terminal of rear differential shaft in the differential mechanism II be respectively connected with power output cone tooth
Wheel, the power output bevel gear driving one drive wheel drive mechanism；The driving wheel drive mechanism includes defeated with the power
Go out the transmission input bevel gear of bevel gear engagement, the transmission input bevel gear is packed on transmission shaft I, in the transmission shaft I
On be fixed with travelling gear I, the travelling gear I, idle pulley and travelling gear II engage successively, and the idle pulley is rotatably mounted
On idler shaft, the travelling gear II is packed on transmission shaft II, is equipped with the transmission shaft II and is rotatablely connected with it
Planetary gear train housing, is equipped with a sun gear and two planetary gears engaged, two institutes in the epicyclic train shell body
State planetary gear to be packed in respectively on two live axles, the sun gear is packed on the transmission shaft II, two drivings
One, wheel shaft is arranged on the front lower place of the transmission shaft II, another back lower place for being arranged on the transmission shaft II, and three is mutual
It is parallel, the driving wheel being connected with inner-walls of duct rolling friction is fixed with the live axle, the driving wheel protrusion is in institute
State outside housing, the transmission shaft I and the transmission shaft II are supported by the housing, and the idler shaft is fixed on the housing
On, the transmission shaft I, the idler shaft and the transmission shaft II are arranged in order from the inside to the outside, and two live axles are by institute
State the supporting of planetary gear train housing；Two respectively with the preceding differential shaft of the differential mechanism I and the preceding differential shaft pair of the differential mechanism II
The central axis for the driving wheel drive mechanism answered in radial section, two respectively with after the differential mechanism I
The central axis of the corresponding driving wheel drive mechanism of the rear differential shaft of differential shaft and the differential mechanism II is located at another footpath
Into section；It is equipped with the middle upper part for two driving wheel drive mechanisms that central axis is located in same radial section
One caliber adapts to mechanism, and the caliber adapts to the wheel carrier that mechanism includes being centrally located, and the wheel carrier is described solid by fixing e axle supporting
The axis of dead axle is located in same radial section with the central axis of the corresponding two driving wheel drive mechanisms, the fixation
Axis is installed on the middle part of the wheel carrier, and the wheel carrier is installed in rotation in the fixing axle, pacifies on the top of the wheel carrier
Equipped with the driven roller being arranged symmetrically before and after two, the portion obliquely downward of the wheel carrier and two rocking arms at left and right sides of it respectively
Upper end be hinged, lower end and the screw frame of two rocking arms are hinged, and are connected with screw on the screw frame, the screw dress
Fit on the screw set along the longitudinal direction, the screw is supported by the housing and driven by lead screw motor, the screw electricity
Machine is fixed on the housing.
Axis, the axis of the differential mechanism I and the axis of the differential mechanism II of the driving motor are located at described four
The central axis of axis differential drive device is in the same cylindrical surface of axis, and is mutually 120 ° relative to the axis on the cylindrical surface.
The preceding transfer axis, the rear transfer axis, the preceding differential shaft of the differential mechanism I, the rear differential of the differential mechanism I
The rear differential shaft of axis, the preceding differential shaft of the differential mechanism II and the differential mechanism II is gear shaft；In the preceding transfer axis
Rear end be equipped with its integrally formed transfer gear I, in the rear the front end of transfer axis be equipped with and its integrally formed transfer tooth
Wheel II, the transfer gear I and the transfer gear II engage at the same time with transfer planetary gear I and transfer planetary gear II, institute
State transfer planetary gear I and the transfer planetary gear II is installed in rotation in transfer planetary gear shaft, the transfer row
Star gear shaft is supported by transfer gear frame, and the transfer gear frame is fixed in the front side of the transfer input gear；In the difference
The rear end of the preceding differential shaft of fast device I is equipped with the travelling gear I with its integrally formed differential mechanism I, in the rear difference of the differential mechanism I
The front end of fast axis is equipped with travelling gear II with its integrally formed differential mechanism I, the travelling gear I of the differential mechanism I and described
The travelling gear II of differential mechanism I engages at the same time with the planetary gear II of the planetary gear I of differential mechanism I and differential mechanism I, the differential
The planetary gear I of device I and the planetary gear II of the differential mechanism I are installed in rotation in the planetary gear shaft of differential mechanism I, institute
The planetary gear shaft for stating differential mechanism I is supported by the tooth rest of differential mechanism I, and the tooth rest of the differential mechanism I is fixed in the differential
The rear side of the input gear of device I；It is equipped with and its integrally formed differential mechanism II in the rear end of the preceding differential shaft of the differential mechanism II
Travelling gear I, be equipped with driving cog with its integrally formed differential mechanism II in the front end of the rear differential shaft of the differential mechanism II
Wheel II, the planetary gear I of the travelling gear I of the differential mechanism II and the travelling gear II of the differential mechanism II and differential mechanism II and
The planetary gear II of differential mechanism II engages at the same time, the planetary gear I of the differential mechanism II and the planetary gear of the differential mechanism II
II is installed in rotation in the planetary gear shaft of differential mechanism II, the planetary gear shaft of the differential mechanism II by differential mechanism II tooth
Wheel carrier supports, and the tooth rest of the differential mechanism II is fixed in the front side of the input gear of the differential mechanism II.
