CN111043449A

CN111043449A - Wheel type driving structure and pipeline robot with same

Info

Publication number: CN111043449A
Application number: CN201911310667.0A
Authority: CN
Inventors: 陈如申; 黎勇跃; 杨克己; 蔡兆祝
Original assignee: Hangzhou Shenhao Technology Co Ltd
Current assignee: Hangzhou Shenhao Technology Co Ltd
Priority date: 2019-12-18
Filing date: 2019-12-18
Publication date: 2020-04-21

Abstract

The invention discloses a wheel type driving structure, which is characterized in that: including wheeled drive assembly, wheeled driving band subassembly, wheeled tensioning assembly, wheeled subassembly and seal assembly, wheeled drive structure is provided with two sets ofly, two sets of wheeled drive structure sets up with robot automobile body symmetry, wheeled drive assembly connects wheeled driving band subassembly, the external connection of wheeled driving band subassembly has wheeled subassembly, be equipped with wheeled tensioning assembly on the wheeled driving band subassembly, seal assembly sets up between wheeled subassembly and robot automobile body. The wheel type driving assembly drives the speed reducer to do high-speed rotating motion through the motor, the motor can be a stepping motor or a servo motor, the speed reducer is a gear speed reducer or a worm and gear speed reducer, under the action of the speed reducer, the output torque of an output shaft of the speed reducer is increased, and then the wheel type transmission belt assembly is driven to move through the coupling effect of the coupler.

Description

Wheel type driving structure and pipeline robot with same

Technical Field

The present invention relates to a wheel type driving structure and a pipeline robot having the same.

Background

The pipeline robot can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operation machine, and carry out a series of inspections on the pipeline under the remote control operation of workers or the control of a computer so as to ensure that no defect exists inside the pipeline and facilitate the maintenance of the pipeline. Simultaneously, the size of pipeline is not of uniform size, will be comprehensive to the whole pipeline inspection, and pipeline robot's collection mechanism needs to cooperate mechanisms such as telescopic, rotation type, makes it can adapt to the pipe diameter that changes on a large scale, carries out the omnidirectional to the pipeline and detects.

Disclosure of Invention

The present invention has been made to solve the problems of the prior art, and an object of the present invention is to provide a wheel type driving structure and a pipeline robot having the same.

In order to solve the technical problems, the following technical scheme is adopted:

wheeled drive structure, its characterized in that: including wheeled drive assembly, wheeled driving band subassembly, wheeled tensioning assembly, wheeled subassembly and seal assembly, wheeled drive structure is provided with two sets ofly, two sets of wheeled drive structure sets up with robot automobile body symmetry, wheeled drive assembly connects wheeled driving band subassembly, the external connection of wheeled driving band subassembly has wheeled subassembly, be equipped with wheeled tensioning assembly on the wheeled driving band subassembly, seal assembly sets up between wheeled subassembly and robot automobile body.

Further, wheeled drive assembly includes motor, speed reducer, shaft coupling and motor cabinet, motor cabinet fixed mounting in the robot car body, install the motor on the motor cabinet, the output shaft of motor has the speed reducer, the output shaft of speed reducer has the shaft coupling, the coupling joint wheeled drive assembly.

Further, the wheel-type transmission belt assembly comprises a wheel shaft, a driving synchronous belt wheel, a driven synchronous belt wheel, a guiding synchronous belt wheel and a synchronous belt, the wheel shaft comprises a driving shaft, a driven shaft and a guiding shaft, the driving shaft is positioned at the front part of a side plate of the robot vehicle body, the driven shaft is positioned at the rear part of the side plate of the robot vehicle body, the guiding shaft is positioned in the middle part of the side plate of the robot vehicle body, the inner end of the driving shaft is connected with the coupler, the outer end of the driving shaft is connected with the wheel-type assembly, the driving synchronous belt wheel is installed in the middle part of the driving shaft, the inner end of the driven shaft is connected with a bearing fixing seat, the outer end of the driven shaft is connected with the wheel-type assembly, the driven synchronous belt wheel is installed in the middle part of the driven, synchronous belts are arranged on the driving synchronous belt pulley, the driven synchronous belt pulley and the guide synchronous belt pulley and are connected with the wheel type tensioning assembly.

Further, wheeled tensioning assembly includes leading wheel seat and a plurality of take-up pulley, and the leading wheel seat sets up in the middle part of the curb plate of robot automobile body inboard, and a plurality of take-up pulleys symmetry set up on the leading wheel seat, and every take-up pulley sets up respectively between arbitrary two synchronous pulley, and with hold-in range sliding connection, the both sides of leading wheel seat are equipped with the mounting groove of vertical setting, be equipped with set screw or locating pin in the mounting groove.

