CN109404656B - Main body structure of bevel gear transmission pipeline robot - Google Patents
Main body structure of bevel gear transmission pipeline robot Download PDFInfo
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- CN109404656B CN109404656B CN201811569421.0A CN201811569421A CN109404656B CN 109404656 B CN109404656 B CN 109404656B CN 201811569421 A CN201811569421 A CN 201811569421A CN 109404656 B CN109404656 B CN 109404656B
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- bevel gear
- hole
- connecting piece
- motor
- roller
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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
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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
- F16L2101/12—Cleaning
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a main body structure of a bevel gear transmission pipeline robot, which comprises a bracket, two driving devices and a controller fixedly arranged on the bracket; each driving device comprises a driving roller and two driving rollers; each driving roller comprises a first bevel gear, a second bevel gear, a first connecting piece and rollers, one end of the first bevel gear protrudes outwards along the axial direction to form a boss, and a first through hole penetrating through the first bevel gear is formed in the center of the boss along the axial direction; the first connecting piece is fixedly connected with the first rotating shaft, the second bevel gear and the roller are rotatably sleeved on the first rotating shaft, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly connected with the roller coaxially, and the radius of the second bevel gear is smaller than that of the roller. The gear ratio of the first bevel gear to the second bevel gear is 1 (1.5-5), so that the gear ratio has larger torque, the driving force is enhanced, and the stable motion of the pipeline robot is ensured.
Description
Technical Field
The invention relates to a main body structure of a bevel gear transmission pipeline robot.
Background
Municipal pipeline environment is very severe, corrosion and fatigue damage are easy to occur after long-term use, or potential defects in the pipeline are developed into damages to cause leakage accidents and the like, in particular to water pipelines, and accidents such as blockage and the like are easy to occur. Therefore, the detection and dredging in the pipe of the pipeline are very important practical engineering, and at present, the detection and the dredging in the pipe are mostly operated manually, and are limited by factors such as the size of the pipeline, severe environment and the like, so that the working strength is high, the working efficiency is low, and based on the problem, the pipeline robot is currently arranged.
The prior patent discloses a pipeline robot driving device, application number: 201810153336X adopts wheel-helical blade cylinder-Mecanum wheel, or Mecanum wheel-helical blade cylinder-Mecanum wheel group to cooperate as driving wheel, can deal with different conditions in the pipeline, and has strong adaptability. But the motor is used for driving the Mecanum wheel to rotate, so that the pipeline robot is driven to advance slowly and has low efficiency. In addition, in the mass of the pipeline robot, the buoyancy is small when the pipeline robot moves in water.
Disclosure of Invention
The invention aims to provide a main body structure of a bevel gear transmission pipeline robot, which solves the technical problems that the speed of the pipeline robot in the prior art is slow, the efficiency is low, and in the mass of the pipeline robot, the buoyancy is small when the pipeline robot moves in water.
The invention adopts the following technical scheme to solve the technical problems:
the main body structure of the bevel gear transmission pipeline robot comprises a bracket, two driving devices rotatably arranged on the bracket, and a controller fixedly arranged on the bracket;
each driving device comprises a driving roller and two driving rollers arranged at two ends of the driving roller; each driving roller comprises a first bevel gear, a second bevel gear, a first connecting piece and rollers, one end of the first bevel gear protrudes outwards along the axial direction to form a boss, and a first through hole penetrating through the first bevel gear is formed in the center of the boss along the axial direction; the first connecting piece is fixedly connected with the first rotating shaft, the first rotating shaft is rotatably sleeved with a second bevel gear and a roller, the first bevel gear is meshed with the second bevel gear, the second bevel gear is coaxially and fixedly connected with the roller, and the radius of the second bevel gear is smaller than that of the roller;
the driving roller comprises an inner cylinder, an outer cylinder, a first shell and a second shell, wherein the outer cylinder is arranged outside the inner cylinder through a rotating sleeve, the first shell is fixedly arranged outside the outer cylinder, and spiral blades are fixedly arranged on the outer peripheral surface of the first shell along the length direction of the first shell; a motor is fixedly arranged in the inner cylinder; when the driving roller is horizontally placed, the lower edge of the helical blade is higher than the lower edge of the roller. The height difference between the lower edge of the helical blade and the lower edge of the roller is 2-10mm. The height of the spiral blade is 1-5cm.
The motor is electrically connected with the controller.
When the pipeline robot moves on a hard medium, the idler wheel is in contact with the ground, the middle spiral blade is suspended, the motor drives the first bevel gear to rotate and drives the second bevel gear and the idler wheel to rotate, the number of teeth of the first bevel gear is smaller than that of the second bevel gear, so that the torque is large, the bevel gear is driven to twist greatly, the idler wheel rotates faster, slipping is not easy, and the driving effect is good. When the pipeline robot moves on the soft medium, the pipeline robot sags under the action of gravity, the roller and the middle helical blade are in contact with the ground, the motor drives the roller and the roller to rotate together, the helical blade rotates to discharge sludge and the like backwards, so that the pipeline robot moves forwards, and the pipeline robot has low movement speed at the moment but cannot slip due to large contact area; when the pipeline robot is suspended in water, the spiral blades are equivalent to propellers, and the spiral blades rotate to drain water backwards to drive the pipeline robot to advance.
The device is characterized by further comprising a second shell, wherein the controller is arranged in the second shell, the second shell is fixedly connected with the bracket through a screw, and a sealing ring is arranged between the second shell and the bracket; the front end of the second shell is provided with a front baffle made of transparent materials; the edge of the front baffle is in sealing and fixing connection with the second shell and the bracket; the bottom of the bracket is provided with a flow sensor, and the flow sensor is electrically connected with the controller. And the front baffle is provided with an illuminating lamp in a sealing way.
