CN110440092A - A kind of crawler belt brace type pipeline detection robot driving mechanism - Google Patents
A kind of crawler belt brace type pipeline detection robot driving mechanism Download PDFInfo
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- CN110440092A CN110440092A CN201910486377.5A CN201910486377A CN110440092A CN 110440092 A CN110440092 A CN 110440092A CN 201910486377 A CN201910486377 A CN 201910486377A CN 110440092 A CN110440092 A CN 110440092A
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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
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
A kind of crawler belt brace type pipeline detection robot driving mechanism, including track driving mechanism, adaptive regulating mechanism, supporting mechanism, camera shooting mechanism；Track driving mechanism is fastened between two crank connecting links by short connecting shaft and nut, and the number of track driving mechanism is 3 and is circumferentially distributed, and the angle of distribution is 120 degree；Camera shooting mechanism, which is connected through a screw thread, to be fixed in video camera fixed plate；The driving mechanism uses cterpillar drive, increase the ability that pipe robot passes through obstacle and irregular pipeline, towing cable performance increases, enhance walking ability and adaptability of the robot in pipeline, in addition, crawler belt brace type robot uses modular design, facilitates the maintenance of such robot.
Description
Technical field
The invention belongs to pipeline robot technique fields more particularly to a kind of crawler belt brace type pipeline detection robot to drive
Motivation structure.
Background technique
In recent years, with the needs that the development of industrial economy and people live, use of the pipeline in life and production is got over
Come it is more extensive, such as life water heating supply, petroleum transportation, natural gas transportation, sewage discharge processing etc..And some industrial pipelines
Working environment very severe is easy to happen corrosion and fatigue and destroys or develop into latent defect inside pipeline after long-time service
It is damaged and cause leakage accident etc..By environment locating for pipeline be often manpower limit or people less than, overhaul it is difficult.
The method typically now used such as scraps in advance, excavates maintenance, and effect is undesirable, and not only large labor intensity, benefit are low, and
It also will cause huge manpower and material resources loss.Therefore detection is a highly important practical engineering in the pipe of pipeline.
Pipeline detection robot is a kind of mechanism that can be walked along pipeline, it can carry one or more sensors and behaviour
Make device.Pipe robot is using wheel mostly as running gear at present, towing cable deficiency, wheel can at a time from
The surface of open pipe wall, therefore wheeled cannot pass through the lesser pipeline of radius of curvature well；Pipe robot is passing through complicated pipe
The phenomenon that will appear stuck and skidding when road, limit its cornering ability；The range that pipe robot caliber adapts to is smaller, is meeting
It cannot good obstacle detouring when to irregular pipeline and obstacle.
Summary of the invention
For problem of the existing technology, a kind of crawler belt brace type pipeline detection robot driving mechanism of the invention,
Using cterpillar drive, the ability that pipe robot passes through obstacle and irregular pipeline is increased, towing cable performance increases,
Enhance walking ability and adaptability of the robot in complicated pipeline, in addition, crawler belt brace type robot using modular
Design, facilitates the maintenance of such robot.
A kind of crawler belt brace type pipeline detection robot driving mechanism, including track driving mechanism, automatic adjusument machine
Structure, supporting mechanism, camera shooting mechanism；Track driving mechanism by short connecting shaft and nut be fastened on two crank connecting links it
Between, the number of track driving mechanism is 3 and is circumferentially distributed, and the angle of distribution is 120 degree；Camera shooting mechanism is connected through a screw thread
It is fixed in video camera fixed plate.
The supporting mechanism mainly includes adaptive mechanism guide sleeve, guide post, support plate, video camera fixed plate, support fixation
Guide sleeve, sealing-in plate, motor support plate, screw rod support plate, supporting cell guide, connecting plate.