The driving motor is supported by stent, and the preceding transfer axis is supported by pedestal I, it is described after transfer axis by pedestal II
Hold, the rear differential shaft of the differential mechanism I is supported by pedestal III, and the preceding differential shaft of the differential mechanism II is supported by pedestal IV, described
Stent, the pedestal I, the pedestal II, the pedestal III and the pedestal IV are fixed in the housing.
120 ° of the phase shifting of the relatively described transmission shaft II of two live axles.
The driving motor is direct current generator, and the lead screw motor is stepper motor.
The present invention has the advantages and positive effects of：Pass through a motor driving, a transfer gear transfer and two
The four axis output of differential mechanism, realize the differential driving that single motor inputs the output of four axis, can be according to draw-gear in the duct
Four rotating speed of operation conditions automatic adjusument, draw-gear turning during no matter in an interim state or turn condition,
The differential motion of four groups of driving wheels can be achieved, it is existing in obstacle detouring or turning to completely solve pipe robot draw-gear
Movement interference problem, improves drive efficiency, reduces the abrasion of driving device, and then extends the use longevity of draw-gear
Life, and it is adaptable with obstacle climbing ability and caliber, effective driving force is high, and symmetrical configuration, cost is low, and applied widely is excellent
Point.By using the axis of four output shafts be generally aligned in the same plane in and the structure that is arranged symmetrically of same differential mechanism output terminal, side
Just structure design and arrangement, expand the scope of application of draw-gear；By using the axis and two differential mechanisms of driving motor
Axis be located at using the central axis of device as in the same cylindrical surface of axis, and be mutually 120 ° relative to the axis on the cylindrical surface
Structure, the compact-sized saving occupied space of draw-gear can be made, and can make draw-gear have well stablize
Property.
Brief description of the drawings
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 axis 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；
The caliber that Fig. 7 is the present invention adapts to mechanism axial sectional view；
The caliber that Fig. 8 is the present invention adapts to mechanism radial cross-section.
In figure：1- housings, 2- transfer gears, 3- differential mechanisms I, 5- driving motors, 6- driving wheel drive mechanisms, 7- calibers adapt to
Mechanism；
101- stents, 102- pedestals I, 103- pedestals II, 104- pedestals III, 105- pedestals IV；
201- transfer input gears, 202- transfer gear framves, 203- transfer planetary gear shafts, 204- transfers planetary gear I,
205- transfers planetary gear II, transfer axis before 206-, transfer axis after 207-, 208- transfers output gear I, 209- transfer output gears
Take turns II, 210- transfer gears I, 211- transfer gears II；
The input gear of 301- differential mechanisms I, the tooth rest of 302- differential mechanisms I, the planetary gear shaft of 303- differential mechanisms I,
The planetary gear I of 304- differential mechanisms I, the planetary gear II of 305- differential mechanisms I, the preceding differential shaft of 306- differential mechanisms I, 307- differentials
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 mechanisms II, the tooth rest of 402- differential mechanisms II, the planetary gear shaft of 403- differential mechanisms II,
The planetary gear I of 404- differential mechanisms II, the planetary gear II of 405- differential mechanisms II, the preceding differential shaft of 406- differential mechanisms 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 gears；
601- power output bevel gears, 602- transmission input bevel gears, 603- transmission shafts I, 604- travelling gears I, 605-
Idler shaft, 606- idle pulleys, 607- transmission shafts II, 608- travelling gears II, 609- sun gears, 610- planetary gears, 611- driving wheels
Axis, 612- planetary gear train housings, 613- driving wheels；
701- lead screw motors, 702- driven rollers, 703- wheel carriers, 704- fixing axles, 705- rocking arms, 706- screw framves,
707- screws, 708- screws.
Embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Describe in detail as follows：
Please refer to Fig.1~Fig. 8, a kind of wheeled pipe robot draw-gear, including 1 and four axis differential of housing driving dress
Put, the four axis differential drive device includes transfer gear 2, differential mechanism I 3, differential mechanism II and the driving being installed in the housing 1
Motor 5, the driving motor 5 are fixed in the housing 1, and power output is provided with the output shaft of the driving motor 5
Gear 501.
The transfer gear 2 is equipped with preceding transfer axis 206 and rear transfer axis 207, in the rear transfer axis 207 be equipped with it is described
The transfer input gear 201 and transfer output gear II 209 that power output gear 501 engages, 201 turns of the transfer input gear
In the rear on transfer axis 207, the transfer output gear II 209 is fixedly mounted in the rear on transfer axis 207 for dynamic connection,
Transfer output gear I 208 is fixed with the preceding transfer axis 206.
The differential mechanism I 3 and the differential mechanism II include preceding differential shaft and rear differential shaft, the preceding differential shaft of differential mechanism I
306 axis, the axis of the rear differential shaft 307 of differential mechanism I, differential mechanism II preceding differential shaft 406 axis and differential mechanism II
In the axis of differential shaft 407 is generally aligned in the same plane afterwards, the output terminal of the preceding differential shaft 306 of differential mechanism I and the rear differential of differential mechanism I
The output terminal of axis 307 is arranged symmetrically, the output terminal of the preceding differential shaft 406 of differential mechanism II and the rear differential shaft 407 of differential mechanism II
Output terminal is arranged symmetrically.
The input gear 301 for the differential mechanism I being rotatablely connected with it, institute are equipped with the preceding differential shaft 306 of the differential mechanism I
The input gear 301 for stating differential mechanism I is engaged with the transfer output gear I 208, in the rear differential shaft 407 of the differential mechanism II
It is equipped with the input gear 401 for the differential mechanism II being rotatablely connected with it, input gear 401 and the transfer of the differential mechanism II
Output gear II 209 engages.
Output terminal in the preceding differential shaft 306 of the differential mechanism I, the differential mechanism I rear differential shaft 307 output
End, the output terminal of preceding differential shaft 406 and the output terminal of rear differential shaft 407 in the differential mechanism II in the differential mechanism II
A power output bevel gear 601 is respectively connected with, the power output bevel gear 601 drives wheel drive mechanism 6.
The driving wheel drive mechanism 6 includes the transmission input bevel gear engaged with the power output bevel gear 601
602, the transmission input bevel gear 602 is packed on transmission shaft I 603, and travelling gear I is fixed with the transmission shaft I 603
604, the travelling gear I 604, idle pulley 606 and travelling gear II 608 engage successively, and the idle pulley 606 is installed in rotation on
On idler shaft 605, the travelling gear II 608 is packed on transmission shaft II 607, be equipped with the transmission shaft II 607 and its
The planetary gear train housing 612 of rotation connection, is equipped with a sun gear 609 and engages in the planetary gear train housing 612
Two planetary gears 610, two planetary gears 610 are packed on two live axles 611 respectively, and the sun gear 609 is solid
On the transmission shaft II 607, two live axles 611 1 are arranged on the front lower place of the transmission shaft II 607, separately
Piece back lower place for being arranged on the transmission shaft II 607, three are parallel to each other, and are fixed with and manage on the live axle 611
The driving wheel 613 of road inner wall rolling friction connection, the driving wheel 613 are protruded outside the housing 1, the transmission shaft I 603
Supported with the transmission shaft II 607 by the housing 1, the idler shaft 605 is fixed on the housing 1, the transmission shaft I
603rd, the idler shaft 605 and the transmission shaft II 607 are arranged in order from the inside to the outside, and two live axles 611 are by described
Planetary gear train housing 612 supports.Planetary gear train housing 612 have with pinion frame equivalent action, pipe robot draw
When device obstacle detouring or turning, planetary gear train housing 612 can drive live axle 611 to be rotated around transmission shaft II 607.