A camera is arranged in the cavity of the second shell, and the camera is electrically connected with the controller; when the robot advances in the pipeline, the camera shoots the scene in the pipeline in real time and transmits the scene to an upper computer on the ground for display, so that the actual condition in the pipeline can be conveniently and intuitively known, and the environment in the pipeline is complex. Because of the special nature of the work environment of the pipe robot, waterproofing is a key to the overall robot, and the second housing is not exceptional, in which the controller is damaged once water is fed. The second housing plays a role in protecting and supporting the controller.
The support is provided with a third buoyancy-increasing shell, plastic foam materials are filled in the third shell, buoyancy is increased, and when water in a pipeline is deep, the main body structure of the robot can realize suspension and rapid propulsion.
The bottom of support is fixed and is provided with the helping hand board, and the middle part that the helping hand board includes forms the isolation component of V font along length direction undercut, and two drive arrangement are located the both sides of isolation component respectively. By arranging the isolation components on the power-assisted plates, the two driving devices are respectively positioned at two sides of the isolation components, so that when the robot main body advances in the pipeline, the spiral blades of the driving devices at two sides are separated by the isolation components due to the fact that the spiral blades are excited by rotation, and energy consumption is reduced; in addition, the V-shaped isolation assembly is similar to the bottom of a ship, and plays roles in water diversion and navigation.
Further improved, the support, the second shell, the third shell and the power assisting plate are all made of carbon fiber materials, so that the weight is light, and the strength is high.
The second bevel gear of two driving rollers of each driving device is combined with the rollers on two sides of the axis of the motor, so that the structure is balanced, and the overall stability is improved.
In each driving device, an output shaft of the motor extends out of the inner cylinder and is positioned in the outer cylinder, a first flange, a motor cover and a second connecting piece are sequentially and coaxially arranged along the direction of the output shaft of the motor in an extending manner, the first flange, the motor cover and the second connecting piece are all rotating bodies, the first flange is connected with a first end face of the inner cylinder through screws, a gap exists between the inner wall of the first flange and the output shaft of the motor, and a gap exists between the outer peripheral surface of the first flange and the inner wall of the outer cylinder; the motor cover is annular, the motor cover is fixedly connected with the first flange through screws, a gap exists between the inner wall of the motor cover and the motor output shaft, and a gap exists between the outer peripheral surface of the motor cover and the inner wall of the outer cylinder.
The second connecting piece is arranged on the motor cover through the first thrust bearing, the outer peripheral surface of the second connecting piece is fixedly connected with the inner wall of the outer cylinder, and a sealing ring is arranged between the outer peripheral surface of the second connecting piece and the inner wall of the outer cylinder; the center of the end face, close to one side of the motor, of the second connecting piece protrudes outwards along the axis and extends to form a first columnar body, a first hole is formed in the first columnar body along the axis, an output shaft of the motor is inserted into the first hole, and the output shaft of the motor is fixedly connected with the second connecting piece through a key; the end face of one side, far away from the motor, of the second connecting piece protrudes outwards and extends to form a second cylindrical body, the second cylindrical body is inwards recessed along the axis to form a second hole, the second hole is a stepped hole, a first deep groove ball bearing and a first limiting piece are arranged in the second air, the first limiting piece is embedded in the first deep groove ball bearing and fixedly connected with the inner ring of the first deep groove ball bearing, the first deep groove ball bearing abuts against the stepped surface of the stepped hole, and the outer ring of the first deep groove ball bearing is fixedly connected with the inner wall of the stepped hole; the first limiting piece is fixedly connected with one end of the second rotating shaft.
The first bevel gear of one of them driving roller passes through first through-hole sealed rotation cover and establishes in the second pivot, and the tip of second column body is provided with the second end cover through the fix with screw, and the second through-hole has been seted up at the center of second end cover, and the boss inserts in the second through-hole, and the second end cover seals fixedly with first bevel gear.
Through setting up first locating part and second pivot fixed connection, and the second end cover supports and leans on the first locating part of outer end of first deep groove ball bearing and rotate along with the second pivot together, prevents second pivot drunkenness, improves stability, and is convenient for assemble.
The other end of the second rotating shaft is fixedly connected with the first connecting piece after penetrating through the first through hole; the second rotating shaft is perpendicular to the first rotating shaft, and the first bevel gear is meshed with the second bevel gear.
The one end that the motor output shaft was kept away from to the inner tube is connected with the third end cover, and the terminal surface seal of third end cover and inner tube links firmly, and the outside terminal surface central part of third end cover outwards protrudes and extends and form the hollow shaft, and the electric wire of motor wears out from the hollow shaft, and the electric wire passes through sealed glue sealing connection with the hollow shaft, rotates the cover on the hollow shaft and is equipped with the third connecting piece, and the third connecting piece is the rotator, and the outer peripheral surface of third connecting piece links firmly with the inner wall seal of urceolus.
Based on the application number: 201710896483.1, name: a patent application for driving a roller, and the application number: 201810153336X, name: the utility model provides a pipeline robot drive arrangement, applicant has continued research, trial and error, has improved, through passing through the key with the motor output shaft and second connecting piece lug connection, the outer peripheral face and the urceolus of second connecting piece link firmly, and the motor links firmly with the inner tube, then motor drive second connecting piece rotates, drives the urceolus and rotates, and power transmission efficiency is high, and the energy loss is little, guarantees that the urceolus can normally rotate.
