CN108302281A - A kind of pipe robot driving device - Google Patents
A kind of pipe robot driving device Download PDFInfo
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- CN108302281A CN108302281A CN201810153336.XA CN201810153336A CN108302281A CN 108302281 A CN108302281 A CN 108302281A CN 201810153336 A CN201810153336 A CN 201810153336A CN 108302281 A CN108302281 A CN 108302281A
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- column
- motor
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/003—Couplings; Details of shafts
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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
- F16L2101/12—Cleaning
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a kind of pipe robot driving devices, are divided into three sections along its length：Including driving drum and the driving idler wheel at driving drum both ends is set, the driving idler wheel being arranged in driving drum one end is Mecanum wheel, and the other end is Mecanum wheel or wheel；The lower edge of helical blade is higher than the lower edge of Mecanum wheel and wheel.The lower edge and Mecanum wheel of helical blade, the lower edge of wheel difference in height be 2 10mm.Above-mentioned wheel-helical blade roller-Mecanum wheel or Mecanum wheel-helical blade roller-Mecanum wheel combination are used as driving wheel, cope with different situations in pipeline, adaptable, efficient.
Description
Technical field
The present invention relates to a kind of pipe robot driving devices.
Background technology
Municipal pipeline environment very severe is easy to happen corrosion and fatigue and destroys or make latent inside pipeline after long-time service
Cause leakage accident etc., especially water class pipeline at breakage in development of defects, is also easy to the accidents such as blocking.Therefore the pipe of pipeline
Interior detection, dredging are a highly important practical engineerings, and detection in pipe at present is removed contamination mostly also using manually being operated,
It is limited by factors such as line size, bad environments, causes great work intensity, working efficiency low, be based on the problem, occur at present
Pipe robot.
Existing patent discloses a kind of driving drum, application number 201710896483.1, using magneto and permanent magnetism
Shaft coupling is transmitted into action edge, one kind that permanent magnet clutch is linked up motor and the first rotating member by the magnetic force of permanent magnet
Novel coupler, it is without directly mechanical attachment, and sealing effect is good, but power transmission efficiency is too low；In addition, existing skill
The all shells for being provided with helical blade of driving drum shell in art, when pipe robot works, helical blade connects with pipeline
Contacting surface is big, and frictional force is too big, causes pipe robot movement velocity slow, efficiency is low.
Invention content
The purpose of the present invention is to provide a kind of pipe robot driving device, solves driving drum in the prior art and use
Magneto and permanent magnet clutch are transmitted into action edge, and power transmission efficiency is too low, and the helical blade on drum shell and pipe
Road contact surface is big, and frictional force is too big, causes pipe robot movement velocity slow, the low technical problem of efficiency.
In order to solve the above-mentioned technical problem the present invention, adopts the following technical scheme that：
A kind of pipe robot driving device, is divided into three sections along its length：It is being driven including driving drum and setting
The driving idler wheel at roller both ends, the driving idler wheel being arranged in driving drum one end is Mecanum wheel, and the other end is Mike
Na Mu takes turns or wheel；
The driving drum include inner cylinder, turning set setting portion outer tube outer barrel, and be fixed at outside outer barrel
The peripheral surface of the shell in portion, shell is fixedly installed helical blade along its length；Motor is fixedly installed in inner cylinder；It is described
At the lower end of driving device, the lower edge of helical blade is higher than the lower edge of Mecanum wheel and wheel.The lower edge of helical blade and wheat
Ke Namu takes turns, the difference in height of the lower edge of wheel is 2-10mm.The height of helical blade is 1-5cm.
When pipe robot moves on hard medium, the wheel and Mecanum wheel at both ends are contacted with ground, intermediate
Helical blade it is hanging, motor driving drum and Mecanum wheel rotate synchronously, since the roller of interlude is hanging, driving device
Smaller with the contact area on ground, pipe robot movement velocity is fast, efficient；Again because hanging Mecanum wheel may be implemented
The multi-direction movement of pipe robot then can be achieved in the motion modes such as forward, traversing, diagonal, rotation and combinations thereof, easy to control.
