CN113418080A - Steering and advancing mechanism of pipeline robot - Google Patents
Steering and advancing mechanism of pipeline robot Download PDFInfo
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- CN113418080A CN113418080A CN202110769644.7A CN202110769644A CN113418080A CN 113418080 A CN113418080 A CN 113418080A CN 202110769644 A CN202110769644 A CN 202110769644A CN 113418080 A CN113418080 A CN 113418080A
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- wheel
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- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 128
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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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
- F16L55/40—Constructional aspects of the body
Abstract
The invention relates to the technical field of robots, in particular to a steering and advancing mechanism of a pipeline robot, which comprises a robot body, an advancing power device, a steering power device and advancing wheels, wherein the advancing wheels are arranged on the robot body; the front part and the rear part of the machine body are both provided with mounting plates, and fork frames are arranged below the mounting plates; the traveling wheels are respectively and rotatably arranged on the front fork frame and the rear fork frame through wheel shafts; the steering worm gear is connected with the first connecting shaft through a first connecting gear; the beneficial technical effects of the invention are as follows: the steering advancing mechanism has compact structure, is beneficial to reducing the whole volume and the weight; the transmission ratio is large, the transmission is stable, the synchronous and simultaneous advancing and steering can be realized, and the control is simple; the live equipment is arranged in the machine body, and power is transmitted to the outside of the machine body through the transmission mechanism, so that the explosion-proof function is achieved, and the use safety is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a steering advancing mechanism of a pipeline robot.
Background
In recent years, with the development and popularization of robotics, the use of robots has become more and more widespread in many high-risk or human-force-incompletable jobs. Such as a robot that needs to travel inside or outside a narrow pipe and can carry various sensors, and can perform a series of pipe operations under remote control of a worker or automatic control of a computer.
The pipeline robot in work usually needs to move back and forth and turn to the movements, and each travelling wheel of the existing pipeline robot is equipped with independent travelling transmission system, steering transmission system and corresponding motor, cause the machine body spare part to be more, the structure is complicated, weight and volume are very big; in addition, the synchronous linkage between the front traveling wheel and the rear traveling wheel needs to be based on an accurate program control system and a signal feedback system, so that the control is complex and the cost is high.
In summary, the conventional traveling and steering mechanism for a pipeline robot has many problems.
Disclosure of Invention
The invention aims to provide a steering and advancing mechanism of a pipeline robot, which has the characteristics of compact structure, small volume, high transmission efficiency and simplicity in operation and control.
In order to realize the purpose, the following technical scheme is provided:
a steering and advancing mechanism of a pipeline robot comprises a machine body, an advancing power device, a steering power device and advancing wheels; the front part and the rear part of the machine body are both provided with mounting plates, and fork frames are arranged below the mounting plates; the traveling wheels are respectively and rotatably arranged on the front fork frame and the rear fork frame through wheel shafts; the steering worm gear is connected with the first connecting shaft through a first connecting gear; the first connecting shaft is vertically arranged at the top of the fork frame and is provided with a shaft hole penetrating through the fork frame, and the first connecting shaft penetrates through and is rotatably arranged on the mounting plate; the steering worm wheel is connected with the first connecting shaft on the upper part of the mounting plate and meshed with the steering worm; the lower part of the second connecting shaft is connected with the first conical gear in a fork opening of the fork frame, the upper part of the second connecting shaft penetrates through a shaft hole of the first connecting shaft to be connected with a traveling worm wheel, and the traveling worm wheel is meshed with a traveling worm; a third connecting shaft which is transversely and rotatably arranged is arranged on the fork frame, one end of the third connecting shaft is connected with the first transmission gear, the other end of the third connecting shaft extends into a fork opening of the fork frame to be connected with the second bevel gear, the first bevel gear is meshed with the second bevel gear, and the second transmission gear is arranged at one end of the wheel shaft and is in transmission fit with the first transmission gear; the traveling worms positioned at the front part and the rear part are connected with each other through a first transmission rod and a second transmission rod respectively, and the first transmission rod and the second transmission rod are in transmission connection with a traveling power device and a steering power device respectively.
The working principle and the using principle of the invention are as follows: when the robot starts to walk in or out of the pipeline, the advancing power device is started, the output shaft drives the first connecting rod to rotate through the gear, the first connecting rod drives the advancing worms positioned at the front part and the rear part of the machine body to synchronously rotate, the advancing worms are in meshing transmission with the advancing worm wheel on the upper part of the fork frame to drive the second connecting shaft and the first conical gear to rotate, the first conical gear is in meshing transmission with the second conical gear to drive the third connecting shaft and the first transmission gear to rotate, and then the second transmission gear and the advancing wheel are driven to rotate, so that the purpose of moving back and forth in the pipeline is realized.