Meanwhile, sealing elements are arranged on the outer peripheral surfaces of the second connecting piece and the third connecting piece, a plurality of waterproof assemblies are arranged, waterproof sealing performance is improved, and the motor can work normally.
Through setting up first thrust bearing, improve axial load bearing capacity, increase overall structure stability, improve life.
Further improved, a second thrust bearing, a spacer ring, a second deep groove ball bearing, a sealing framework and a wool felt sealing ring are sequentially sleeved on the hollow shaft along the axial direction outwards.
Through setting up second thrust bearing, improve axial load bearing capacity, increase overall structure stability, improve life.
Through setting up sealed skeleton and wool felt sealing ring, improve waterproof sealing performance, guarantee that the motor can normally work.
The third connecting piece is in a cylinder shape, the cavity of the third connecting piece comprises a large-diameter part and a small-diameter part, the inner wall of the small-diameter part is radially protruded to form a first interval part, the second thrust bearing, the spacer ring and the second deep groove ball bearing are embedded in the large-diameter part of the third connecting piece, and the sealing framework and the wool felt sealing ring are embedded in the small-diameter part of the third connecting piece and are respectively positioned on two sides of the first interval part.
One end of the second thrust bearing is propped against the second end cover, and the other end of the second thrust bearing is propped against one end face of the spacer ring; one end of the second deep groove ball bearing is abutted against the other end face of the spacer ring, and the other end is abutted against a step face between the large-diameter portion and the small-diameter portion. The center part of one end of the third connecting piece far away from the third end cover is outwards protruded and extends to form a fourth columnar body, a concave cavity is formed in the center of the fourth columnar body, a first bevel gear of the other driving roller is hermetically and rotatably sleeved on the hollow shaft through a first through hole, a boss is inserted into the concave cavity, and the fourth columnar body is hermetically and fixedly connected with the first bevel gear through a screw; the tail end of the hollow shaft is fixedly connected with the first connecting piece after penetrating through the first through hole; the second rotating shaft is perpendicular to the first rotating shaft, and the first bevel gear is meshed with the second bevel gear. Through setting up the structure, the assembly of being convenient for, waterproof performance is good, and structural stability is strong.
Further improved, the gear ratio of the first bevel gear to the second bevel gear is 1 (1.5-5), and the gear ratio has larger torque, enhances the driving force and ensures that the pipeline robot can stably move.
Further improved, be provided with annular second interval portion in the second pivot, second interval portion divide into first section and second section with the second pivot, and wherein first bevel gear rotates the cover and establishes on first section, and the boss supports and lean on the second interval portion, is provided with the external screw thread on the second section, and first locating part center has seted up the screw hole, second section and first locating part threaded connection, the dismouting of being convenient for. One end of the first limiting piece, which is far away from the second spacing part, protrudes along the outer peripheral surface to form a third spacing part, and the first deep groove ball bearing is clamped between the second spacing part and the third spacing part, so that the first deep groove ball bearing is prevented from moving along the axial direction, and the structural stability is improved.
Further improved, the gyro wheel includes gyro wheel body and fourth end cover, the third through-hole has been seted up in the gyro wheel body, the inner wall of third through-hole outwards protrudes and forms fourth spacer, second bevel gear rotates the cover through the copper sheathing and establishes in first pivot, first pivot is kept away from the one end integral type of first connecting piece and is provided with the second locating part, the gyro wheel body rotates through the third bearing and is connected with first pivot, the third bearing card is established between second locating part and fourth spacer, fourth end cover passes through screw fastening with the gyro wheel body, the fourth end cover supports and leans on fourth spacer outer lane, and there is the clearance between fourth end cover and the second locating part, prevent that the third bearing from following axial float, improve structural stability, and be convenient for assemble.
Further improved, the outer peripheral surface of the roller body is provided with grooves, so that a plurality of anti-slip third protrusions are formed on the outer peripheral surface of the roller body, the height of each third protrusion is 2-10mm, friction is increased, and slipping is prevented.
Further improved, the roller body is provided with a plurality of lightening holes, so that the weight is reduced.
Further improved, two ends of each driving device are fixedly connected with the bracket through a first steel pipe respectively; the first connecting piece is provided with a fourth through hole, a fifth through hole and a sixth through hole, the axes of the fourth through hole, the fifth through hole and the sixth through hole are mutually perpendicular, and the second rotating shaft or the hollow shaft is inserted into the fourth through hole and is fastened with the first connecting piece through a bolt; the first rotating shaft is inserted into the fifth through hole and connected with the first connecting piece through a key; the sixth hole is the screw hole, and the both ends of first steel pipe all are provided with the external screw thread, and wherein one end inserts in the sixth hole of first connecting piece to threaded connection with it, and the other end of first steel pipe passes the support, and fastens with the support through two nuts, and behind the wire of motor passed the hollow shaft, get into corresponding cavity of first steel pipe through the sixth hole of first connecting piece, then wear out first steel pipe back and be connected with waterproof joint on the second casing, waterproof joint's the other end passes through the wire and is connected with the electricity between the controller. Through set up two mutually perpendicular fourth through-hole, fifth through-hole and sixth hole on first connecting piece, satisfy the demand of the firm connection with it of three different orientation parts simultaneously, simple structure, the assembly of being convenient for, and stability is good.
Further improvement, the roller is made of magnesium alloy material, has small density, and is convenient for the pipeline robot to suspend when moving in water; the first bevel gear and the second bevel gear are made of nylon materials and are wear-resistant.
Compared with the prior art, the invention has the beneficial effects that:
1) The gear ratio of the first bevel gear to the second bevel gear is 1 (1.5-5), the gear ratio has larger torque, the driving force is enhanced, and the stable motion of the pipeline robot is ensured.