When pipe robot moves on soft medium, pipe robot can sink because of gravity, then wheel, Mecanum wheel
It is contacted with ground with intermediate helical blade, motor driving drum and Mecanum wheel rotate synchronously, helical blade rotation, will
Mud etc. is discharged backward, and pipe robot is made to move forward, although pipe robot movement velocity is slow at this time, because of contact surface
Product is big, will not skid；When pipe robot suspends in water, helical blade is equivalent to propeller, and helical blade rotates backward
Draining driving pipe robot advances.
Above-mentioned wheel-helical blade roller-Mecanum wheel or Mecanum wheel-helical blade roller-Mike
Na Mu wheel combinations are used as driving wheel, cope with different situations in pipeline, adaptable, efficient.
It is further improved, the output shaft of the motor stretches out inner cylinder, and in outer barrel, extends along motor output shaft direction
Sequentially coaxially it is provided with first flange, motor cover, the first connector and the second connector, first flange, motor cover, the first connection
Part and the second connector are rotary body, and first flange is connected by the first end face of screw and inner cylinder, the inner wall of first flange
There are gaps between motor output shaft, and there are gaps between the peripheral surface and outer tube inner wall of first flange；The motor cover packet
Disc and setting are included in disc center, and with integrally formed first column of disc, the first column is directed away from
The center in the direction of motor, the first column is provided in the axial direction with first through hole, and disc is connected with first flange by screw,
There are gaps between the peripheral surface of disc and the inner wall of outer barrel；
First connector is mounted on by the first thrust bearing in motor cover, the peripheral surface and outer barrel of the first connector
Inner wall be connected, and be provided with sealing ring between the peripheral surface of the first connector and the inner wall of outer barrel；First connector is close to electricity
The end face center of machine side extends to form the second column along axis outwardly convex, and the second column is rotatably freely inserted into first
In through-hole, and the first sealing ring is provided between the second column and first through hole；First connector is provided in the axial direction with second
Through-hole and third through-hole, the second through-hole are opened in the second column, and the second through-hole is connected to third through-hole, and motor output shaft is inserted
Enter in the second through-hole, motor output shaft is connected by key and the first connector；Second connector is located in third through-hole, and with
A connection piece is rotatablely connected；Gasket is provided in third through-hole to open the second connector and motor output shaft sealed spacer；
The one end of the inner cylinder far from motor output shaft is connected with first end cover, and the end face seal of first end cover and inner cylinder is solid
Even, the outer end face central part outwardly convex of first end cover simultaneously extends to form hollow shaft, and the electric wire of motor is pierced by from hollow shaft, electricity
Line is tightly connected with hollow shaft by fluid sealant, and turning set is equipped with third connector in hollow shaft, and third connector is rotary body,
The peripheral surface of third connector and the inner wall sealing of outer barrel are connected.
Based on application number：201710896483.1 title：A kind of patent application of driving drum, applicant continue research,
Repetition test is improved, by the way that motor output shaft to be directly connected to by key and the first connector, outside the first connector
Circumferential surface is connected with outer barrel, and motor is connected with inner cylinder, then motor drives the rotation of the first connector, and outer barrel rotation, power is driven to transmit
Efficient, energy loss is small, ensures that outer barrel being capable of normal rotation.
Meanwhile sealing element is set by the way that the first sealing ring, gasket is arranged, and in the peripheral surface of the first connector, if
Multi layer waterproof component is set, good sealing performance is improved, ensures that motor can work normally.
By the way that the first thrust bearing is arranged, axial load bearing capacity is improved, overall structure stability is increased, improves and uses
Service life.
It is further improved, the outer wall of second connector is circumferentially arranged to have the first spacer portion, the first connector to pass through
First ball bearing and the rotation connection of the second thrust bearing and the second connector, the first ball bearing, the second thrust bearing are by between first
It is separated every portion, wherein the second thrust bearing is close to gasket；The outer end face sealing of second connector, which is connected, is provided with second
End cap limits the first ball bearing, and second end cover center offers through-hole, and the second connector stretches out through-hole, the end of the second connector
Portion's detachable connection has wheel, the wheel shaft of wheel vertical with the axis of inner cylinder.
By the way that the first ball bearing and the second thrust bearing is arranged, axial load bearing capacity was not only improved, but also ensure second
Connector relatively rotates with what the first connector can be stablized.It is the first ball bearing and second by the way that the first spacer portion is arranged
Thrust bearing provides mounting surface, ensures that its mounting structure is stablized, operates steadily.By the way that second end cover is arranged, to the first ball bearing
Positioning action is played, prevents from falling off at work.Wheel is driven wheel, booster action.