Further, wheeled subassembly is changed the subassembly including initiative wheel, driven wheel, direction wheel and wheel, initiative wheel fixed mounting in the outer end of driving shaft, driven wheel fixed mounting in the outer end of driven shaft, direction wheel fixed mounting in the outer end of guiding axle, the subassembly is changed in the wheel and sets up in the outside of initiative wheel and driven wheel.

Further, the subassembly is changed to the wheel and is big wheel subassembly, big wheel subassembly includes the big wheel of front side, the big wheel of rear side, the big wheel connecting axle of front side and the big wheel connecting axle of rear side, the big wheel of front side install in on the big wheel connecting axle of front side, the big wheel connecting axle of front side pass through the wheel ring flange install in on the driving shaft, the big wheel of rear side install in on the big wheel connecting axle of rear side, the big wheel connecting axle of rear side pass through the wheel ring flange install in on the driven shaft, the big wheel of front side and the big wheel of rear side all include big wheel hub and tire, big wheel hub's middle part with big wheel connecting axle of front side and the big wheel connecting axle phase-match of rear side, the big wheel hub outside is equipped with the tire.

Further, the subassembly is changed to the wheel is paddy field wheel subassembly, paddy field wheel subassembly includes front side paddy field wheel, rear side paddy field wheel, front side paddy field wheel connecting axle and rear side paddy field wheel connecting axle, the front side paddy field wheel install in on the front side paddy field wheel connecting axle, the front side paddy field wheel connecting axle pass through the wheel ring flange install in on the driving shaft, the rear side paddy field wheel install in on the rear side paddy field wheel connecting axle, the rear side paddy field wheel connecting axle pass through the wheel ring flange install in on the driven shaft, front side paddy field wheel and rear side paddy field wheel all include paddy field wheel hub and inlay gear portion, paddy field wheel hub's middle part with front side paddy field wheel connecting axle and rear side paddy field wheel connecting axle phase-match, the paddy field wheel hub outside is equipped with inlay the gear portion.

Further, the sealing assembly comprises a first sealing ring, a second sealing ring, a sealing ring fastener, an axle sealing element and a bearing end cover, inner shaft holes of the axle sealing element and the bearing end cover are matched with the wheel axle, outer end faces of the axle sealing element and the bearing end cover are matched with the robot vehicle body, the axle sealing element is located outside the robot vehicle body, the bearing end cover is located inside the robot vehicle body, the first sealing ring is arranged outside the axle sealing element and matched with the robot vehicle body, the second sealing ring is arranged inside the axle sealing element, and the sealing ring fastener is arranged outside the second sealing ring.

A pipeline robot, its includes the body, its characterized in that: the body comprises a wheel drive structure as described above.

Due to the adoption of the technical scheme, the method has the following beneficial effects:

the invention relates to a wheel type driving structure and a pipeline robot with the wheel type driving structure, wherein the robot adopts a composite strategy of spiral propulsion and crawling driving to develop the research and development of an in-pipe amphibious robot for the operation and maintenance of a rain and sewage drainage pipeline, and endows the in-pipe amphibious robot with the capabilities of moving, positioning, stabilizing posture and the like under different water conditions and sludge conditions, and has the following advantages:

1) on the basis of completing kinematics and dynamics modeling simulation under different water conditions and sludge conditions in the pipe, the design of a mechanical body of the amphibious robot is realized;

2) on the basis of researching and developing a robot measurement and control module, the running state of the robot in pipes under different water conditions is monitored by using machine vision and sonar, and the remote motion control of the robot is completed;

3) and the integration of the system is realized, and experimental research is carried out.

Drawings

The invention will be further described with reference to the accompanying drawings in which:

FIG. 1 is a schematic view of an external structure of a pipeline robot according to the present invention;

FIG. 2 is a schematic view of the internal structure of the robot car body according to the present invention;

FIG. 3 is a side view of the robot body of the present invention;

FIG. 4 is a schematic view of the cross-sectional structure taken along the line A in FIG. 3 according to the present invention;

FIG. 5 is a schematic view of the structure of FIG. 4 at I in the present invention;

FIG. 6 is a schematic view of the robot vehicle body of FIG. 2 with the robot vehicle body removed according to the present invention;

FIG. 7 is a schematic structural view of a wheel drive structure according to the present invention;

FIG. 8 is a side view of the wheel drive of the present invention;

FIG. 9 is a schematic view of the structure of FIG. 8 taken along direction B;

figure 10 is a schematic view of the construction of the wheel assembly of the present invention;

FIG. 11 is a schematic view of the seal assembly of the present invention;