The adaptive mechanism guide sleeve and guide post clearance fit, are mounted between support plate and video camera fixed plate, are used to
The position of fixed support plate and video camera fixed plate, the quantity of adaptive mechanism guide sleeve are 6；The guide post is each passed through support
Plate and video camera fixed plate, both ends are separately fixed at support plate and video camera fixed plate with nut, and the quantity of guide post is 6；
The fixed guide sleeve of the support and supporting cell guide carry out clearance fit, are mounted between video camera fixed plate and motor support plate, use
Come the position fixed between video camera fixed plate and motor support plate, supporting the quantity of fixed guide sleeve is 3；The supporting cell guide
It is each passed through connecting plate, feed screw nut's plate, screw rod support plate, motor support plate, video camera fixed plate and support plate, both ends spiral shell
Mother is separately fixed on connecting plate and support plate, and the quantity of supporting cell guide is 3；The sealing-in plate is threadedly attached in camera shooting
In machine fixed plate and motor support plate, quantity is 3；Structure and support between the motor support plate and screw rod support plate
Plate is as the structure between video camera fixed plate；The connecting plate fixes its position by supporting cell guide and screw rod and nut
It sets.
The adaptive regulating mechanism includes crank connecting link, compressed spring, sliding block, short connecting shaft, stepper motor, shaft coupling
Device, long connecting shaft, feed screw nut's plate, screw rod, crank.
Described crank connecting link one end is fixed on sliding block by short connecting shaft and nut, and the other end passes through short connecting shaft and spiral shell
Line is fastened on track driving mechanism support base；The compressed spring carries out clearance fit and is mounted on guide post, 3, the right
Compressed spring is mounted between sliding block and support plate, 3, the left side is mounted between sliding block and motor support plate, for sliding block from
It adapts to adjust, the quantity of compressed spring is 6；The sliding block be slidably connected being mounted on guide post, by compressed spring and
Video camera fixed plate fixes its position, left and right sliding block be it is the same and install be also it is identical, the quantity of sliding block is 6, short company
The quantity of spindle is 18, and the quantity of crank connecting link is 12；The stepper motor, which is connected through a screw thread, is fixed on motor support
On plate；The shaft coupling, which is screwed, connects the output shaft and screw rod of stepper motor；The crank passes through short connecting shaft and long company
Spindle and nut, which are separately connected, to be fixed on crank connecting link and feed screw nut's plate, and the quantity of crank is 3, the number of long connecting shaft
Amount is 3；The screw rod is each passed through connecting plate, feed screw nut's plate, screw rod support plate；Screw both end has corresponding bearing, leads to
It crosses bearing to be connected and fixed, one end is fixedly connected on screw rod support plate, and one end is connected to connecting plate and fixes；Feed screw nut's plate connects
It connects and is fixed on supporting cell guide, moved between screw rod support plate and connecting plate.
The track driving mechanism include track driving mechanism support base, crawler belt, the first transmission shaft, driving shaft, bearing cap,
Second driving shaft, crawler belt baffle, drive sprocket, the first axle sleeve, big roller gear, small cylinder gear, the second axle sleeve, big circular cone
Gear, small conical gear, motor fixing seat, retarder, servo motor, third axle sleeve, driven Athey wheel.
The track driving mechanism support base, which is connected through a screw thread, to be fixed on crawler belt baffle, and short connecting shaft and both ends are passed through
Nut connecting crank connecting rod, the quantity of track driving mechanism support base are 6；The crawler belt is coated with drive sprocket and driven
Athey wheel, and connection is engaged with the drive sprocket, driven Athey wheel, small conical gear passes through key and the fixed peace of holding screw
On the reducer output shaft, the large conical gear is fixedly mounted on the driving shaft by key and the second axle sleeve,
And connection is engaged with the small conical gear；The small cylinder gear is fixedly mounted on the active by key and the first axle sleeve
On axis, the big roller gear is fixedly mounted on first transmission shaft by key and the first axle sleeve, and with the small column
Gear engagement connection；The drive sprocket is fixedly mounted on first transmission shaft by key and the first axle sleeve, and described
One transmission shaft, driving shaft, second driving shaft are fixedly mounted between described two crawler belt baffles, both ends by bearing connection and
Bearing cap is fixedly connected with installation；The driven Athey wheel is fixedly mounted on second driving shaft by key and third axle sleeve；It is described
The number of first axle sleeve is 9, and the number of the second axle sleeve and third axle sleeve is respectively 3；The servo motor and retarder pass through
Threaded connection is fixed in motor fixing seat, and the motor fixing seat is bolted between two pieces of crawler belt baffles.