2) Through setting up the third casing that increases buoyancy on the support, plastic foam material in the packing in the third casing increases buoyancy, when the pipeline reclaimed water is darker, robot major structure can realize the suspension, impels fast.
3) The two driving devices are respectively positioned at two sides of the isolation assembly through the isolation assembly arranged on the power assisting plate, so that when the robot main body advances in the pipeline, the spiral blades of the driving devices at two sides are separated by the isolation assembly due to the fact that the spiral blades are excited by rotation, and energy consumption is reduced; in addition, the V-shaped isolation assembly is similar to the bottom of a ship, and plays roles in water diversion and navigation.
4) And the combination of the second bevel gears of the two driving rollers of each driving device and the rollers is positioned at two sides of the axis of the motor, so that the structure is balanced, and the overall stability is improved.
5) The roller is made of magnesium alloy material, so that the density is low, and the pipeline robot can suspend conveniently when moving in water; the first bevel gear and the second bevel gear are made of nylon materials and are wear-resistant.
Drawings
Fig. 1 is a perspective view of a main body structure of a bevel gear transmission pipeline robot according to the present invention.
Fig. 2 is a right side view of fig. 1.
Fig. 3 is a structural view of the second housing.
Fig. 4 is a structural view of the power assisting plate.
Fig. 5 is a structural diagram of the camera.
Fig. 6 is a perspective view of the driving device according to the present invention.
Fig. 7 is a front view of fig. 6.
Fig. 8 is a cross-sectional view A-A of fig. 7.
Fig. 9 is a perspective view of the second connector.
Fig. 10 is a cross-sectional view of the second connector along the axis.
Fig. 11 is a structural view of the third connector.
Fig. 12 is a structural view of the first connector.
Fig. 13 is a structural view of the second bevel gear, the first link and the roller.
Fig. 14 is a structural view of the roller body.
Fig. 15 is a sectional view of the roller body in the axial direction.
Fig. 16 is a structural view of the first bevel gear.
Fig. 17 is a structural view of the second rotating shaft.
Detailed Description
In order to make the objects and technical solutions of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in connection with the embodiments of the present invention.
As shown in fig. 1-17, a main body structure of a bevel gear pipeline robot comprises a bracket 40, two driving devices rotatably arranged on the bracket, and a controller fixedly arranged on the bracket.
Each driving device comprises a driving roller and two driving rollers arranged at two ends of the driving roller; each driving roller comprises a first bevel gear 10, a second bevel gear 16, a first connecting piece 14 and rollers, one end of the first bevel gear 10 protrudes outwards along the axial direction to form a boss 1001, and a first through hole 1002 penetrating through the first bevel gear is formed in the center of the boss 1001 along the axial direction; the first connecting piece 14 is fixedly connected with the first rotating shaft 15, the first rotating shaft 15 is rotatably sleeved with the second bevel gear 16 and the idler wheel, the first bevel gear 10 is meshed with the second bevel gear 16, the second bevel gear 16 is fixedly connected with the idler wheel coaxially, and the radius of the second bevel gear 16 is smaller than that of the idler wheel.
The driving roller comprises an inner cylinder 3, an outer cylinder 2, a first shell 1 and a spiral blade 101, wherein the outer cylinder 2 is sleeved outside the inner cylinder 3 in a rotating mode, the first shell 1 is fixedly arranged outside the outer cylinder 2, and the spiral blade 101 is fixedly arranged on the outer peripheral surface of the first shell 1 along the length direction of the first shell; a motor 4 is fixedly arranged in the inner cylinder; when the driving roller is horizontally placed, the lower edge of the helical blade 101 is higher than the lower edge of the roller. The height difference between the lower edge of the helical blade and the lower edge of the roller is 2-10mm. The height of the spiral blade is 1-5cm. The motor is electrically connected with the controller.
When the pipeline robot moves on a hard medium, the idler wheel is in contact with the ground, the middle spiral blade is suspended, the motor drives the first bevel gear to rotate and drives the second bevel gear and the idler wheel to rotate, the number of teeth of the first bevel gear is smaller than that of the second bevel gear, so that the torque is large, the bevel gear is driven to twist greatly, the idler wheel rotates faster, slipping is not easy, and the driving effect is good. When the pipeline robot moves on the soft medium, the pipeline robot sags under the action of gravity, the roller and the middle helical blade are in contact with the ground, the motor drives the roller and the roller to rotate together, the helical blade rotates to discharge sludge and the like backwards, so that the pipeline robot moves forwards, and the pipeline robot has low movement speed at the moment but cannot slip due to large contact area; when the pipeline robot is suspended in water, the spiral blades are equivalent to propellers, and the spiral blades rotate to drain water backwards to drive the pipeline robot to advance.
In this embodiment, the controller is disposed in the second housing 30, the second housing 30 is fixedly connected with the support through a screw, and a sealing ring is disposed between the second housing and the support; the front end of the second housing is provided with a front baffle 32 made of transparent material; the edge of the front baffle 32 is fixedly sealed with the surface of the second shell 30 and the bracket 40; the bottom of the bracket 40 is provided with a flow sensor, and the flow sensor is electrically connected with the controller. And the front baffle is provided with an illuminating lamp 31 in a sealing manner.