Two institutes corresponding with the preceding differential shaft 306 of the differential mechanism I and the preceding differential shaft 406 of the differential mechanism II respectively
The central axis of driving wheel drive mechanism 6 is stated in radial section, two rear differential shafts with the differential mechanism I respectively
307 and the differential mechanism II rear differential shaft 407 it is corresponding it is described driving wheel drive mechanism 6 central axis be located at another footpath
Into section.
The middle upper part for being located at two driving wheel drivers 6 in same radial section in central axis is equipped with one
Caliber adapts to mechanism 7, and the caliber adapts to the wheel carrier 703 that mechanism 7 includes being centrally located, and the wheel carrier 703 is by fixing axle 704
Hold, the axis of the fixing axle 704 is located at same radial direction with the central axis of the corresponding two driving wheel drive mechanisms 6 and cuts open
In face, the fixing axle 704 is installed on the middle part of the wheel carrier 703, and the wheel carrier 703 is installed in rotation on the fixing axle
On 704, the driven roller 702 being arranged symmetrically before and after two is installed on the top of the wheel carrier 703, the wheel carrier 703 it is oblique
Lower part is hinged with being located at the upper end of two rocking arms 705 at left and right sides of it respectively, lower end and the screw frame of two rocking arms 705
706 is hinged, is connected with the screw frame 706 and is assemblied in the silk set along the longitudinal direction with screw 707, the screw 707
On bar 708, the screw 708 is supported by the housing 1 and driven by lead screw motor 701, and the lead screw motor 701 is fixed on institute
State on housing 1.
In the present embodiment, in order to make draw-gear compact-sized, saving occupied space, the axis of the driving motor 5,
The axis of the differential mechanism I 3 and the axis of the differential mechanism II be located at using the central axis of the four axis differential drive device as
In the same cylindrical surface of axis, and 120 ° are mutually relative to the axis on the cylindrical surface.
In order to be applicable in the needs of miniaturization, the preceding transfer axis 206, it is described after before transfer axis 207, the differential mechanism I
Differential shaft 306, the rear differential shaft 307 of the differential mechanism I, the preceding differential shaft 406 of the differential mechanism II and the differential mechanism II
Differential shaft 407 is gear shaft afterwards.
It is equipped with the rear end of the preceding transfer axis 206 and its integrally formed transfer gear I 210, in the rear transfer axis
207 front end is equipped with and its integrally formed transfer gear II 211, the transfer gear I 210 and the transfer gear II 211
Engaged at the same time with transfer planetary gear I 204 and transfer planetary gear II 205, the transfer planetary gear I 204 and the transfer
Planetary gear II 205 is installed in rotation in transfer planetary gear shaft 203, and the transfer planetary gear shaft 203 is by transfer tooth
Wheel carrier 202 supports, and the transfer gear frame 202 is fixed in the front side of the transfer input gear 201.
The travelling gear I with its integrally formed differential mechanism I is equipped with the rear end of the preceding differential shaft 306 of the differential mechanism I
308, the travelling gear II 309 with its integrally formed differential mechanism I is equipped with the front end of the rear differential shaft 307 of the differential mechanism I,
The planetary gear I 304 of the travelling gear I 308 of the differential mechanism I and the travelling gear II 309 of the differential mechanism I and differential mechanism I
Engaged at the same time with the planetary gear II 305 of differential mechanism I, the planetary gear I 304 of the differential mechanism I and the planet of the 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 the differential mechanism I by
The tooth rest 302 of differential mechanism I supports, after the tooth rest 302 of the differential mechanism I is fixed in the input gear 301 of the differential mechanism I
Side.
The travelling gear with its integrally formed differential mechanism II is equipped with the rear end of the preceding differential shaft 406 of the differential mechanism II
I 408, it is equipped with the travelling gear II with its integrally formed differential mechanism II in the front end of the rear differential shaft 407 of the differential mechanism II
409, the planet tooth of the travelling gear I 408 of the differential mechanism II and the travelling gear II 409 of the differential mechanism II and differential mechanism II
Take turns the planetary gear II 405 of I 404 and differential mechanism II while engage, the planetary gear I 404 and the differential of the differential mechanism II
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 the differential mechanism II
Gear shaft 403 is supported by the tooth rest 402 of differential mechanism II, and the tooth rest 402 of the differential mechanism II is fixed in the differential mechanism II
The front side of input gear 401.