It is further improved, the hollow shaft upper edge hollow shaft is arranged with third thrust bearing, second close successively axially outward
Seal ring, the second ball bearing and third end cap；The third connector is tubular, and cavity includes large diameter portion and small diameter portion, path
The inner wall in portion is radially raised, forms the second spacer portion, it is small that third thrust bearing and the second sealing ring are embedded in third connector
Diameter portion, and positioned at the both sides of the second spacer portion, wherein one end of third thrust bearing leans with second end cover, the other end and the
The end face of two spacer portions against；Second ball bearing is embedded in third connector large-diameter portion；The third end cap includes the
Two ring flanges and along the outwardly extending third column of hollow shaft axial direction, third column are located at second flange disk center,
And it is integrally formed with second flange disk；Third end cap is connected by the end face seal of second flange disk and third connector, third
End cap center is provided with through-hole along axis, and hollow shaft stretches out third end cap, circumferentially arranged in the cavity of third end cap to have third
Spacer portion is arranged with third sealing ring and copper sheathing in hollow shaft, and third sealing ring and copper sheathing are located in the cavity of third end cap, and
It is separated by third spacer portion, wherein third sealing ring is between third spacer portion and the second ball bearing；The hollow shaft is stretched out
One end of third end cap is provided with external screw thread, for connecting other assemblies.
Multiple Mecanum wheel monomer composition Mecanum wheels are evenly arranged on the peripheral surface of the third column, often
The axis of a Mecanum wheel monomer and the angle of hollow shaft axis are 45 degree.
At work, inner cylinder relatively rotates pipe robot with outer barrel, so the power cord of motor, control signal wire
It can only keep being pierced by opposing stationary component from inner cylinder, while in view of sealing waterproof, therefore select the electric wire of motor
It is pierced by from hollow shaft, and the structure is sealed, it is preferred to use the filling with sealant into the cavity of hollow shaft, in order to ensure
Sealing effect, then the length of hollow shaft is longer.Third thrust bearing, the second ball bearing are set, and separated by the second spacer portion,
Effectively prevent third connector play in an axial direction, third end cap from being connect with the end face seal of third connector by screw, ball
Bearing carries radial and axial pressure, ensures that third connector can relatively rotate with hollow shaft, and be not easy play in an axial direction；
Meanwhile it by the way that the second sealing ring and third sealing ring is arranged, being sealed, there is good water resistance.By the way that wear-resisting copper is arranged
Set, hardness is high, and wearability is fabulous, is not likely to produce and kills phenomenon, ensures that hollow shaft is realized with third end cap and is rotatablely connected, stability
It is good.
It is further improved, the center that second connector stretches out through-hole one end offers tapped blind hole, wheel stand
One end is provided with external screw thread, and is inserted into tapped blind hole, is threadedly coupled with the second connector, the lower rotation setting of wheel stand
There is wheel.It is threadedly coupled, easy disassembly.
It being further improved, the peripheral surface of the third column is uniformly provided with eight grooves, and the bottom surface of concave surface is plane,
It is embedded a locating rack in each groove, locating rack is U-shaped, and locating rack is connected by screw with third column, each Mike
Na Mu takes turns monomer and passes through the rotation connection corresponding with locating rack of shaft both ends.Each Mecanum wheel monomer is positioned with corresponding one
Frame connects, locating rack and third column detachable connection, convenient for disassembly and assembly, and locating rack batch production is at low cost.
Be further improved, first connector, third connector peripheral surface on offer at least one annular groove,
It is embedded with sealing ring in annular groove, prevents leak, improves sealing performance.
It being further improved, first spacer portion, the second spacer portion and third spacer portion are ring-type, easy to process, and
With the contact surface of thrust bearing is big, isolation effect is good.
It is further improved, the gasket is the aluminium flake of 2mm thickness, and aluminium flake is connect by gluing with the first connector, convenient
Installation, and will not loose or dislocation, sealing effect is good.
Be further improved, the end face of the first end cover and inner cylinder is connected by screw, the outer end face of the first connector with
Second end cover is connected by screw, and third end cap and the end face of third connector are connected by screw, replacement easy to disassemble, and tight
Gu effect is good.