A camera 90 is arranged in the cavity of the second shell 30, and the camera 90 is electrically connected with the controller; when the robot advances in the pipeline, the camera shoots the scene in the pipeline in real time and transmits the scene to an upper computer on the ground for display, so that the actual condition in the pipeline can be conveniently and intuitively known, and the environment in the pipeline is complex. Because of the special nature of the work environment of the pipe robot, waterproofing is a key to the overall robot, and the second housing is not exceptional, in which the controller is damaged once water is fed. The second housing plays a role in protecting and supporting the controller.
The third shell 50 with increased buoyancy is arranged on the support 30, plastic foam materials are filled in the third shell 50, the buoyancy is increased, and when water in a pipeline is deeper, the main body structure of the robot can realize suspension and rapid propulsion.
The bottom of support is fixed and is provided with helping hand board 60, and helping hand board includes middle part along the downward recess of length direction and forms V font's isolation component 61, and two drive arrangement are located the both sides of isolation component 61 respectively. By arranging the isolation components on the power-assisted plates, the two driving devices are respectively positioned at two sides of the isolation components, so that when the robot main body advances in the pipeline, the spiral blades of the driving devices at two sides are separated by the isolation components due to the fact that the spiral blades are excited by rotation, and energy consumption is reduced; in addition, the V-shaped isolation assembly is similar to the bottom of a ship, and plays roles in water diversion and navigation.
In this embodiment, the bracket 30, the second housing 30, the third housing 50 and the power assisting plate 60 are all made of carbon fiber materials, and have light weight and high strength.
The combination of the second bevel gears 16 of the two driving rollers of each driving device and the rollers is positioned at two sides of the axis of the motor, so that the structure is balanced, and the overall stability is improved. In other embodiments, the second bevel of the two drive rollers and the roller combination may be on the same side of the motor axis.
In this embodiment, in each driving device, the output shaft of the motor 4 extends out of the inner cylinder and is located in the outer cylinder, and a first flange 5, a motor cover 6 and a second connecting piece 8 are coaxially arranged in sequence and extend along the direction of the output shaft of the motor, the first flange 5, the motor cover 6 and the second connecting piece 8 are all rotating bodies, the first flange 5 is connected with the first end face of the inner cylinder through screws, a gap exists between the inner wall of the first flange and the output shaft of the motor, and a gap exists between the outer peripheral surface of the first flange and the inner wall of the outer cylinder; the motor cover 6 is annular, the motor cover is fixedly connected with the first flange through screws, a gap exists between the inner wall of the motor cover and the motor output shaft, and a gap exists between the outer peripheral surface of the motor cover and the inner wall of the outer cylinder.
The second connecting piece 8 is arranged on the motor cover 6 through the first thrust bearing 7, the outer peripheral surface of the second connecting piece 8 is fixedly connected with the inner wall of the outer cylinder 2, and the outer peripheral surface of the second connecting piece is provided with an annular groove 83 for sealing the ring; the center of the end face, close to one side of the motor 4, of the second connecting piece 8 protrudes outwards along the axis and extends to form a first columnar body 81, a first hole 82 is formed in the first columnar body 81 along the axis, an output shaft of the motor is inserted into the first hole 82, and the output shaft of the motor is fixedly connected with the second connecting piece 8 through a key; the end face of the second connecting piece 8, which is far away from one side of the motor, is outwards protruded and extends to form a second cylindrical body 84, the second cylindrical body 84 is inwards recessed along the axis to form a second hole 85, the second hole is a stepped hole, a first deep groove ball bearing 11 and a first limiting piece 12 are arranged in the second air, the first limiting piece 12 is embedded in the first deep groove ball bearing 11 and fixedly connected with the inner ring of the first deep groove ball bearing 11, the first deep groove ball bearing 11 abuts against the stepped surface of the stepped hole, and the outer ring of the second deep groove ball bearing is fixedly connected with the inner wall of the stepped hole; the first limiting piece 12 is fixedly connected with one end of the second rotating shaft 9.
The first bevel gear 10 of one driving roller is arranged on the second rotating shaft 9 in a sealing and rotating mode through a first through hole 1002, a second end cover 13 is fixedly arranged at the end portion of the second cylindrical body 84 through a screw, a second through hole is formed in the center of the second end cover, a boss 1001 is inserted into the second through hole, and the second end cover is fixedly connected with the first bevel gear 10 in a sealing mode.
Through setting up first locating part and second pivot fixed connection, and the second end cover supports and leans on the first locating part of outer end of first deep groove ball bearing and rotate along with the second pivot together, prevents second pivot drunkenness, improves stability, and is convenient for assemble.
The other end of the second rotating shaft 9 is fixedly connected with the first connecting piece 14 after passing through the first through hole; the second rotating shaft 9 is arranged perpendicular to the first rotating shaft 15, and the first bevel gear 9 and the second bevel gear 16 are meshed.
One end of the inner barrel far away from the motor output shaft is connected with a third end cover 19, the third end cover 19 is fixedly connected with the end face of the inner barrel in a sealing way, the center part of the outer end face of the third end cover protrudes outwards and extends to form a hollow shaft 20, an electric wire of the motor penetrates out of the hollow shaft, the electric wire is fixedly connected with the hollow shaft in a sealing way through sealant, a third connecting piece 25 is sleeved on the hollow shaft 20 in a rotating way, the third connecting piece 25 is a rotating body, and the outer peripheral face of the third connecting piece 25 is fixedly connected with the inner wall of the outer barrel in a sealing way.
Based on the application number: 201710896483.1, name: a patent application for driving a roller, and the application number: 201810153336X, name: the utility model provides a pipeline robot drive arrangement, applicant has continued research, trial and error, has improved, through passing through the key with the motor output shaft and second connecting piece lug connection, the outer peripheral face and the urceolus of second connecting piece link firmly, and the motor links firmly with the inner tube, then motor drive second connecting piece rotates, drives the urceolus and rotates, and power transmission efficiency is high, and the energy loss is little, guarantees that the urceolus can normally rotate.