In the present embodiment, the driving motor 5 is supported by stent 101, and the preceding transfer axis 206 is by pedestal I 102
Hold, the rear transfer axis 207 is supported by pedestal II 103, and the rear differential shaft 307 of the differential mechanism I is supported by pedestal III 104, institute
The preceding differential shaft 406 for stating differential mechanism II is supported by pedestal IV 105, the stent 101, the pedestal I 102, the pedestal II
103rd, the pedestal III 104 and the pedestal IV 105 are fixed in the housing 1.Two live axles 611 are with respect to institute
State 120 ° of the phase shifting of transmission shaft II 607.The driving motor 5 is direct current generator, and the lead screw motor 701 is stepping electricity
Machine.
The operation principle of the present invention：
Wheeled pipe robot draw-gear along rectilinear duct move when, the power exported by driving motor 5 is via transfer
Device 2 is averagely allocated to differential mechanism I 3 and differential mechanism II, then is averagely allocated to the differential mechanism I via differential mechanism I 3 and differential mechanism II
Preceding differential shaft 306, the rear differential shaft 307 of the differential mechanism I, the preceding differential shaft 406 of the differential mechanism II and the differential mechanism
II rear differential shaft 407, the transfer gear I 204, the transfer gear II 205, the differential mechanism I planetary gear I 304,
The planetary gear of the planetary gear II 305 of the differential mechanism I, the planetary gear I 404 of the differential mechanism II and the differential mechanism II
II 405 revolution not rotations, the rotating speed of four output shafts of driving device is identical at this time.
When wheeled pipe robot draw-gear obstacle detouring or turning, by the power that driving motor 5 exports via transfer gear 2 one
Preceding differential shaft 306, the differential mechanism I of the differential mechanism I are distributed to after II 2 secondary decoupling, differential mechanism I 3 and differential mechanism decouplings
Rear differential shaft 307, the preceding differential shaft 406 of the differential mechanism II and the rear differential shaft 407 of the differential mechanism II, the transfer tooth
Take turns the I 204, transfer gear II 205, the planetary gear I 304 of the differential mechanism I, the planetary gear II of the differential mechanism I
305th, the planetary gear I 404 of the differential mechanism II and the planetary gear II 405 of the differential mechanism II while revolution it is corresponding from
Turn, the rotating speed of four output shafts of driving device is different at this time, realizes the function of differential driving.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited in upper
The embodiment stated, above-mentioned embodiment is only schematical, be not it is restricted, this area it is common
Technical staff in the case of present inventive concept and scope of the claimed protection is not departed from, may be used also under the enlightenment of the present invention
By make it is many in the form of, these are belonged within protection scope of the present invention.
Claims (6)
- A kind of 1. wheeled pipe robot draw-gear, it is characterised in that including housing and four axis differential drive devices, described four Axis differential drive device includes transfer gear, differential mechanism I, differential mechanism II and the driving motor being installed in the housing, the drive Dynamic motor is fixed in the housing, and power output gear is provided with the output shaft of the driving motor；The transfer gear is equipped with preceding transfer axis and rear transfer axis, and transfer axis is equipped with and is nibbled with the power output gear in the rear The transfer input gear and transfer output gear II of conjunction, the transfer input gear are rotatablely connected in the rear on transfer axis, institute State transfer output gear II to be fixedly mounted in the rear on transfer axis, transfer output gear I is fixed with the preceding transfer axis；The differential mechanism I and the differential mechanism II include preceding differential shaft and rear differential shaft, the axis of the preceding differential shaft of differential mechanism I Line, the axis of rear differential shaft of differential mechanism I, differential mechanism II preceding differential shaft axis and differential mechanism II rear differential shaft axis In being generally aligned in the same plane, the output terminal of the preceding differential shaft of differential mechanism I and the output terminal of the rear differential shaft of differential mechanism I are arranged