Compared with prior art, the beneficial effects of the invention are as follows：
1) it, is rolled by using wheel-helical blade roller-Mecanum wheel or Mecanum wheel-helical blade
The combination of cylinder-Mecanum wheel is used as driving wheel, copes with different situations in pipeline, adaptable, efficient；Pass through setting
The motion modes such as Mecanum wheel may be implemented to move ahead, traversing, diagonal, rotation and combinations thereof, then can be achieved pipe robot
Multi-direction movement, it is easy to control
2) it, crosses and is directly connected to motor output shaft by key and the first connector, the peripheral surface and outer barrel of the first connector
It is connected, motor is connected with inner cylinder, then motor drives the rotation of the first connector, drives outer barrel rotation, power transmission efficiency is high, energy
Be lost it is small, ensure outer barrel being capable of normal rotation.
Description of the drawings
Fig. 1 is the structure chart of pipe robot driving device of the present invention.
Fig. 2 is the A-A sectional views of Fig. 1.
Fig. 3 is the structure chart of motor cover.
Fig. 4 is the sectional view of Fig. 3.
Fig. 5 is the structure chart of the first connector.
Fig. 6 is the B-B sectional views of Fig. 5.
Fig. 7 is the structure chart of the second connector.
Fig. 8 is the structure chart of first end cover, hollow shaft the.
Fig. 9 is the structure chart of third connector.
Figure 10 is the structure chart of third end cap.
Figure 11 is the sectional view of Figure 10.
Figure 12 is the installation diagram of Mecanum wheel monomer.
Specific implementation mode
To keep the purpose of the present invention and technical solution clearer, below in conjunction with the embodiment of the present invention to the skill of the present invention
Art scheme is clearly and completely described.
Embodiment one：
As shown in figs. 1-12, a kind of pipe robot driving device, is divided into three sections along its length：Including driving drum
With the driving idler wheel at driving drum both ends is set, the driving idler wheel being arranged in driving drum one end is Mecanum wheel
22, the other end is person's wheel 23；
The driving drum include inner cylinder 2, turning set setting portion outer tube outer barrel 1, and be fixed at outer barrel
External shell 100, the peripheral surface of shell 100 are fixedly installed helical blade 101 along its length；Fixation is set in inner cylinder 2
It is equipped with motor 3；At the lower end of the driving device, the lower edge of helical blade 101 is higher than under Mecanum wheel 22 and wheel 23
Edge.
In the present embodiment, the lower edge of helical blade and Mecanum wheel, wheel lower edge difference in height 5mm.Helical-blade
The height of piece is 4cm.
When pipe robot moves on hard medium, the wheel and Mecanum wheel at both ends are contacted with ground, intermediate
Helical blade it is hanging, motor driving drum and Mecanum wheel rotate synchronously, since the roller of interlude is hanging, driving device
Smaller with the contact area on ground, pipe robot movement velocity is fast, efficient；Again because hanging Mecanum wheel may be implemented
The multi-direction movement of pipe robot then can be achieved in the motion modes such as forward, traversing, diagonal, rotation and combinations thereof, easy to control.
When pipe robot moves on soft medium, pipe robot can sink because of gravity, then wheel, Mecanum wheel
It is contacted with ground with intermediate helical blade, motor driving drum and Mecanum wheel rotate synchronously, helical blade rotation, will
Mud etc. is discharged backward, and pipe robot is made to move forward, although pipe robot movement velocity is slow at this time, because of contact surface
Product is big, will not skid；When pipe robot suspends in water, helical blade is equivalent to propeller, and helical blade rotates backward
Draining driving pipe robot advances.
Above-mentioned wheel-helical blade roller-Mecanum wheel copes with different situations in pipeline as driving wheel,
It is adaptable, it is efficient.