Meanwhile, sealing elements are arranged on the outer peripheral surfaces of the second connecting piece and the third connecting piece, a plurality of waterproof assemblies are arranged, waterproof sealing performance is improved, and the motor can work normally.
Through setting up first thrust bearing, improve axial load bearing capacity, increase overall structure stability, improve life.
In this embodiment, the hollow shaft 20 is sleeved with a second thrust bearing 21, a spacer ring, a second deep groove ball bearing 22, a sealing skeleton 23 and a wool felt sealing ring 24 sequentially along the axial direction outwards.
Through setting up second thrust bearing, improve axial load bearing capacity, increase overall structure stability, improve life.
Through setting up sealed skeleton and wool felt sealing ring, improve waterproof sealing performance, guarantee that the motor can normally work.
The third connecting member 25 is cylindrical, the cavity of the third connecting member includes a large diameter portion 252 and a small diameter portion 253, the inner wall of the small diameter portion radially protrudes to form a first spacing portion 251, the second thrust bearing 21, the spacer ring and the second deep groove ball bearing 22 are embedded in the large diameter portion of the third connecting member, and the sealing skeleton and the wool felt sealing ring are embedded in the small diameter portion of the third connecting member and are respectively located at two sides of the first spacing portion 251.
One end of the second thrust bearing is propped against the second end cover, and the other end of the second thrust bearing is propped against one end face of the spacer ring; one end of the second deep groove ball bearing is abutted against the other end face of the spacer ring, and the other end is abutted against a step face between the large-diameter portion and the small-diameter portion. The center part of one end of the third connecting piece far away from the third end cover is outwards protruded and extends to form a fourth columnar body, a concave cavity is formed in the center of the fourth columnar body, a first bevel gear of the other driving roller is hermetically and rotatably sleeved on the hollow shaft through a first through hole, a boss is inserted into the concave cavity, and the fourth columnar body is hermetically and fixedly connected with the first bevel gear through a screw; the tail end of the hollow shaft is fixedly connected with the first connecting piece after penetrating through the first through hole; the second rotating shaft is perpendicular to the first rotating shaft, and the first bevel gear is meshed with the second bevel gear. Through setting up the structure, the assembly of being convenient for, waterproof performance is good, and structural stability is strong.
In the embodiment, the gear ratio of the first bevel gear to the second bevel gear is 1:3, and the gear ratio has larger torque, enhances the driving force and ensures that the pipeline robot can stably move.
In other embodiments, the first and second bevel gears may have a gear ratio of 1:1.5, 1:2, 1:2.5, 1:3.5, 1:4.5, or 1:5, etc., or any number thereof.
In this embodiment, an annular second spacing portion 903 is disposed on the second rotating shaft 9, the second spacing portion 903 divides the second rotating shaft into a first section 901 and a second section 902, wherein the first bevel gear 10 is rotatably sleeved on the first section, the boss 1001 abuts against the second spacing portion 903, an external thread is disposed on the second section 902, a threaded hole is formed in the center of the first limiting member 12, and the second section 902 is in threaded connection with the first limiting member 12, so as to facilitate disassembly and assembly. One end of the first limiting piece, which is far away from the second spacing part, protrudes along the outer peripheral surface to form a third spacing part, and the first deep groove ball bearing is clamped between the second spacing part and the third spacing part, so that the first deep groove ball bearing is prevented from moving along the axial direction, and the structural stability is improved.
In this embodiment, the roller includes a roller body 17 and a fourth end cap 18, a third through hole 172 is formed in the roller body 17, an inner wall of the third through hole protrudes outwards to form a fourth spacing part 173, the second bevel gear 16 is rotatably sleeved on the first rotating shaft 15 through a copper sleeve, one end of the first rotating shaft 15, which is far away from the first connecting piece 14, is integrally provided with a second limiting piece, the roller body 17 is rotatably connected with the first rotating shaft through a third bearing, the third bearing is clamped between the second limiting piece and the fourth spacing part, the fourth end cap 18 is fastened with the roller body 17 through a screw, the fourth end cap abuts against an outer ring of the fourth spacing part, a gap exists between the fourth end cap and the second limiting piece, the third bearing is prevented from moving axially, the structural stability is improved, and the assembly is convenient.
In this embodiment, the outer peripheral surface of the roller body 17 is provided with grooves, so that a plurality of anti-slip third protrusions 171 are formed on the outer peripheral surface of the roller body, the height of the third protrusions is 2-10mm, friction is increased, and slipping is prevented.
In this embodiment, the roller body 17 is provided with a plurality of lightening holes, so as to reduce weight.
In this embodiment, two ends of each driving device are fixedly connected with the bracket 40 through a first steel pipe 80 respectively; the first connecting piece 14 is provided with a fourth through hole 141, a fifth through hole 142 and a sixth through hole 143, the axes of the fourth through hole, the fifth through hole and the sixth through hole are mutually perpendicular, and the second rotating shaft 9 or the hollow shaft 20 is inserted into the fourth through hole 141 and is fastened with the first connecting piece 14 through bolts; the first rotary shaft 15 is inserted into the fifth through hole 142 and connected with the first connection member by a key; the sixth hole 143 is a threaded hole, external threads are arranged at two ends of the first steel pipe 80, one end of the first steel pipe 80 is inserted into the sixth hole 143 of the first connecting piece 14 and is in threaded connection with the sixth hole 143, the other end of the first steel pipe 80 passes through the bracket 40 and is fastened with the bracket 40 through two nuts, a wire of the motor 4 passes through the hollow shaft 20 and then enters a corresponding cavity of the first steel pipe 80 through the sixth hole 143 of the first connecting piece 14, then passes through the first steel pipe 80 and is connected with a waterproof joint on the second shell 30, and the other end of the waterproof joint is electrically connected with the controller through the wire. Through set up two mutually perpendicular fourth through-hole, fifth through-hole and sixth hole on first connecting piece, satisfy the demand of the firm connection with it of three different orientation parts simultaneously, simple structure, the assembly of being convenient for, and stability is good.