symmetrically, The output terminal of the preceding differential shaft of differential mechanism II and the output terminal of the rear differential shaft of differential mechanism II are arranged symmetrically；The input gear for the differential mechanism I being rotatablely connected with it, the differential mechanism I are equipped with the preceding differential shaft of the differential mechanism I Input gear engaged with the transfer output gear I, on the rear differential shaft of the differential mechanism II be equipped be rotatablely connected with it Differential mechanism II input gear, the input gear of the differential mechanism II engages with the transfer output gear II；Output terminal in the preceding differential shaft of the differential mechanism I, the differential mechanism I rear differential shaft output terminal, in the difference It is defeated that the output terminal of the output terminal of the preceding differential shaft of fast device II and rear differential shaft in the differential mechanism II is respectively connected with a power Go out bevel gear, the power output bevel gear driving one drives wheel drive mechanism；The driving wheel drive mechanism includes the transmission input bevel gear engaged with the power output bevel gear, and the transmission is defeated Enter bevel gear to be packed on transmission shaft I, travelling gear I, travelling gear I, idle pulley and the biography are fixed with the transmission shaft I Moving gear II engages successively, and the idle pulley is installed in rotation on idler shaft, and the travelling gear II is packed in transmission shaft II On, the planetary gear train housing being rotatablely connected with it is equipped with the transmission shaft II, one is equipped with the epicyclic train shell body A sun gear and two planetary gears engaged, two planetary gears are packed on two live axles respectively, it is described too Sun wheel is packed on the transmission shaft II, and two live axles one are arranged on the front lower place of the transmission shaft II, another Root is arranged on the back lower place of the transmission shaft II, and three is parallel to each other, and is fixed with the live axle and is rolled with inner-walls of duct The driving wheel of dynamic friction connection, the driving wheel protrusion is outside the housing, and the transmission shaft I and the transmission shaft II are by institute State housing supporting, the idler shaft is fixed on the housing, the transmission shaft I, the idler shaft and the transmission shaft II from Interior to outer to be arranged in order, two live axles are supported by the planetary gear train housing；Two respectively the driving wheel corresponding with the preceding differential shaft of the differential mechanism I and the preceding differential shaft of the differential mechanism II pass The central axis of motivation structure is in radial section, two the rear differential shaft with the differential mechanism I and the differentials respectively The central axis of the corresponding driving wheel drive mechanism of rear differential shaft of device II is located in another radial section；A pipe is equipped with the middle upper part for two driving wheel drive mechanisms that central axis is located in same radial section Footpath adapts to mechanism, and the caliber adapts to the wheel carrier that mechanism includes being centrally located, and the wheel carrier is by fixing e axle supporting, the fixing axle Axis with corresponding two it is described driving wheel drive mechanisms central axis be located in same radial section, the fixing axle is worn Mounted in the middle part of the wheel carrier, the wheel carrier is installed in rotation in the fixing axle, is provided with the top of the wheel carrier The driven roller being arranged symmetrically before and after two, the portion obliquely downward of the wheel carrier are upper with two rocking arms at left and right sides of it respectively End is hinged, and lower end and the screw frame of two rocking arms are hinged, and screw is connected with the screw frame, and the screw is assemblied in On the screw set along the longitudinal direction, the screw is supported by the housing and driven by lead screw motor, and the lead screw motor is consolidated Determine on the housing.
- 2. wheeled pipe robot draw-gear according to claim 1, it is characterised in that the axis of the driving motor The axis of line, the axis of the differential mechanism I and the differential mechanism II is located at the central axis of the four axis differential drive device For in the same cylindrical surface of axis, and 120 ° are mutually relative to the axis on the cylindrical surface.