In the present embodiment, the output shaft of the motor 3 stretches out inner cylinder 2, and in outer barrel 1, along motor output shaft side
It is sequentially coaxially provided with first flange 4, motor cover 5, the first connector 8 and the second connector 12 to extending, first flange 4, electricity
Cover 5, the first connector 8 and the second connector 12 are rotary body, the first end face that first flange 4 passes through screw and inner cylinder 2
Connection, there are gap, the peripheral surfaces and outer barrel of first flange 4 between the inner wall and motor output shaft of 4 center through hole of first flange
There are gaps between inner wall 2；The motor cover 5 includes disc 51 and is arranged in disc center, and integrated with 51 body of disk
Molding first column 52, the first column 52 are directed away from the direction of motor, and the center of the first column 52 is opened in an axial direction
Equipped with first through hole 53, disc 51 is connected with first flange 4 by screw, the inner wall of the peripheral surface and outer barrel 1 of disc 51
Between there are gaps；
First connector 8 by the first thrust bearing 6 be mounted on motor cover 5 on, the peripheral surface of the first connector 8 with
The inner wall of outer barrel 1 is connected, and is provided with sealing ring between the peripheral surface and the inner wall of outer barrel of the first connector 8；First connector 8
End face center close to motor side extends to form the second column 81 along axis outwardly convex, and the second column 81 rotates freely
Ground is inserted into first through hole 53, and the first sealing ring 7 is provided between the second column 81 and first through hole 53；First connector
8 are provided in the axial direction with the second through-hole 82 and third through-hole 83, and the second through-hole 82 is opened in the second column 81, the second through-hole 82
It is connected to third through-hole 83, motor output shaft is inserted into the second through-hole, and motor output shaft is connected by key and the second column 81；
Second connector 12 is located in third through-hole 83, and is rotatablely connected with the first connector 8；It is provided with gasket in third through-hole 83
9 open the second connector 12 with motor output shaft sealed spacer.In the present embodiment, gasket 9 is the aluminium flake of 2mm thickness, aluminium flake
It is connect with the first connector 8 by gluing.
The one end of the inner cylinder 2 far from motor output shaft is connected with first end cover 14, and first end cover 14 is another with inner cylinder 2
End face seal is connected, and the outer end face central part outwardly convex of first end cover 14 simultaneously extends to form hollow shaft 15, the electric wire of motor 1 from
It being pierced by hollow shaft, electric wire is tightly connected with hollow shaft by fluid sealant, and turning set is equipped with third connector 16 in hollow shaft 15,
Third connector 16 is rotary body, and the peripheral surface of third connector 16 is connected with the inner wall sealing of outer barrel 1.
Based on application number：201710896483.1 title：A kind of patent application of driving drum, applicant continue research,
Repetition test is improved, by the way that motor output shaft to be directly connected to by key and the first connector, outside the first connector
Circumferential surface is connected with outer barrel, and motor is connected with inner cylinder, then motor drives the rotation of the first connector, and outer barrel rotation, power is driven to transmit
Efficient, energy loss is small, ensures that outer barrel being capable of normal rotation.
Meanwhile sealing element is set by the way that the first sealing ring, gasket is arranged, and in the peripheral surface of the first connector, if
Multi layer waterproof component is set, good sealing performance is improved, ensures that motor can work normally.
By the way that the first thrust bearing is arranged, axial load bearing capacity is improved, overall structure stability is increased, improves and uses
Service life.
In the present embodiment, the outer wall of second connector 12 is circumferentially arranged the first spacer portion 121, the first connection
Part 8 is rotatablely connected by the first ball bearing 11 and the second thrust bearing 10 and the second connector 12, and the first ball bearing 11, second push away
Power bearing 10 is separated by the first spacer portion 121, wherein the second thrust axis 10 bears against nearly gasket 9；Second connector 12
Outer end face sealing, which is connected, is provided with second end cover 13, limits the first ball bearing 11, and 113 center of second end cover offers through-hole, the
Through-hole is stretched out in one end of two connectors 12, and the projecting end detachable connection of the second connector 12 has wheel 23, wheel 23
Wheel shaft is vertical with the axis of inner cylinder 2.
By the way that the first ball bearing and the second thrust bearing is arranged, axial load bearing capacity was not only improved, but also ensure second
Connector relatively rotates with what the first connector can be stablized.It is the first ball bearing and second by the way that the first spacer portion is arranged
Thrust bearing provides mounting surface, ensures that its mounting structure is stablized, operates steadily.By the way that second end cover is arranged, to the first ball bearing
Positioning action is played, prevents from falling off at work.Wheel is driven wheel, booster action.