In the embodiment, the roller is made of magnesium alloy material, so that the density is low, and the pipeline robot can suspend conveniently when moving in water; the first bevel gear and the second bevel gear are made of nylon materials and are wear-resistant.
The present invention is not specifically described in the prior art or may be implemented by the prior art, and the specific embodiments described in the present invention are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Equivalent changes and modifications of the invention are intended to be within the scope of the present invention.
Claims (4)
1. The main body structure of the bevel gear transmission pipeline robot is characterized by comprising a bracket, two driving devices rotatably arranged on the bracket and a controller fixedly arranged on the bracket;
each driving device comprises a driving roller and two driving rollers arranged at two ends of the driving roller; each driving roller comprises a first bevel gear, a second bevel gear, a first connecting piece and rollers, one end of the first bevel gear protrudes outwards along the axial direction to form a boss, and a first through hole penetrating through the first bevel gear is formed in the center of the boss along the axial direction; the first connecting piece is fixedly connected with the first rotating shaft, the first rotating shaft is rotatably sleeved with a second bevel gear and a roller, the first bevel gear is meshed with the second bevel gear, the second bevel gear is coaxially and fixedly connected with the roller, and the radius of the second bevel gear is smaller than that of the roller;
the driving roller comprises an inner cylinder, an outer cylinder, a first shell and a second shell, wherein the outer cylinder is arranged outside the inner cylinder through a rotating sleeve, the first shell is fixedly arranged outside the outer cylinder, and spiral blades are fixedly arranged on the outer peripheral surface of the first shell along the length direction of the first shell; a motor is fixedly arranged in the inner cylinder; when the driving roller is horizontally placed, the lower edge of the spiral blade is higher than the lower edge of the roller;
the motor is electrically connected with the controller;
the controller is arranged in the second shell, the second shell is fixedly connected with the bracket through a screw, and a sealing ring is arranged between the second shell and the bracket; the front end of the second shell is provided with a front baffle made of transparent materials; the edge of the front baffle is in sealing and fixing connection with the second shell and the bracket; the bottom of the bracket is provided with a flow sensor, and the flow sensor is electrically connected with the controller;
a camera is arranged in the cavity of the second shell, and the camera is electrically connected with the controller;
a third shell for adding buoyancy is arranged on the bracket, and medium plastic foam materials are filled in the third shell;
the bottom of the bracket is fixedly provided with a booster plate, the middle part of the booster plate comprises a V-shaped isolation assembly formed by downward grooves along the length direction, and the two driving devices are respectively positioned at two sides of the isolation assembly;
the support, the second shell, the third shell and the power assisting plate are all made of carbon fiber materials;
the second bevel gear of the two driving rollers of each driving device and the combination of the rollers are positioned at two sides of the axis of the motor;
in each driving device, an output shaft of the motor extends out of the inner cylinder and is positioned in the outer cylinder, a first flange, a motor cover and a second connecting piece are sequentially and coaxially arranged along the direction of the output shaft of the motor in an extending manner, the first flange, the motor cover and the second connecting piece are all rotating bodies, the first flange is connected with a first end face of the inner cylinder through screws, a gap exists between the inner wall of the first flange and the output shaft of the motor, and a gap exists between the outer peripheral surface of the first flange and the inner wall of the outer cylinder; the motor cover is in a ring shape, the motor cover is fixedly connected with the first flange through screws, a gap exists between the inner wall of the motor cover and the motor output shaft, and a gap exists between the outer peripheral surface of the motor cover and the inner wall of the outer cylinder;
the second connecting piece is arranged on the motor cover through the first thrust bearing, the outer peripheral surface of the second connecting piece is fixedly connected with the inner wall of the outer cylinder, and a sealing ring is arranged between the outer peripheral surface of the second connecting piece and the inner wall of the outer cylinder; the center of the end face, close to one side of the motor, of the second connecting piece protrudes outwards along the axis and extends to form a first columnar body, a first hole is formed in the first columnar body along the axis, an output shaft of the motor is inserted into the first hole, and the output shaft of the motor is fixedly connected with the second connecting piece through a key; the end face of one side, far away from the motor, of the second connecting piece protrudes outwards and extends to form a second cylindrical body, the second cylindrical body is inwards recessed along the axis to form a second hole, the second hole is a stepped hole, a first deep groove ball bearing and a first limiting piece are arranged in the second air, the first limiting piece is embedded in the first deep groove ball bearing and fixedly connected with the inner ring of the first deep groove ball bearing, the first deep groove ball bearing abuts against the stepped surface of the stepped hole, and the outer ring of the first deep groove ball bearing is fixedly connected with the inner wall of the stepped hole; the first limiting piece is fixedly connected with one end of the second rotating shaft;
the first bevel gear of one driving roller is sleeved on the second rotating shaft in a sealing and rotating way through a first through hole, a second end cover is fixedly arranged at the end part of the second cylindrical body through a screw, a second through hole is formed in the center of the second end cover, a boss is inserted into the second through hole, and the second end cover is fixedly connected with the first bevel gear in a sealing way;
the other end of the second rotating shaft is fixedly connected with the first connecting piece after penetrating through the first through hole; the second rotating shaft is perpendicular to the first rotating shaft, and the first bevel gear is meshed with the second bevel gear;