- 3. wheeled pipe robot draw-gear according to claim 1, it is characterised in that the preceding transfer axis, described Afterwards transfer axis, the preceding differential shaft of the differential mechanism I, the rear differential shaft of the differential mechanism I, the differential mechanism II preceding differential shaft and The rear differential shaft of the differential mechanism II is gear shaft；The rear end of the preceding transfer axis be equipped with its integrally formed transfer gear I, in the rear the front end of transfer axis be equipped with With its integrally formed transfer gear II, the transfer gear I and the transfer gear II and transfer planetary gear I and transfer row Star gear II engages at the same time, and the transfer planetary gear I and the transfer planetary gear II are installed in rotation on transfer planet On gear shaft, the transfer planetary gear shaft is supported by transfer gear frame, and the transfer gear frame is fixed in the transfer input The front side of gear；The travelling gear I with its integrally formed differential mechanism I is equipped with the rear end of the preceding differential shaft of the differential mechanism I, described The front end of the rear differential shaft of differential mechanism I is equipped with the travelling gear II with its integrally formed differential mechanism I, the biography of the differential mechanism I The planetary gear II of the planetary gear I and differential mechanism I of the travelling gear II of moving gear I and the differential mechanism I and differential mechanism I is at the same time Engagement, the planetary gear I of the differential mechanism I and the planetary gear II of the differential mechanism I are installed in rotation on the row of differential mechanism I On star gear shaft, the planetary gear shaft of the differential mechanism I is supported by the tooth rest of differential mechanism I, and the tooth rest of the differential mechanism I is consolidated It is connected on the rear side of the input gear of the differential mechanism I；The travelling gear I with its integrally formed differential mechanism II is equipped with the rear end of the preceding differential shaft of the differential mechanism II, in institute The front end of the rear differential shaft of differential mechanism II is stated equipped with the travelling gear II with its integrally formed differential mechanism II, the differential mechanism II Travelling gear I and the planet tooth of the travelling gear II of the differential mechanism II and the planetary gear I of differential mechanism II and differential mechanism II Wheel II engages at the same time, and the planetary gear I of the differential mechanism II and the planetary gear II of the differential mechanism II are installed in rotation on In the planetary gear shaft of differential mechanism II, the planetary gear shaft of the differential mechanism II is supported by the tooth rest of differential mechanism II, the difference The tooth rest of fast device II is fixed in the front side of the input gear of the differential mechanism II.
- 4. wheeled pipe robot draw-gear according to claim 1, it is characterised in that the driving motor is by stent Supporting, the preceding transfer axis supports by pedestal I, it is described after transfer axis supported by pedestal II, the rear differential shaft of the differential mechanism I by Pedestal III supports, and the preceding differential shaft of the differential mechanism II is supported by pedestal IV, the stent, the pedestal I, the pedestal II, The pedestal III and the pedestal IV are fixed in the housing.
- 5. wheeled pipe robot draw-gear according to claim 1, it is characterised in that two live axle phases To 120 ° of the phase shifting of the transmission shaft II.
- 6. wheeled pipe robot draw-gear according to claim 1, it is characterised in that the driving motor is direct current Motor, the lead screw motor are stepper motor.
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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 true CN106402577B (en) | 2018-05-04 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107387938B (en) * | 2017-07-05 | 2019-11-12 | 山东领亿智能技术有限公司 | Pipeline rehabilitation robot |
| CN109990165B (en) * | 2017-12-29 | 2020-11-20 | 中国核动力研究设计院 | Pipeline robot support arm synchronous driving device with self-adaptive 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 |
| CN112066155B (en) * | 2020-09-08 | 2022-05-10 | 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 |
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| US7182025B2 (en) * | 2001-10-17 | 2007-02-27 | William Marsh Rice University | Autonomous robotic crawler for in-pipe inspection |
| CN104791579A (en) * | 2015-04-20 | 2015-07-22 | 青岛歌尔声学科技有限公司 | Pipeline robot |
| CN104896258A (en) * | 2015-05-13 | 2015-09-09 | 上海宇航系统工程研究所 | Self-adaptive wheel type pipe inner moving device |
| CN106015831A (en) * | 2016-06-16 | 2016-10-12 | 合肥工业大学 | Wheel type pipeline robot with steering of driving wheels being controllable |
| CN206221897U (en) * | 2016-11-17 | 2017-06-06 | 天津大学 | A kind of four axle differential speed type pipe robot draw-gears |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9429266B2 (en) * | 2013-11-26 | 2016-08-30 | Research & Business Foundation Sungkyunkwan University | Brake mechanism of robot using multi-output differential gear |
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| US7182025B2 (en) * | 2001-10-17 | 2007-02-27 | William Marsh Rice University | Autonomous robotic crawler for in-pipe inspection |
| CN104791579A (en) * | 2015-04-20 | 2015-07-22 | 青岛歌尔声学科技有限公司 | Pipeline robot |
| CN104896258A (en) * | 2015-05-13 | 2015-09-09 | 上海宇航系统工程研究所 | Self-adaptive wheel type pipe inner moving device |
| CN106015831A (en) * | 2016-06-16 | 2016-10-12 | 合肥工业大学 | Wheel type pipeline robot with steering of driving wheels being controllable |
| CN206221897U (en) * | 2016-11-17 | 2017-06-06 | 天津大学 | A kind of four axle differential speed type pipe robot draw-gears |
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