A kind of crawler belt brace type pipeline detection robot driving mechanism, track drive module use modularized design, mention
The modularization and integrated level of Gao Liao robot.Three track drive modules control independently of each other, active steering may be implemented, each
Drive module is equipped with two compressed springs, when encountering irregular pipeline and obstacle, due to mutually indepedent between drive module
Do not interfere, so other two sides are unaffected, therefore can be very good to cross when side encounters obstacle or irregular pipeline
Obstacle and irregular pipeline improve the obstacle detouring of pipe robot and the ability by irregular pipeline.The present invention is using double pressures
Contracting spring and leading screw and nut mechanism realize passive and actively adaptive caliber regulative mode combination, are guaranteeing that radius of curvature is
Under the premise of the passability of 1.5D pipeline, increases the adaptation range of caliber while also improving the adaptability of robot pipeline.
Detailed description of the invention
Fig. 1 is overall structure stereogram of the present invention；
Fig. 2 is the structural perspective of supporting mechanism of the present invention；
Fig. 3 is the structure partial perspective view of supporting mechanism of the present invention；
Fig. 4 is the structural perspective of adaptive mechanism of the present invention；
Fig. 5 is the structural perspective of track driving mechanism of the present invention；
Fig. 6 is the internal structure perspective view of track driving mechanism of the present invention.
In figure: 1. track driving mechanisms；2. adaptive regulating mechanism；3. supporting mechanism；4. imaging mechanism；101. from
Adapt to mechanism guide sleeve；102. guide post；103. support plate；104. video camera fixed plate；105. supporting fixed guide sleeve； 106.
Sealing-in plate；107. motor support plate；108. screw rod support plate；109. supporting cell guide；110. connecting plate；201. cranks connect
Bar；202. compressed spring；203. sliding block；204. short connecting shafts；205. stepper motor；206. shaft coupling；207. long connections
Axis；208. feed screw nut's plates；209. screw rod；210. crank；301. track driving mechanism support bases；302. crawler belt；303.
First transmission shaft；304. driving shaft；305. bearing cap；306. second driving shaft；307. crawler belt baffles；308. actively carry out
Belt wheel；309. first axle sleeves；310. big roller gears；311. small cylinder gear；312. second axle sleeves；313. big circular cones
Gear；314. small conical gear；315. motor fixing seat；316. retarder；317. servo motor；318. third axle sleeves；
319. driven Athey wheels.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail.The number that the present invention mentions is the overall number of driving mechanism of pipeline robot.
A kind of crawler belt brace type pipeline detection robot driving mechanism, as shown in Figure 1, include track driving mechanism 1, from
Adapt to regulating mechanism 2, supporting mechanism 3, camera shooting mechanism 4.Track driving mechanism 1 is connected and fixed by short connecting shaft 204 and nut
Between two crank connecting links 201, the number of track driving mechanism 1 is 3 and is circumferentially distributed, and the angle of distribution is 120 degree.
Camera shooting mechanism 4, which is connected through a screw thread, to be fixed in video camera fixed plate 104.
The supporting mechanism 3 mainly includes as shown in Figures 2 and 3 adaptive mechanism guide sleeve 101, guide post 102, support plate
103, video camera fixed plate 104, support fixed guide sleeve 105, sealing-in plate 106, motor support plate 107, screw rod support plate 108,
Supporting cell guide 109, connecting plate 110.