FIG. 12 is a schematic view showing the structure of a robot for mounting paddy field wheel assemblies in a pipeline according to the present invention;

fig. 13 is a front view schematically showing the structure of the robot for mounting paddy field wheel assemblies in the pipeline according to the present invention;

FIG. 14 is a schematic view showing the structure of a paddy field wheel according to the present invention;

FIG. 15 is a schematic structural view of a detection structure of the elevating platform according to the present invention;

FIG. 16 is a schematic structural view of the elevating platform detecting structure according to the present invention;

FIG. 17 is a schematic top view of the detecting structure of the elevating platform of the present invention;

FIG. 18 is a schematic control diagram of a pipeline robot according to the present invention;

fig. 19 is a schematic structural diagram of a power module according to the present invention.

In the figure: 1-a robot car body; 2-a wheel drive configuration; 3-a power supply module; 4-lifting cradle head detection structure; 5-a sensing detection module;

21-a wheel drive assembly; 22-a wheeled belt assembly; 23-a wheel tensioning assembly; 24-a wheel assembly; 25-a seal assembly;

211-a motor; 212-a speed reducer; 213-a coupling; 214-a motor base;

221-driving shaft; 222-a driven shaft; 223-a guide shaft; 224-driving synchronous pulley; 225-driven timing pulley; 226-leading timing pulley; 227-synchronous belt; 228-bearing holders.

231-a guide wheel seat; 232-a tension wheel; 233-mounting groove; 234-set screw;

241-driving wheels; 242-driven wheels; 243-guide wheels;

251-front big wheel; 252-rear large wheel; 253-front big wheel connecting shaft; 254-rear big wheel connecting shaft; 255-large wheel hub; 256-tyre;

261-front paddy field wheel; 262-rear paddy field wheel; 263-front paddy field wheel connecting shaft; 264-a rear paddy field wheel connecting shaft; 265-paddy wheel hub; 266-a geared portion;

271-a first seal ring; 272-a second seal ring; 273-sealing ring fasteners; 274-axle seals; 275-bearing end caps; 276-circular mounting groove; 277-annular projection;

41-lifting support; 42-a lifting assembly; 43-a lift drive assembly; 44-a pan-tilt base;

411-lifting upper support; 412-lifting the lower support; 413-card slot;

421-scissor rod; 422-a guide push rod;

431-a push rod motor; 432-motor cover; 433-a motor fixing seat;

51-detection of sonar; 52-navigation sonar; 53-an IMU inertial navigation unit;

61-front counterweight cabin; 62-rear counterweight cabin; 63-a first fixing hole; 64-second fixing hole.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

As shown in fig. 1 to 19, a pipeline robot comprises a robot body 1, wherein the robot body 1 is provided with a wheel type driving structure 2, a motion control and communication module, a power module 3, a lifting platform detection structure 4 and a sensing detection module 5, the wheel type driving structure 2, the motion control and communication module and the power module 3 are arranged in the robot body 1, the lifting tripod head detection structure 4 and the sensing detection module 5 are arranged at the upper part of the robot car body 1, the wheel type driving structure 2 is connected with the motion control and communication module, the motion control and communication module is connected with the sensing detection module 5, the sensing detection module 5 is connected with the lifting tripod head detection structure 4, and the wheel type driving structure 2, the motion control and communication module, the lifting tripod head detection structure 4 and the sensing detection module 5 are all connected with the power module 3. Robot automobile body 1 is through to wheeled drive structure 2, motion control and communication module, power module 3, lift cloud platform detects structure 4 and sensing detection module 5 and carries out reasonable overall arrangement, wheeled drive structure 2 is provided with 2 groups, 2 wheels at pipeline robot both ends are controlled respectively to group's wheeled drive structure 2, 2 groups of wheeled drive structure 2 are the symmetry setting, be formed with the vacant space at middle part, be used for placing power module 3, make the overall arrangement of 1 inside of whole robot automobile body more have rationalization. In addition, the lifting cradle head detection structure 4 and the sensing detection module 5 can be used for more conveniently carrying out detection work.

In this embodiment, the sensing and detecting module 5 includes an underwater vision device, a detecting sonar 51, a navigation sonar 52, and a positioning receiver, the underwater vision device, the detecting sonar 51, the navigation sonar 52, and the positioning receiver are all installed on the base of the pan/tilt head,

the underwater vision device: the underwater visual equipment position and pose adjusting device is used for adjusting the position and pose of the underwater visual equipment through the lifting cradle head detection structure 4 and collecting and transmitting underwater patrol inspection information;

the detection sonar 51: the system is used for adjusting the position and the pose of the detection sonar 51 through the lifting cradle head detection structure 4 and is responsible for detecting the pipeline section information;

the navigation sonar 52: the system is used for adjusting the position and the pose of the navigation sonar 52 through the lifting cradle head detection structure 4, and performing route navigation;

the acoustic positioning receiver: the system is used for adjusting the position and the pose of the acoustic positioning receiver through the lifting cradle head detection structure 4, and carrying out sonar positioning.