When the robot needs to perform steering action, the steering power device is started, an output shaft of the steering power device drives the second transmission rod to rotate through the gear, the second transmission rod drives the steering worms positioned at the front part and the rear part of the robot body to synchronously rotate, the steering worms are in meshed transmission with the steering worm wheels to drive the first connecting shaft and the fork frame to rotate, and the purpose of synchronously steering the front travelling wheel and the rear travelling wheel is achieved.
The scheme is connected with the steering worm and the advancing worm at the front part and the rear part through the transmission rod, and then the steering worm wheel and the advancing worm wheel are respectively driven to synchronously advance and turn the advancing wheels at the front part and the rear part. The steering worm wheel and the traveling worm wheel are integrated on the same axis, the structure is compact, the size and the weight of the robot equipment are reduced, the steering mechanism and the traveling mechanism do not interfere in the respective working processes, and the robot can also realize the steering effect in the traveling process.
The beneficial technical effects of the invention are as follows: 1. the steering advancing mechanism has compact structure, is beneficial to reducing the whole volume and the weight; 2. the worm gear structure has large transmission ratio and stable transmission, can realize synchronous and simultaneous advancing and steering and has the characteristic of simple control; 3. the live equipment is arranged in the machine body, and power is transmitted to the outside of the machine body through the transmission mechanism, so that the explosion-proof function is achieved, and the use safety is improved.
Drawings
Fig. 1 is a schematic view of a connection structure of a steering and traveling mechanism of a pipeline robot according to the present invention.
Fig. 2 is a schematic diagram of a transmission structure of the steering and traveling mechanism of the pipeline robot.
Fig. 3 is a side view schematic of fig. 2.
FIG. 4 is a schematic diagram of a transmission structure of the traveling wheel of the present invention.
Fig. 5 is a schematic view of the construction of the fork of the present invention.
Fig. 6 is a schematic structural view of the housing of the present invention.
FIG. 7 is a schematic view of a connection structure of a traveling wheel according to the present invention.
In the figure: 1. a body; 2. a travel wheel; 3. mounting a plate; 4. a fork; 5. a wheel axle; 6. a traveling worm; 7. a traveling worm gear; 8. a first connecting shaft; 9. a second connecting shaft; 10. a first bevel gear; 11. a second bevel gear; 12. a steering worm gear; 13. a steering worm; 14. a first drive gear; 15. a second transmission gear; 16. a shaft hole; 17. a third connecting shaft; 18. a first drive lever; 19. a second transmission rod; 20. a housing; 21. a wheel hole; 22. a worm mounting area; 23. mounting holes; 24. a long rod bolt; 25. a third transmission gear; 26. a fourth transmission gear; 27. a fifth transmission gear; 28. a sixth transmission gear; 29. a support; 30. a shaft seat; 31. a gear shaft preformed hole; 32. a power source; 33. a speed reducer; 34. a motor; 35. a seventh transmission gear; 36. an eighth transmission gear; 37. a ninth drive gear; 38. a hub.
Detailed Description
The following further describes a steering and traveling mechanism of a pipeline robot according to the present invention with reference to the accompanying drawings and specific embodiments.
Inside the pipe, the pipe robot can be moved by the travelling wheel. Outside the pipeline, the pipeline robot encircles the pipe wall through the manipulator, and then moves by utilizing the traveling wheel.
As shown in fig. 1, 2, 3, 4, 5, a steering and traveling mechanism of a pipe robot includes a body 1, a traveling power device, a steering power device, and traveling wheels 2; the front part and the rear part of the machine body 1 are both provided with mounting plates 3, and fork frames 4 are arranged below the mounting plates 3; the traveling wheels 2 are respectively and rotatably arranged on the front fork frame 4 and the rear fork frame 4 through wheel shafts 5; the device also comprises a travelling worm 6, a travelling worm wheel 7, a first connecting shaft 8, a second connecting shaft 9, a first bevel gear 10, a second bevel gear 11, a steering worm wheel 12, a steering worm 13, a first transmission gear 14 and a second transmission gear 15; the first connecting shaft 8 is vertically arranged at the top of the fork frame 4 and is provided with a shaft hole 16 penetrating through the fork frame 4, and the first connecting shaft 8 penetrates through and is rotatably arranged on the mounting plate 3; the steering worm wheel 12 is connected with the first connecting shaft 8 at the upper part of the mounting plate 3 and is meshed with the steering worm 13; the lower part of the second connecting shaft 9 is connected with the first bevel gear 10 in the fork opening of the fork frame 4, the upper part of the second connecting shaft passes through the shaft hole 16 of the first connecting shaft 8 to be connected with the traveling worm wheel 7, and the traveling worm wheel 7 is meshed with the traveling worm 6; a third connecting shaft 17 which is transversely and rotatably arranged is arranged on the fork frame 4, one end of the third connecting shaft 17 is connected with the first transmission gear 14, the other end of the third connecting shaft 17 extends into the fork opening of the fork frame 4 to be connected with the second bevel gear 11, the first bevel gear 10 is meshed with the second bevel gear 11, and the second transmission gear 15 is arranged at one end of the wheel shaft 5 and is in transmission fit with the first transmission gear 14; the traveling worms 6 positioned at the front part and the rear part and the steering worms 13 are respectively connected through a first transmission rod 18 and a second transmission rod 19, and the first transmission rod 18 and the second transmission rod 19 are respectively in transmission connection with a traveling power device and a steering power device.