The adaptive mechanism guide sleeve 101 carries out clearance fit with guide post 102, is mounted on support plate 103 and video camera is solid
Between fixed board 104, for the position of fixed support plate 103 and video camera fixed plate 104, both ends are separately fixed at support with nut
On plate 103 and video camera fixed plate 104, the quantity of adaptive mechanism guide sleeve 101 is 6.The guide post 102 is each passed through support
The quantity of 104,102 guide post of plate 103 and video camera fixed plate is 6.The fixed guide sleeve 105 of the support and supporting cell guide 109 into
Row clearance fit is mounted between video camera fixed plate 104 and motor support plate 107, for fixing 104 He of video camera fixed plate
Position between motor support plate 107, supporting the quantity of fixed guide sleeve 105 is 3.109 company of being each passed through of supporting cell guide
Fishplate bar 110, feed screw nut's plate 208, screw rod support plate 108, motor support plate 107, video camera fixed plate 104 and support plate 103,
Both ends are separately fixed on 103 on connecting plate 110 and support plate with nut, and the quantity of supporting cell guide 109 is 3.The sealing-in
Plate 106 is threadedly attached in video camera fixed plate 104 and motor support plate 107, and quantity is 3.The motor support
Structure of the plate 107 between screw rod support plate 108 and support plate 103 are as the structure between video camera fixed plate 104.It is described
Connecting plate 110 fixes its position by supporting cell guide 109 and screw rod 209 and nut.
The adaptive regulating mechanism is as shown in figure 4, include crank connecting link 201, compressed spring 202, sliding block 203, short company
Spindle 204, stepper motor 205, shaft coupling 206, long connecting shaft 207, feed screw nut's plate 208, screw rod 209, crank 210.
Described 201 one end of crank connecting link is fixed on sliding block 203 by short connecting shaft 204 and nut, and the other end passes through short
Connecting shaft 204 and threaded connection are fixed on track driving mechanism support base 301.The compressed spring 202 carries out clearance fit peace
On guide post 102,3, the right compressed spring is mounted between sliding block and support plate, and 3, the left side is mounted on sliding block and motor branch
Between fagging, for the automatic adjusument of sliding block 203, the quantity of compressed spring 202 is 6.The sliding block 203 carries out sliding company
It connects and is mounted on guide post 102, its position is fixed by compressed spring 202 and video camera fixed plate 104, the quantity of sliding block 203 is 6
A, the quantity of short connecting shaft 204 is 18, and the quantity of crank connecting link 201 is 12.The stepper motor 205 is connected by screw thread
It connects and is fixed in motor support plate 107.The shaft coupling 206 connects the output shaft and screw rod 209 of stepper motor 205.The song
Handle 210 is separately connected by short connecting shaft 204 and long connecting shaft 207 and nut and is fixed on crank connecting link 201 and feed screw nut
On plate 208, the quantity of crank 210 is 3, and the quantity of long connecting shaft 207 is 3.The screw rod 209 is each passed through connecting plate
110, feed screw nut's plate 208, screw rod support plate 108.There is corresponding bearing at 209 both ends of screw rod, are connected and fixed by bearing, one end
It is fixedly connected on screw rod support plate 108, it is fixed that one end is connected to connecting plate 110.Feed screw nut's plate 208 is fastened on branch
It supports on guide post 109, is moved between screw rod support plate 108 and connecting plate 110.
The track driving mechanism, as shown in Figure 5 and Figure 6, including track driving mechanism support base 301, crawler belt 302,
One transmission shaft 303, driving shaft 304, bearing cap 305, second driving shaft 306, crawler belt baffle 307, drive sprocket 308, first
Axle sleeve 309, big roller gear 310, small cylinder gear 311, the second axle sleeve 312, large conical gear 313, small conical gear 314,
Motor fixing seat 315, retarder 316, servo motor 317, third axle sleeve 318, driven Athey wheel 319.