Specifically, an IMU inertial navigation unit 53 is arranged in the robot body 1, the IMU inertial navigation unit 53 is combined with underwater vision equipment, a detection sonar 51, a navigation sonar 52 and a sound positioning receiver, the IMU inertial navigation unit 53 has the advantages of high data measurement frequency, comprehensive data and the like, can provide information such as the posture, position, speed, acceleration and the like of the pipeline robot in real time, does not need external equipment, is an automatic positioning system, and can be well applied to pipeline detection in a closed environment; the motion state of the pipeline robot can be rapidly obtained through the acceleration values and the angular velocity values of the pipeline robot detected by the IMU inertial navigation unit 53.

In this embodiment, the power module 3 includes a dc power source, a power source assembly and a measurement and control source assembly, where the power source assembly includes a motor, a driver and a light source, the dc power source is connected to the driver, the driver is connected to the motor, and the dc power source is connected to the light source; the measurement and control source component comprises a power supply conversion board and a power supply conversion chip, the power supply conversion board comprises a first power supply conversion board, a second power supply conversion board and a third power supply conversion board, and the first power supply conversion board is connected with the main control board and the sonar. The power supply module of the power module 3 is divided into a power source and a measurement and control source, and the circuits of the power source and the measurement and control source are respectively arranged.

In the embodiment, the dc power supply adopts a dc power supply of 48V, and for the power source component, the dc power supply of 48V directly supplies power to the motor, the driver and the light source, wherein the motor here includes two motors of the wheel type driving structure 2 and the push rod motor of the lifting and lowering platform detection structure 4, and the driver has two motors due to the two motors of the wheel type driving structure 2.

For the measurement and control source component, a corresponding power conversion board is needed to be used to convert the high-voltage dc 48V power supply into a low-voltage dc power supply, for example, the dc 48V power supply is converted into a dc 24V dc power supply through a first power conversion board to supply power to the main control board and a sonar, where the sonar includes a sonar, a navigation sonar 52 and a sound positioning receiver. For example, a second power conversion board converts a dc power supply of 48V dc into a dc power supply of 12V dc, which supplies power to the network switch, the vision and the camera. For example, a dc 48V dc power supply is converted into a dc 5V dc power supply through the third power conversion board and the power conversion chip, and the IMU inertial navigation unit 53 and the dc carrier plate are supplied with power.

Specifically, be equipped with motion control and communication module on the main control board, network switch and first power line carrier communication module, motion control and communication module are connected with the network switch, the network switch is connected with first power line carrier communication module, motion control and communication module, network switch and first power line carrier communication module all are connected power module 3. The remote communication between the pipeline robot at the wet end and the upper computer at the dry end is realized by utilizing a power carrier communication technology, and based on the communication mode, the development of a robot controller is completed by adopting an embedded system, so that the motion control of the amphibious robot under different water conditions and sludge environments is realized. Meanwhile, based on the communication mode, the vision and sonar detection results are uploaded to an upper computer.

Furthermore, what has been introduced above is the part of pipeline robot, and this part belongs to wet end, and wet end means the lower part of direct contact pipeline robot, and wherein wet end is through having communication cable connection dry end of receive and release function concurrently, dry end includes jack, accumulator, operating handle and host computer.

The retraction mechanism comprises a retraction guide wheel, a retraction driving wheel, a retraction driven wheel and a force measurement and length measurement device, the effective retraction of the communication cable is guaranteed through the actions of the retraction guide wheel, the retraction driving wheel and the retraction driven wheel, and the distance between the pipeline robot and the upper dry end and the driving force of the currently retracted communication cable can be effectively monitored through the force measurement and length measurement device. The wire storage device is used for storing and collecting the communication cable.

The operating handle is connected to the host computer, the host computer is a computer equipment, is equipped with DC power supply on the host computer, is equipped with wireless communication mouth or wired communication mouth on the host computer, wireless communication mouth or wired communication mouth pass through serial ports communication connection voiced location generator, the vocal location receiver of wet end is connected to the voiced location generator. The upper computer communication port is connected with a wireless communication port or a wired communication port near the wire storage device, the wireless communication port or the wired communication port is connected with a second power carrier communication module, and the second power carrier communication module is connected with the communication cable.