When the robot starts to walk in or out of a pipeline, the advancing power device is started, the output shaft drives the first connecting rod to rotate through the gear, the first connecting rod drives the advancing worms 6 positioned at the front part and the rear part of the machine body 1 to synchronously rotate, the advancing worm 6 is in meshing transmission with the advancing worm wheel 7 on the upper part of the fork frame 4 to drive the second connecting shaft 9 and the first bevel gear 10 to rotate, the first bevel gear 10 is in meshing transmission with the second bevel gear 11 to drive the third connecting shaft 17 and the first transmission gear 14 to rotate, and then the second transmission gear 15 and the advancing wheel 2 are driven to rotate, so that the purpose of moving back and forth in the pipeline is realized.
When the robot needs to perform steering action, the steering power device is started, an output shaft of the steering power device drives the second transmission rod 19 to rotate through a gear, the second transmission rod 19 drives the steering worms 13 positioned at the front part and the rear part of the machine body 1 to synchronously rotate, the steering worms 13 are in meshed transmission with the steering worm wheels 12 to drive the first connecting shaft 8 and the fork frame 4 to rotate, and the purpose of synchronously steering the front travelling wheel 2 and the rear travelling wheel 2 is achieved.
The scheme connects the steering worm 13 and the advancing worm 6 at the front part and the rear part through the transmission rod, and then drives the steering worm wheel 12 and the advancing worm wheel 7 respectively, so that the effect of synchronously advancing and turning the advancing wheels 2 at the front part and the rear part can be realized. The steering worm wheel 12 and the traveling worm wheel 7 are integrated on the same axis, the structure is compact, the size and the weight of the robot equipment are reduced, the steering mechanism and the traveling mechanism do not interfere in the respective working processes, and the robot can also realize the steering effect in the traveling process.
In this embodiment, the mounting plates 3 are welded to the front and rear of the machine body 1. The wheel shaft 5 is rotatably arranged on the fork frame 4 through a bearing, the wheel shaft 5 is a spline shaft, the travelling wheel 2 comprises a wheel hub 38 and a roller, and the wheel hub 38 is in spline connection with the wheel shaft 5; the soft roller is sleeved on the hub 38 to support the robot to move in or out of the pipeline. The first connecting shaft 8 is rotatably arranged in a hole on the mounting plate 3 through a shaft sleeve so as to reduce friction generated in the rotation process of the fork frame 4; the steering worm wheel 12 is connected with the first connecting shaft 8 through a key groove on the upper part of the mounting plate 3, and simultaneously limits the first connecting shaft 8 in the shaft sleeve and has the same rotating speed with the fork frame 4. The first bevel gear 10 is connected with a lower key groove of the second connecting shaft 9, the traveling worm gear is connected with an upper key groove of the second connecting shaft 9, and the second connecting shaft 9 is limited on the first connecting shaft 8. The third connecting shaft 17 is rotatably mounted on the fork 4 by means of a sleeve to reduce friction during rotation. One end of the third connecting shaft 17 is connected with the second bevel gear 11 through a key groove, and the other end is provided with a spline and is in spline connection with the first transmission gear 14. On the inner side of the first transmission gear 14, a sleeve is sleeved on the third connecting shaft 17 to reduce the friction between the first gear and the fork 4; a clamp is arranged on the outer side of the gear box and used for limiting the first transmission gear 14. The first bevel gear 10 and the second bevel gear 11 are engaged with each other in a ratio of 1:1 to transmit power. Two ends of the first transmission rod 18 are connected with the advancing worms 6 at the front and rear parts of the machine body 1 through couplings, and two ends of the second transmission rod 19 are connected with the steering worms 13 at the front and rear parts of the machine body 1 through couplings. The first transmission rod 18 and the second transmission rod 19 are in transmission connection with a traveling power device and a steering power device through gear sets respectively. Therefore, the motor 34 can drive the travelling wheels 2 at the front part and the rear part to synchronously move, the whole weight of the machine body 1 is reduced, and the whole volume is favorably reduced.