In the present embodiment, 15 upper edge hollow shaft of the hollow shaft be arranged with successively axially outward third thrust bearing 17,
Second sealing ring 18, the second ball bearing 19 and third end cap 20；The third connector 16 is tubular, and cavity includes large-diameter portion
And small diameter portion, the inner wall of 16 cavity small diameter portion of third connector is radially raised, forms the second spacer portion 161, third thrust axis
Hold 17 and second sealing ring 18 be embedded in 16 cavity small diameter portion of third connector, and positioned at the both sides of the second spacer portion 161, wherein
One end of third thrust bearing 17 leans with second end cover 14, the end face of the other end and the second spacer portion 161 against；It is described
Second ball bearing 19 is embedded in the cavity large-diameter portion of third connector 16；The third end cap 20 includes 201 He of second flange disk
Along the outwardly extending third column 202 of hollow shaft axial direction, third column 202 is located at 201 center of second flange disk, and
It is integrally formed with second flange disk；Third end cap is connected by the end face seal of second flange disk and third connector 16, third
The center of end cap 20 is provided with through-hole along axis, and hollow shaft 15 stretches out third end cap 20, circumferentially arranged in the cavity of third end cap
There is third spacer portion 203, be arranged with third sealing ring 21 and copper sheathing 24 in hollow shaft, third sealing ring 21 and copper sheathing 24 are located at the
It in the cavity of three end caps 20, and is separated by third spacer portion 203, wherein third sealing ring 21 is located at third spacer portion 203 and
Between two ball bearings 19；One end that the hollow shaft 15 stretches out third end cap 20 is provided with external screw thread, for connecting other assemblies.
Multiple Mecanum wheel monomer composition Mecanums are evenly arranged on the peripheral surface of the third column 202
Wheel, the axis of each Mecanum wheel monomer and the angle of 15 axis of hollow shaft are 45 degree.
At work, inner cylinder relatively rotates pipe robot with outer barrel, so the power cord of motor, control signal wire
It can only keep being pierced by opposing stationary component from inner cylinder, while in view of sealing waterproof, therefore select the electric wire of motor
It is pierced by from hollow shaft, and the structure is sealed, it is preferred to use the filling with sealant into the cavity of hollow shaft, in order to ensure
Sealing effect, then the length of hollow shaft is longer.Third thrust bearing, the second ball bearing are set, and separated by the second spacer portion,
Effectively prevent third connector play in an axial direction, third end cap from being connect with the end face seal of third connector by screw, ball
Bearing carries radial and axial pressure, ensures that third connector can relatively rotate with hollow shaft, and be not easy play in an axial direction；
Meanwhile it by the way that the second sealing ring and third sealing ring is arranged, being sealed, there is good water resistance.By the way that wear-resisting copper is arranged
Set, hardness is high, and wearability is fabulous, is not likely to produce and kills phenomenon, ensures that hollow shaft is realized with third end cap and is rotatablely connected, stability
It is good.
In the present embodiment, the center of the stretching through-hole of the second connector 12 one end offers tapped blind hole, wheel branch
One end of frame 25 is provided with external screw thread, and is inserted into tapped blind hole, is threadedly coupled with the second connector 12, the bottom of wheel stand 25
Portion's rotation is provided with wheel 23.It is threadedly coupled, easy disassembly.
In the present embodiment, the peripheral surface of the third column 202 is uniformly provided with eight grooves, and the bottom surface of concave surface is
Plane is embedded a locating rack 204 in each groove, and locating rack is U-shaped, and locating rack is connected with third column 202 by screw
It connects, each Mecanum wheel monomer 205 passes through the rotation connection corresponding with locating rack 204 of shaft both ends.Each Mecanum wheel list
Body is connected with a corresponding locating rack, locating rack and third column detachable connection, convenient for disassembly and assembly, and locating rack batch is raw
Production, it is at low cost.
In the present embodiment, annular there are two being opened up on the peripheral surface of first connector 8, third connector 16
Slot is embedded with sealing ring in annular groove, prevents leak, improves sealing performance.In other embodiments, the quantity of annular groove can be
One, three, four or five.
In the present embodiment, first spacer portion 121, the second spacer portion 161 and third spacer portion 103 are ring-type,
It is easy to process, and with the contact surface of thrust bearing is big, isolation effect is good.In other embodiments, spacer portion can be it is multiple not
Continuous block-shaped protrusion.