In this embodiment, the wheel type driving structure 2 includes two wheel type driving assemblies 21, two wheel type transmission belt assemblies 22, two wheel type tensioning assemblies 23, two wheel type assemblies 24, and a sealing assembly 25, the wheel type driving structure 2 is provided with two sets, the two sets of wheel type driving structures 2 are symmetrically arranged with the robot body 1, the wheel type driving assembly 21 is connected with the wheel type transmission belt assemblies 22, the wheel type transmission belt assemblies 22 are externally connected with the wheel type assemblies 24, the wheel type transmission belt assemblies 22 are provided with the wheel type tensioning assemblies 23, and the sealing assembly 25 is arranged between the wheel type assemblies 24 and the robot body 1.

In this embodiment, wheel drive assembly 21 includes motor 211, speed reducer 212, shaft coupling 213 and motor cabinet 214, motor cabinet 214 fixed mounting in robot automobile body 1, install motor 211 on the motor cabinet 214, the output shaft of motor 211 is connected with speed reducer 212, the output shaft of speed reducer 212 is connected with shaft coupling 213, shaft coupling 213 connects wheel drive belt assembly 22. The wheel type driving assembly 21 drives the speed reducer 212 to rotate at a high speed through the motor 211, the motor 211 can be a stepping motor 211 or a servo motor 211, the speed reducer 212 is a gear speed reducer 212 or a worm and gear speed reducer 212, the output torque of an output shaft of the speed reducer 212 is increased under the action of the speed reducer 212, and then the wheel type transmission belt assembly 22 is driven to move through the coupling action of the coupling 213.

In this embodiment, the wheel transmission belt assembly 22 includes a wheel shaft, a driving timing pulley 224, a driven timing pulley 225, a guiding timing pulley 226 and a timing belt 227, the wheel shaft includes a driving shaft 221, a driven shaft 222 and a guiding shaft 223, the driving shaft 221 is located at the front of a side plate of the robot body 1, the driven shaft 222 is located at the rear of the side plate of the robot body 1, the guiding shaft 223 is located at the middle of the side plate of the robot body 1, the inner end of the driving shaft 221 is connected to the coupling 213, the outer end of the driving shaft 221 is connected to the wheel assembly 24, the middle of the driving shaft 221 is mounted with the driving timing pulley 224, the inner end of the driven shaft 222 is connected to the bearing fixing seat 228, the outer end of the driven shaft 222 is connected to the wheel assembly 24, the middle of the driven shaft 222 is mounted with the driven timing pulley 225, the outer end of the guide shaft 223 is connected with a wheel assembly 24, the middle part of the driven shaft 222 is provided with a guide synchronous pulley 226, the driving synchronous pulley 224, the driven synchronous pulley 225 and the guide synchronous pulley 226 are provided with a synchronous belt 227, and the synchronous belt 227 is connected with the wheel type tensioning assembly 23. The wheel type transmission belt assembly 22 is a transmission mode of a synchronous belt 227, the wheel type driving assembly 21 drives a driving synchronous belt wheel 224 to move, so that a driving wheel is driven to move, under the action of a driven synchronous belt wheel 225, the synchronous belt 227 and the driven synchronous belt wheel 225, the driven wheel is driven to move, and through the action of a guide synchronous belt wheel 226 and a guide shaft 223, the guide wheel is driven to move, so that three wheels synchronously rotate.

In this embodiment, the wheel type tensioning assembly 23 includes a guide wheel seat 231 and a plurality of tensioning wheels 232, the guide wheel seat 231 is disposed inside a middle portion of a side plate of the robot body 1, the plurality of tensioning wheels 232 are symmetrically disposed on the guide wheel seat 231, each tensioning wheel 232 is disposed between any two synchronous belts 227 and slidably connected to the synchronous belts 227, two sides of the guide wheel seat 231 are provided with mounting grooves 233 vertically disposed, and the mounting grooves 233 are provided with positioning screws 234 or positioning pins therein. In-process at hold-in range 227 along with hold-in range 227 wheel rotation, the accessible is adjusted the height of guide pulley seat 231, reaches the purpose of adjusting the elasticity of hold-in range 227, makes hold-in range 227 can keep certain initial tension, avoids hold-in range 227 after work a period, can produce permanent deformation and relax, influences hold-in range 227's working ability.

In this embodiment, the wheel assembly 24 includes a driving wheel 241, a driven wheel 242, a guiding wheel 243 and a wheel replacing assembly, wherein the driving wheel 241 is fixedly installed at the outer end of the driving shaft 221, the driven wheel 242 is fixedly installed at the outer end of the driven shaft 222, the guiding wheel 243 is fixedly installed at the outer end of the guiding shaft 223, and the wheel replacing assembly is arranged at the outer side of the driving wheel 241 and the driven wheel 242.