The track driving mechanism support base 301, which is connected through a screw thread, to be fixed on crawler belt baffle 307, and short connecting shaft is passed through
204 and two end nut connecting crank connecting rods 201, the quantity of track driving mechanism support base 301 be 6.The crawler belt 302 coats
Drive sprocket 308 and driven Athey wheel 319, and engage connection with the drive sprocket 308, driven Athey wheel 319, it is small
Conical gear 314 is fixedly mounted on 316 output shaft of retarder by key and holding screw, the large conical gear 313
It is fixedly mounted on the driving shaft 304 by key and the second axle sleeve 312, and engages connection with the small conical gear 314.
The small cylinder gear 311 is fixedly mounted on the driving shaft 304 by key and the first axle sleeve 309, the big roller gear
310 are fixedly mounted on first transmission shaft 303 by key and the first axle sleeve 309, and are engaged with the small cylinder gear 311
Connection.The drive sprocket 308 is fixedly mounted on first transmission shaft 303 by key and the first axle sleeve 309, and described the
One transmission shaft 303, driving shaft 304, second driving shaft 306 are fixedly mounted between described two crawler belt baffles 307, and both ends are logical
It crosses bearing connection and is fixedly connected with installation with bearing cap 305.The driven Athey wheel 319 passes through key and the fixed peace of third axle sleeve 318
On second driving shaft 306.The number of first axle sleeve 309 is 9, the number of the second axle sleeve 312 and third axle sleeve 318
It is respectively 3.The servo motor 317 and retarder 316, which are connected through a screw thread, to be fixed in motor fixing seat 315, the motor
Fixing seat 315 is bolted between two pieces of crawler belt baffles 307.
The working principle of the invention:
In straight tube, the track driving mechanism 1 of robot is distributed on 120 degree of circumference, therefore it more preferably can smoothly exist
It walks in pipeline, while using the frictional force between the locking and crawler belt 302 and pipeline of feed screw nut, can allow it can be
It walks in vertical pipe.The crawler belt baffle 307 of the track driving mechanism 1 of robot and the central axis keeping parallelism state of pipeline,
Servo motor 317 drives retarder 316, and 316 output shaft of retarder drives small conical gear 314 to rotate, and small conical gear 314 is logical
Crossing gear drives large conical gear 313 to rotate, and large conical gear 313 drives the driving shaft 304 affixed with it to rotate, driving shaft
304 drive the small cylinder gear 311 affixed with it to rotate, and small cylinder gear 311 drives 310 turns of great circle stud wheel by gear
Dynamic, big roller gear 310 drives first transmission shaft 303 affixed with it, and the first transmission shaft 303 drives the active affixed with it to carry out
Belt wheel 308 rotates, and drive sprocket 308 drives crawler belt 302 to move, and driving robot travels in the duct.
When the small-scale reducer pipe, irregular pipeline and obstacle encountered, the track driving mechanism 1 of robot is in external force
It is drawn close under effect to pipeline axle center, the sliding block 203 on crank connecting link 201 is mobile, and compressed spring 202 is compressed, in external force
Under it is small-scale adjust robot diameter.When the side of pipeline encounter obstacle or it is irregular when, due to track driving mechanism 1
There is compressed spring 202 independently of each other and in each direction, so that the track driving mechanism 1 not influenced on other directions moves,
Therefore it can preferably surmount obstacles and irregular pipeline.
When needing the caliber adjusted to become larger and turn to, the output shaft of stepper motor 205 drives shaft coupling 206 to rotate, connection
The rotation of axis device 206 drives screw rod 209 to rotate, and the rotation of screw rod 209 drives the mobile a certain distance of feed screw nut's plate 208.Screw rod spiral shell
The mobile crank 210 for driving periphery of motherboard 208 and crank connecting link 201 is mobile so that track driving mechanism 1 is to pipeline axle center
It draws close or opens to adapt to large-scale caliber change.When pipe robot turns to, due to watching for each track driving mechanism 1
It takes motor 317 and retarder 316 is all to control independently of each other, can achieve the not synchronized of different each track driving mechanisms 1
Therefore the function of its active steering may be implemented in degree, can achieve through bend pipeline and T shape pipeline.