In the present embodiment, the first end cover 14 and the other end of inner cylinder 2 are connected by screw, the first connector 8
Outer end face be connected by screw with second end cover 13, third end cap 20 and the end face of third connector 16 are connected by screw,
Replacement easy to disassemble, and fastening effect is good.
Embodiment two：
In the present embodiment, driving device is divided into three sections along its length：It is rolled in driving including driving drum and setting
The Mecanum wheel at cylinder both ends；Using Mecanum wheel-helical blade roller-Mecanum wheel combination.
It is uniformly provided with eight grooves, the bottom surface of concave surface on the peripheral surface of second connector stretching second end cover part
For plane, it is embedded a locating rack in each groove, locating rack is U-shaped, and locating rack is connected by screw with the second connector, often
A Mecanum wheel passes through the rotation connection corresponding with locating rack of shaft both ends.
Other parts are identical with embodiment.
Do not done in the present invention illustrate be the prior art or can be realized by the prior art, and the present invention
Described in specific implementation case be only the present invention preferable case study on implementation, practical range not for the purpose of limiting the invention.
That is equivalent changes and modifications made by all contents according to scope of the present invention patent all should be used as the technology scope of the present invention.
Claims (10)
1. a kind of pipe robot driving device, which is characterized in that be divided into three sections along its length：Including driving drum and set
The driving idler wheel at driving drum both ends is set, the driving idler wheel being arranged in driving drum one end is Mecanum wheel, another
End is Mecanum wheel or wheel；
The driving drum include inner cylinder, turning set setting portion outer tube outer barrel, and be fixed at outside outer barrel
The peripheral surface of shell, shell is fixedly installed helical blade along its length；Motor is fixedly installed in inner cylinder；The driving
At the lower end of device, the lower edge of helical blade is higher than the lower edge of Mecanum wheel and wheel.
2. pipe robot driving device according to claim 1, which is characterized in that in the output shaft of the motor stretches out
Cylinder, and in outer barrel, extend along motor output shaft direction and be sequentially coaxially provided with first flange, motor cover, the first connector
With the second connector, first flange, motor cover, the first connector and the second connector are rotary body, and first flange passes through spiral shell
Nail is connect with the first end face of inner cylinder, and there are gap, the peripheries of first flange between the inner wall and motor output shaft of first flange
There are gaps between face and outer tube inner wall；The motor cover include disc and setting disc center, and with disc one
The first body formed column, the first column are directed away from the direction of motor, and the center of the first column is provided in the axial direction with
First through hole, disc are connected with first flange by screw, and there are gaps between the peripheral surface of disc and the inner wall of outer barrel；
First connector is mounted on by the first thrust bearing in motor cover, the peripheral surface of the first connector and outer barrel it is interior
Wall is connected, and is provided with sealing ring between the peripheral surface of the first connector and the inner wall of outer barrel；First connector is close to motor one
The end face center of side extends to form the second column along axis outwardly convex, and the second column is rotatably freely inserted into first through hole
In, and the first sealing ring is provided between the second column and first through hole；First connector is provided in the axial direction with the second through-hole
And third through-hole, the second through-hole are opened in the second column, the second through-hole is connected to third through-hole, and motor output shaft is inserted into the
In two through-holes, motor output shaft is connected by key and the first connector；Second connector is located in third through-hole, and connects with first
Fitting is rotatablely connected；Gasket is provided in third through-hole to open the second connector and motor output shaft sealed spacer；
The one end of the inner cylinder far from motor output shaft is connected with first end cover, and the end face seal of first end cover and inner cylinder is connected,
The outer end face central part outwardly convex of first end cover simultaneously extends to form hollow shaft, and the electric wire of motor is pierced by from hollow shaft, electric wire
It being tightly connected by fluid sealant with hollow shaft, turning set is equipped with third connector in hollow shaft, and third connector is rotary body, the
The peripheral surface of three connectors and the inner wall sealing of outer barrel are connected.
3. pipe robot driving device according to claim 2, which is characterized in that the outer wall edge of second connector
It is circumferentially provided with the first spacer portion, the first connector is connected by the first ball bearing and the rotation of the second thrust bearing and the second connector
It connects, the first ball bearing, the second thrust bearing are separated by the first spacer portion, wherein the second thrust bearing is close to gasket；Described
The outer end face sealing of two connectors, which is connected, is provided with second end cover, limits the first ball bearing, and second end cover center offers through-hole,
Second connector stretches out through-hole, and the end detachable connection of the second connector has wheel, the wheel shaft of wheel and the axis of inner cylinder
Vertically.