In this embodiment, the wheel replacing assembly is a large wheel assembly, the large wheel assembly includes a front large wheel 251, a rear large wheel 252, a front large wheel connecting shaft 253 and a rear large wheel connecting shaft 254, the front large wheel 251 is mounted on the front large wheel connecting shaft 253, the front large wheel connecting shaft 253 is mounted on the driving shaft 221 through a wheel flange, the rear large wheel 252 is mounted on the rear large wheel connecting shaft 254, the rear large wheel connecting shaft 254 is mounted on the driven shaft 222 through a wheel flange, the front large wheel 251 and the rear large wheel 252 both include a large wheel hub 255 and a tire 256, the middle of the large wheel hub 255 is matched with the front large wheel connecting shaft 253 and the rear large wheel connecting shaft 254, and the tire 256 is disposed outside the large wheel hub 255.

In this embodiment, the wheel exchange assembly is a paddy wheel assembly including front paddy wheels 261, rear paddy wheels 262, a front paddy wheel connecting shaft 263 and a rear paddy wheel connecting shaft 264, the front paddy field wheel 261 is mounted on the front paddy field wheel connecting shaft 263, the front paddy field wheel connecting shaft 263 is mounted on the driving shaft 221 through a wheel flange plate, the rear paddy field wheel 262 is mounted on the rear paddy field wheel connecting shaft 264, the rear paddy field wheel connecting shaft 264 is mounted on the driven shaft 222 through a wheel flange plate, the front side paddy wheel 261 and the rear side paddy wheel 262 each include a paddy wheel hub 265 and a cogwheel portion 266, the middle part of the paddy field wheel hub 265 is matched with the front side paddy field wheel connecting shaft 263 and the rear side paddy field wheel connecting shaft 264, and the outer side of the paddy field wheel hub 265 is provided with the embedded gear part 266.

The large wheel assembly and the paddy field wheel assembly are arranged to form two driving modes, the large wheel assembly is spirally propelled, the paddy field wheel assembly is driven in a crawling mode, the research and development of the amphibious robot in the pipe facing the operation and maintenance of the rain and sewage drainage pipeline are developed, the capabilities of moving, positioning, posture stabilizing and the like under different water conditions and sludge conditions in the pipe are given, and the design capability of the mechanical body of the amphibious robot is realized on the basis of completing the kinematics and dynamics modeling simulation under different water conditions and sludge conditions in the pipe; on the basis of researching and developing a robot measurement and control module, the running state of the robot in pipes under different water conditions is monitored by using machine vision and sonar, and remote motion control of the robot is completed.

In this embodiment, the seal assembly 25 includes a first seal ring 271, a second seal ring 272, a seal ring fastener 273, an axle seal 274, and a bearing cover 275, the inner shaft holes of the axle seal 274 and the bearing cover 275 are matched with the wheel shaft, the outer end faces of the axle seal 274 and the bearing cover 275 are matched with the robot body 1, the axle seal 274 is located outside the robot body 1, the bearing cover 275 is located inside the robot body 1, the first seal ring 271 is provided outside the axle seal 274, the first seal ring 271 is matched with the robot body 1, the second seal ring 272 is provided inside the axle seal 274, and the seal ring fastener 273 is provided outside the second seal ring 272.

Specifically, a circular mounting groove 276 is formed in the middle of the outer side of the axle sealing element 274, a second sealing ring 272 is arranged in the first circular mounting groove 276, and the second sealing ring 272 seals the axle through a sealing ring fastening element 273 and a screw.

Specifically, the second seal 272 is a dynamic seal, is sealed with the axle by the axle seal 274, belongs to dynamic seal, and prevents water from entering the robot body 1 from a gap between the axle and the axle seal 274.

Specifically, the inner side outer edge of the axle sealing element 274 is provided with an annular protrusion 277, the outer side wall of the robot body 1 is provided with an annular mounting groove matched with the annular protrusion 277, a first sealing ring 271 is arranged in the annular mounting groove, the robot body 1 and the axle sealing element 274 are tightly fixed through screws, and the robot body 1 is sealed through the first sealing ring 271 and the axle sealing element 274.

Specifically, the first seal 271 is a static seal and is sealed with the robot body 1 by the axle seal 274, so that water is prevented from entering the robot body 1 through a gap between the robot body 1 and the axle seal 274.