Claims (4)
1. a kind of crawler belt brace type pipeline detection robot driving mechanism, it is characterised in that: including track driving mechanism, adaptive
Answer regulating mechanism, supporting mechanism, camera shooting mechanism；Track driving mechanism is fastened on two cranks by short connecting shaft and nut
Between connecting rod, the number of track driving mechanism is 3 and is circumferentially distributed, and the angle of distribution is 120 degree；Camera shooting mechanism passes through spiral shell
Line is fastened in video camera fixed plate.
2. a kind of crawler belt brace type pipeline detection robot driving mechanism according to claim 1, it is characterised in that: described
Supporting mechanism mainly include adaptive mechanism guide sleeve, guide post, support plate, video camera fixed plate, support fixed guide sleeve, sealing-in plate,
Motor support plate, screw rod support plate, supporting cell guide, connecting plate；
The adaptive mechanism guide sleeve and guide post clearance fit, are mounted between support plate and video camera fixed plate, for fixing
The position of support plate and video camera fixed plate, the quantity of adaptive mechanism guide sleeve are 6；The guide post be each passed through support plate and
Video camera fixed plate, both ends are separately fixed at support plate and video camera fixed plate with nut, and the quantity of guide post is 6；It is described
It supports fixed guide sleeve and supporting cell guide to carry out clearance fit, is mounted between video camera fixed plate and motor support plate, be used to solid
Determine the position between video camera fixed plate and motor support plate, supporting the quantity of fixed guide sleeve is 3；The supporting cell guide difference
Across connecting plate, feed screw nut's plate, screw rod support plate, motor support plate, video camera fixed plate and support plate, both ends nut point
It is not fixed on connecting plate and support plate, the quantity of supporting cell guide is 3；It is solid that the sealing-in plate is threadedly attached in video camera
On fixed board and motor support plate, quantity is 3；Structure and support plate between the motor support plate and screw rod support plate with
Structure between video camera fixed plate is the same；The connecting plate fixes its position by supporting cell guide and screw rod and nut.
3. a kind of crawler belt brace type pipeline detection robot driving mechanism according to claim 1, it is characterised in that: described
Adaptive regulating mechanism include crank connecting link, compressed spring, sliding block, short connecting shaft, stepper motor, shaft coupling, long connecting shaft,
Feed screw nut's plate, screw rod, crank；
Described crank connecting link one end is fixed on sliding block by short connecting shaft and nut, and the other end is connected by short connecting shaft and screw thread
It connects and is fixed on track driving mechanism support base；The compressed spring carries out clearance fit and is mounted on guide post, the compression of 3, the right
Spring is mounted between sliding block and support plate, and 3, the left side is mounted between sliding block and motor support plate, for the adaptive of sliding block
It adjusts, the quantity of compressed spring is 6；The sliding block be slidably connected being mounted on guide post, passes through compressed spring and camera shooting
Machine fixed plate fixes its position, left and right sliding block be it is the same and install be also it is identical, the quantity of sliding block is 6, short connecting shaft
Quantity be 18, the quantity of crank connecting link is 12；The stepper motor, which is connected through a screw thread, to be fixed in motor support plate；
The shaft coupling, which is screwed, connects the output shaft and screw rod of stepper motor；The crank by short connecting shaft and long connecting shaft with
And nut is separately connected and is fixed on crank connecting link and feed screw nut's plate, the quantity of crank is 3, and the quantity of long connecting shaft is 3
It is a；The screw rod is each passed through connecting plate, feed screw nut's plate, screw rod support plate；Screw both end has corresponding bearing, passes through bearing
It is connected and fixed, one end is fixedly connected on screw rod support plate, and one end is connected to connecting plate and fixes；Feed screw nut's plate is connected and fixed
On supporting cell guide, moved between screw rod support plate and connecting plate.