the electric wire of the motor penetrates out of the hollow shaft and is in sealing connection with the hollow shaft through sealing glue, a third connecting piece is sleeved on the hollow shaft in a rotating way, the third connecting piece is a rotating body, and the outer peripheral surface of the third connecting piece is in sealing connection with the inner wall of the outer cylinder;
a second thrust bearing, a spacer ring, a second deep groove ball bearing, a sealing framework and a wool felt sealing ring are sequentially sleeved on the hollow shaft along the axial direction outwards;
the third connecting piece is cylindrical, the cavity of the third connecting piece comprises a large-diameter part and a small-diameter part, the inner wall of the small-diameter part is radially protruded to form a first interval part, the second thrust bearing, the spacer ring and the second deep groove ball bearing are embedded in the large-diameter part of the third connecting piece, the sealing framework and the wool felt sealing ring are embedded in the small-diameter part of the third connecting piece and are respectively positioned at two sides of the first interval part;
one end of the second thrust bearing is propped against the second end cover, and the other end of the second thrust bearing is propped against one end face of the spacer ring; one end of the second deep groove ball bearing is abutted against the other end face of the spacer ring, and the other end of the second deep groove ball bearing is abutted against a step surface between the large-diameter part and the small-diameter part;
the center part of one end of the third connecting piece far away from the third end cover is outwards protruded and extends to form a fourth columnar body, a concave cavity is formed in the center of the fourth columnar body, a first bevel gear of the other driving roller is hermetically and rotatably sleeved on the hollow shaft through a first through hole, a boss is inserted into the concave cavity, and the fourth columnar body is hermetically and fixedly connected with the first bevel gear through a screw; the tail end of the hollow shaft is fixedly connected with the first connecting piece after penetrating through the first through hole; the second rotating shaft is perpendicular to the first rotating shaft, and the first bevel gear is meshed with the second bevel gear;
the gear ratio of the first bevel gear to the second bevel gear is 1 (1.5-5);
the second rotating shaft is provided with an annular second spacing part, the second spacing part divides the second rotating shaft into a first section and a second section, the first bevel gear is rotatably sleeved on the first section, the boss is abutted against the second spacing part, the second section is provided with external threads, the center of the first limiting part is provided with a threaded hole, and the second section is in threaded connection with the first limiting part; one end of the first limiting piece, which is far away from the second spacing part, protrudes along the outer peripheral surface to form a third spacing part, and the first deep groove ball bearing is clamped between the second spacing part and the third spacing part;
the roller is made of magnesium alloy materials, and the first bevel gear and the second bevel gear are made of nylon materials.
2. The main body structure of the bevel gear transmission pipeline robot according to claim 1, wherein the roller comprises a roller body and a fourth end cover, a third through hole is formed in the roller body, the inner wall of the third through hole protrudes outwards to form a fourth spacing part, the second bevel gear is rotatably sleeved on the first rotating shaft through a copper sleeve, one end, far away from the first connecting piece, of the first rotating shaft is integrally provided with a second limiting piece, the roller body is rotatably connected with the first rotating shaft through a third bearing, the third bearing is clamped between the second limiting piece and the fourth spacing part, the fourth end cover is fastened with the roller body through screws, the fourth end cover abuts against the outer ring of the fourth spacing part, and a gap exists between the fourth end cover and the second limiting piece.
3. The main body structure of the bevel gear pipeline robot according to claim 2, wherein the outer peripheral surface of the roller body is provided with grooves, so that a plurality of anti-slip third protrusions are formed on the outer peripheral surface of the roller body; a plurality of lightening holes are formed in the roller body.
4. The main body structure of the bevel gear pipeline robot according to claim 3, wherein,
two ends of each driving device are fixedly connected with the bracket through a first steel pipe respectively; the first connecting piece is provided with a fourth through hole, a fifth through hole and a sixth through hole, the axes of the fourth through hole, the fifth through hole and the sixth through hole are mutually perpendicular, and the second rotating shaft or the hollow shaft is inserted into the fourth through hole and is fastened with the first connecting piece through a bolt; the first rotating shaft is inserted into the fifth through hole and connected with the first connecting piece through a key;
the sixth hole is the screw hole, and the both ends of first steel pipe all are provided with the external screw thread, and wherein one end inserts in the sixth hole of first connecting piece to threaded connection with it, and the other end of first steel pipe passes the support, and fastens with the support through two nuts, and behind the wire of motor passed the hollow shaft, get into corresponding cavity of first steel pipe through the sixth hole of first connecting piece, then wear out first steel pipe back and be connected with waterproof joint on the second casing, waterproof joint's the other end passes through the wire and is connected with the electricity between the controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811569421.0A CN109404656B (en) | 2018-12-20 | 2018-12-20 | Main body structure of bevel gear transmission pipeline robot |
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| CN201811569421.0A CN109404656B (en) | 2018-12-20 | 2018-12-20 | Main body structure of bevel gear transmission pipeline robot |
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| CN109404656B true CN109404656B (en) | 2023-08-15 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110131520B (en) * | 2019-05-22 | 2023-11-21 | 南京管科智能科技有限公司 | Robot main body structure suitable for non-full water pipeline |
| CN110925522A (en) * | 2019-11-01 | 2020-03-27 | 安徽工程大学 | Automatic pipeline cleaning machine |
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