In the present embodiment, the lifting/lowering platform detecting structure 4 includes a lifting support 41, a lifting assembly 42, a lifting/lowering driving assembly 43 and a platform base 44; the lifting support 41 comprises a lifting upper support 411 and a lifting lower support 412, the lifting assembly 42 is arranged between the lifting upper support 411 and the lifting lower support 412, the lifting support 41 is provided with a clamping groove 413 along the length direction of the lifting support, the lifting assembly 42 is connected with the clamping groove 413 in a sliding manner, the lifting upper support 411 is fixedly connected with the holder base 44, and the lower part of the lifting lower support 412 is connected with the robot body 1; the lifting driving component 43 is fixedly arranged at the bottom end of the holder base 44 and connected with the lifting component 42, and the holder base 44 is provided with the sensing detection module 5. The sensing detection module 5 is gathered the signal in the pipeline, and the motion control of pipeline robot handles the analysis back with the signal of communication module to gathering, and the work of control push rod motor 211 is through the concertina movement of the telescopic link in the push rod motor 211 to adjustment lifting unit 42's lift can make the sensing detection module 5 reach the best height that detects.

In this embodiment, the lifting assembly 42 is a scissor-type lifting structure, and includes scissor rods 421 arranged in a cross-hinged manner and a push guide rod 422 disposed between the scissor rods 421; one end of the scissor rod 421 is hinged to the lifting support 41, the other end of the scissor rod 421 is provided with a guide push rod 422, the guide push rod 422 is slidably connected with the clamping groove 413, and the guide push rod 422 close to the lifting upper support 411 is fixedly connected with the lifting driving assembly 43.

In this embodiment, the scissor rods 421 include two sets, one end of the first set of scissor rods 421 is hinged to the upper lifting support 411, and the other end is provided with a push guiding rod 422; one end of the second group of scissors rod 421 is hinged with the lifting lower support 412, and the other end is provided with a guide push rod 422; guide wheels are arranged at two ends of the guide push rod 422 and are in sliding connection with the clamping grooves 413.

In this embodiment, the lifting driving assembly 43 includes a push rod motor 431, a motor cover 432 and a motor fixing base 433, the motor fixing base 433 is fixedly connected to the bottom end of the holder base 44, the push rod motor 431 is disposed in the motor fixing base 433, a telescopic rod of the push rod motor 431 is fixedly connected to the guide rod 422 close to the lifting upper support 411, and the motor cover 432 is fixedly disposed at an end of the push rod motor 431.

In this embodiment, the front side of robot automobile body 1 is equipped with preceding counter weight cabin 61 of detachable, be equipped with preceding balancing weight in the preceding counter weight cabin 61, the rear side of robot automobile body 1 is equipped with detachable back balancing weight cabin 62, be equipped with the back balancing weight in the back balancing weight cabin 62. The front counterweight cabin 61 and the rear counterweight cabin 62 are detachable components, and corresponding counterweight blocks are matched in the front counterweight cabin 61 and the rear front counterweight cabin 61 according to the water flow condition in the pipeline.

Specifically, the front counterweight cabin 61 is designed to be of a diversion type, so that the movement under the water environment is convenient. Both sides of the front counterweight cabin 61 are provided with a row of first fixing holes 63, fixing screws are arranged in the first fixing holes 63, and the front counterweight cabin 61 is installed on the front side of the robot vehicle body 1 through the fixing screws.

Specifically, the rear weight compartment 62 is designed to be rectangular to match the overall shape of the robot car body 1. Both sides of the rear counterweight cabin 62 are provided with a row of second fixing holes 64, fixing screws are arranged in the second fixing holes 64, and the rear counterweight cabin 62 is installed on the front side of the robot car body 1 through the fixing screws.

Specifically, the top of the front counterweight chamber 61 and the top of the rear counterweight chamber 62 are provided with upper roof plates that fixedly seal the upper portion of the entire robot car body 1.

The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the same technical problems and achieve the same technical effects are all covered in the protection scope of the present invention.

Claims

1. Wheeled drive structure, its characterized in that: including wheeled drive assembly, wheeled driving band subassembly, wheeled tensioning assembly, wheeled subassembly and seal assembly, wheeled drive structure is provided with two sets ofly, two sets of wheeled drive structure sets up with robot automobile body symmetry, wheeled drive assembly connects wheeled driving band subassembly, the external connection of wheeled driving band subassembly has wheeled subassembly, be equipped with wheeled tensioning assembly on the wheeled driving band subassembly, seal assembly sets up between wheeled subassembly and robot automobile body.

2. The wheel drive structure of claim 1, wherein: the wheel type driving assembly comprises a motor, a speed reducer, a coupler and a motor base, the motor base is fixedly mounted in the robot vehicle body, the motor is mounted on the motor base, an output shaft of the motor is connected with the speed reducer, an output shaft of the speed reducer is connected with the coupler, and the coupler is connected with the wheel type transmission belt assembly.