4. pipe robot driving device according to claim 3, which is characterized in that the hollow shaft upper edge hollow shaft axis
To being arranged with third thrust bearing, the second sealing ring, the second ball bearing and third end cap successively outward；
The third connector is tubular, and cavity includes large diameter portion and small diameter portion, and the inner wall of small diameter portion is radially raised, is formed
Second spacer portion, third thrust bearing and the second sealing ring are embedded in third connector small diameter portion, and positioned at the second spacer portion
Both sides, wherein one end of third thrust bearing lean with second end cover, the end face of the other end and the second spacer portion against；Institute
It states the second ball bearing and is embedded in third connector large-diameter portion；The third end cap includes second flange disk and along hollow shaft axial direction side
To outwardly extending third column, third column is located at second flange disk center, and is integrally formed with second flange disk；The
Three end caps are connected by the end face seal of second flange disk and third connector, and third end cap center is provided with through-hole along axis,
Hollow shaft stretches out third end cap, circumferentially arranged in the cavity of third end cap to have third spacer portion, and third is arranged in hollow shaft
Sealing ring and copper sheathing, third sealing ring and copper sheathing are located in the cavity of third end cap, and are separated by third spacer portion, wherein third
Sealing ring is between third spacer portion and the second ball bearing；One end that the hollow shaft stretches out third end cap is provided with outer spiral shell
Line；
Multiple Mecanum wheel monomer composition Mecanum wheels, Mei Gemai are evenly arranged on the peripheral surface of the third column
It is 45 degree that Ke Namu, which takes turns the axis of monomer with the angle of hollow shaft axis,.
5. pipe robot driving device according to claim 4, which is characterized in that second connector stretches out through-hole
The center of one end offers tapped blind hole, and one end of wheel stand is provided with external screw thread, and is inserted into tapped blind hole, connects with second
Fitting is threadedly coupled, and the lower rotation of wheel stand is provided with wheel.
6. pipe robot driving device according to claim 5, which is characterized in that the peripheral surface of the third column
Eight grooves are uniformly provided with, the bottom surface of concave surface is plane, and a locating rack is embedded in each groove, and locating rack is U-shaped, positioning
Frame is connected by screw with third column, and each Mecanum wheel monomer is connected by the rotation corresponding with locating rack of shaft both ends
It connects.
7. pipe robot driving device according to claim 6, which is characterized in that first connector, third connect
At least one annular groove is offered on the peripheral surface of fitting, and sealing ring is embedded in annular groove.
8. pipe robot driving device according to claim 7, which is characterized in that between first spacer portion, second
Every portion and the second spacer portion be ring-type.
9. pipe robot driving device according to claim 8, which is characterized in that the gasket is the aluminium of 2mm thickness
Piece, aluminium flake are connect by gluing with the first connector.
10. pipe robot driving device according to claim 9, which is characterized in that the first end cover and inner cylinder
End face is connected by screw, and outer end face and the second end cover of the first connector are connected by screw, and third end cap is connect with third
The outer end face of part is connected by screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810153336.XA CN108302281B (en) | 2018-02-21 | 2018-02-21 | Pipeline robot driving device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810153336.XA CN108302281B (en) | 2018-02-21 | 2018-02-21 | Pipeline robot driving device |
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| Publication Number | Publication Date |
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| CN108302281A true CN108302281A (en) | 2018-07-20 |
| CN108302281B CN108302281B (en) | 2023-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810153336.XA Active CN108302281B (en) | 2018-02-21 | 2018-02-21 | Pipeline robot driving device |
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| Country | Link |
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| CN109404656A (en) * | 2018-12-20 | 2019-03-01 | 南京管科智能科技有限公司 | A kind of main structure of Zhui Chi transmission pipe robot |
| CN110031541A (en) * | 2019-04-25 | 2019-07-19 | 河南省锅炉压力容器安全检测研究院 | Austenitic stainless steel nondestructive testing instrument |
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| Publication number | Publication date |
|---|---|
| CN108302281B (en) | 2023-08-04 |
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