4. a kind of crawler belt brace type pipeline detection robot driving mechanism according to claim 1, it is characterised in that: described
Track driving mechanism include track driving mechanism support base, crawler belt, the first transmission shaft, driving shaft, bearing cap, second driving shaft,
Crawler belt baffle, drive sprocket, the first axle sleeve, big roller gear, small cylinder gear, the second axle sleeve, large conical gear, conicle
Gear, motor fixing seat, retarder, servo motor, third axle sleeve, driven Athey wheel；
The track driving mechanism support base, which is connected through a screw thread, to be fixed on crawler belt baffle, and short connecting shaft and two end nuts are passed through
Connecting crank connecting rod, the quantity of track driving mechanism support base are 6；The crawler belt is coated with drive sprocket and driven crawler belt
Wheel, and connection is engaged with the drive sprocket, driven Athey wheel, small conical gear is fixedly mounted on by key and holding screw
On the reducer output shaft, the large conical gear is fixedly mounted on the driving shaft by key and the second axle sleeve, and with
The small conical gear engagement connection；The small cylinder gear is fixedly mounted on the driving shaft by key and the first axle sleeve,
The big roller gear is fixedly mounted on first transmission shaft by key and the first axle sleeve, and is nibbled with the small cylinder gear
Close connection；The drive sprocket is fixedly mounted on first transmission shaft by key and the first axle sleeve, first transmission
Axis, driving shaft, second driving shaft are fixedly mounted between described two crawler belt baffles, and both ends pass through bearing connection and bearing cap
It is fixedly connected with installation；The driven Athey wheel is fixedly mounted on second driving shaft by key and third axle sleeve；The first axle
The number of set is 9, and the number of the second axle sleeve and third axle sleeve is respectively 3；The servo motor and retarder are connected by screw thread
It connects and is fixed in motor fixing seat, the motor fixing seat is bolted between two pieces of crawler belt baffles.
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| CN201910486377.5A CN110440092A (en) | 2019-06-05 | 2019-06-05 | A kind of crawler belt brace type pipeline detection robot driving mechanism |
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| CN201910486377.5A CN110440092A (en) | 2019-06-05 | 2019-06-05 | A kind of crawler belt brace type pipeline detection robot driving mechanism |
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Cited By (9)
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| CN111271543A (en) * | 2020-02-04 | 2020-06-12 | 西安交通大学 | Variable-diameter pipeline robot |
| CN111395466A (en) * | 2020-03-11 | 2020-07-10 | 广东新拓计算机科技有限公司 | Tap water pipeline cleaning robot |
| CN111561628A (en) * | 2020-05-20 | 2020-08-21 | 上海应用技术大学 | Tail wing fixed type flexible crawler belt in-pipe robot |
| CN112709886A (en) * | 2020-12-24 | 2021-04-27 | 武汉理工大学 | Detector for trenchless laying pipeline |
| CN114458868A (en) * | 2022-03-23 | 2022-05-10 | 东北大学 | Crawler-type pipeline robot and motion control method thereof |
| CN114658956A (en) * | 2022-03-09 | 2022-06-24 | 武汉工程大学 | Pipeline inspection robot |
| CN117020005A (en) * | 2023-10-09 | 2023-11-10 | 江苏环球特种电机有限公司 | Punching device for production of three-phase asynchronous motor |
| CN117232071A (en) * | 2023-11-11 | 2023-12-15 | 沧州医学高等专科学校 | Building new trend precooling preheats economizer |
| CN117020005B (en) * | 2023-10-09 | 2024-04-26 | 江苏环球特种电机有限公司 | Punching device for production of three-phase asynchronous motor |
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Application publication date: 20191112 |