3. The wheel drive structure of claim 2, wherein: the wheel type transmission belt assembly comprises a wheel shaft, a driving synchronous belt wheel, a driven synchronous belt wheel, a guiding synchronous belt wheel and a synchronous belt, wherein the wheel shaft comprises a driving shaft, a driven shaft and a guiding shaft, the driving shaft is positioned at the front part of a side plate of the robot vehicle body, the driven shaft is positioned at the rear part of the side plate of the robot vehicle body, the guiding shaft is positioned in the middle part of the side plate of the robot vehicle body, the inner end of the driving shaft is connected with the shaft coupling, the outer end of the driving shaft is connected with the wheel type assembly, the driving synchronous belt wheel is installed in the middle part of the driving shaft, the inner end of the driven shaft is connected with a bearing fixing seat, the outer end of the driven shaft is connected with the wheel type assembly, the driven synchronous belt wheel is installed in the middle part of the driven, synchronous belts are arranged on the driving synchronous belt pulley, the driven synchronous belt pulley and the guide synchronous belt pulley and are connected with the wheel type tensioning assembly.

4. A wheel drive configuration according to claim 3, wherein: the wheel type tensioning assembly comprises a guide wheel seat and a plurality of tensioning wheels, the guide wheel seat is arranged on the inner side of the middle of a side plate of the robot vehicle body, the tensioning wheels are symmetrically arranged on the guide wheel seat, each tensioning wheel is arranged between any two synchronous belt wheels and is in sliding connection with the synchronous belts, mounting grooves which are vertically arranged are formed in two sides of the guide wheel seat, and positioning screws or positioning pins are arranged in the mounting grooves.

5. A wheel drive configuration according to claim 3, wherein: the wheel type assembly comprises a driving wheel, a driven wheel, a guide wheel and a wheel replacement assembly, the driving wheel is fixedly mounted at the outer end of the driving shaft, the driven wheel is fixedly mounted at the outer end of the driven shaft, the guide wheel is fixedly mounted at the outer end of the guide shaft, and the wheel replacement assembly is arranged at the outer side of the driving wheel and the driven wheel.

6. The wheel drive structure of claim 5, wherein: the subassembly is changed to the wheel is big wheel subassembly, big wheel subassembly includes the big wheel of front side, the big wheel of rear side, the big wheel connecting axle of front side and the big wheel connecting axle of rear side, the big wheel of front side install in on the big wheel connecting axle of front side, the big wheel connecting axle of front side pass through the wheel ring flange install in on the driving shaft, the big wheel of rear side install in on the big wheel connecting axle of rear side, the big wheel connecting axle of rear side pass through the wheel ring flange install in on the driven shaft, the big wheel of front side and the big wheel of rear side all include big wheel hub and tire, big wheel hub's middle part with big wheel connecting axle of front side and the big wheel connecting axle phase-match of rear side, the big wheel hub outside is equipped with the tire.

7. The wheel drive structure of claim 5, wherein: the subassembly is changed to the wheel is paddy field wheel subassembly, paddy field wheel subassembly includes front side paddy field wheel, rear side paddy field wheel, front side paddy field wheel connecting axle and rear side paddy field wheel connecting axle, front side paddy field wheel install in on the front side paddy field wheel connecting axle, front side paddy field wheel connecting axle pass through the wheel ring flange install in on the driving shaft, rear side paddy field wheel install in on the rear side paddy field wheel connecting axle, rear side paddy field wheel connecting axle pass through the wheel ring flange install in on the driven shaft, front side paddy field wheel and rear side paddy field wheel all include paddy field wheel hub and inlay gear portion, paddy field wheel hub's middle part with front side paddy field wheel connecting axle and rear side paddy field wheel phase-match connecting axle, the paddy field wheel hub outside is equipped with inlay the gear portion.

8. A wheel drive configuration according to claim 3, wherein: the sealing assembly comprises a first sealing ring, a second sealing ring, a sealing ring fastener, an axle sealing piece and a bearing end cover, inner shaft holes of the axle sealing piece and the bearing end cover are matched with the axle of the wheel, outer end faces of the axle sealing piece and the bearing end cover are matched with the robot vehicle body, the axle sealing piece is located outside the robot vehicle body, the bearing end cover is located inside the robot vehicle body, the first sealing ring is arranged outside the axle sealing piece, the first sealing ring is matched with the robot vehicle body, the second sealing ring is arranged inside the axle sealing piece, and the sealing ring fastener is arranged outside the second sealing ring.

9. A pipeline robot, its includes the body, its characterized in that: the body comprising a wheel drive arrangement according to claims 1-8.