Further, as shown in fig. 1 and 6, the mounting plate 3 is provided with a housing 20, the middle of the housing 20 is provided with a wheel hole 21 which is through up and down, and the upper part of one side and the lower part of the other side in the housing 20 are respectively provided with a worm mounting area 22 which is communicated with the wheel hole 21; the traveling worm 6 and the steering worm 13 are respectively and rotatably arranged in the worm mounting area 22, and the traveling worm wheel 7 and the steering worm wheel 12 are correspondingly arranged in the wheel hole 21.
In this embodiment, the traveling worm 6 and the steering worm 13 are respectively located above one side and below the opposite side in the housing 20, and the traveling worm 6 and the steering worm 13 are both mounted on a side plate of the housing 20 through bearings for supporting the worms and ensuring the rotation thereof. Correspondingly, the traveling worm wheel 7 is positioned on the upper part of the steering worm wheel 12; the engagement of the traveling worm wheel 7 and the traveling worm 6, and the engagement transmission of the steering worm wheel 12 and the steering worm 13 are all carried out in the wheel hole 21, so that the structure has the functions of enclosure and safety protection.
Further, as shown in fig. 1, 2 and 6, mounting holes 23 are respectively formed at four corners of the top of the housing 20, and the housing 20 is fixed to the mounting plate 3 at the mounting holes 23 by long rod bolts 24. The shell 20 is conveniently installed on the mounting plate 3, the protection effect on the worm and gear structure is achieved, and the shell 20 is also conveniently detached to overhaul and replace the worm and gear structure.
Further, as shown in fig. 1 and fig. 2, a third transmission gear 25 and a fourth transmission gear 26 are respectively arranged on the output shafts of the traveling power device and the steering power device, and a fifth transmission gear 27 and a sixth transmission gear 28 are respectively arranged on the first transmission rod 18 and the second transmission rod 19; the third transfer gear 25 meshes with a fifth transfer gear 27 and the fourth transfer gear 26 meshes with a sixth transfer gear 28. The output shaft of the advancing power device is in transmission connection with the advancing worm 6 through a third transmission gear 25, a first transmission rod 18 and a fifth transmission gear 27; the output shaft of the steering power device is in transmission connection with the steering worm 13 through a fourth transmission gear 26, a second transmission rod 19 and a sixth transmission gear 28; the gear train structure is used for adjusting the drive ratio, also conveniently lets the position for other structures in organism 1, is favorable to improving organism 1 internal mechanism compactness. In the present embodiment, the third transmission gear 25 and the fourth transmission gear 26 are respectively splined to the output shaft of the traveling power unit and the output shaft of the steering power unit; the fifth transfer gear 27 and the sixth transfer gear 28 are spline-connected to the first transfer lever 18 and the second transfer lever 19, respectively.
Further, as shown in fig. 1 and 2, a support 29 is disposed in the machine body 1, a shaft seat 30 is disposed on the support 29, and the first transmission rod 18 and the second transmission rod 19 are both rotatably disposed on the shaft seat 30. In this embodiment, the first driving rod 18 and the second driving rod 19 are rotatably disposed on the shaft seat 30 through shaft sleeves, so that friction generated when the first driving rod 18 and the second driving rod 19 rotate can be reduced, and the first driving rod 18 and the second driving rod 19 can be supported.
Further, as shown in fig. 3, 4, 5, the middle of the fork 4 is a space in the shape of a Chinese character 'tu'; the first bevel gear 10 and the second bevel gear 11 are positioned at the top of the convex space, and the travelling wheel 2 is arranged in a wider area at the bottom of the convex space, so that the structure is compact.
Further, as shown in fig. 1 and 2, a power source 32 is provided in the machine body 1, the traveling power unit and the steering power unit each include a speed reducer 33 and a motor 34 provided in the machine body 1, the speed reducer 33 is provided at a front end of an output shaft of the motor, and the motor 34 is electrically connected to the power source 32. Because often have explosion-proof requirement in the pipeline transportation scene, the electrified equipment of this scheme all sets up in organism 1, through worm gear structure and gear train structure with the interior power transmission of organism 1 outside organism 1, can satisfy the explosion-proof requirement.
Further, as shown in fig. 1, both ends of the second transmission rod 19 are provided with a seventh transmission gear 35, and both the front part and the rear part in the machine body 1 are provided with an eighth transmission gear 36; the seventh transmission gear 35 is in meshing transmission with the eighth transmission gear 36, and the steering worms 12 at the front part and the rear part of the machine body are in transmission connection with the second transmission rod 19 through the eighth transmission gear 36 and the seventh transmission gear 35; the transmission ratio is adjusted through the gear set, and the transmission efficiency and the stability are improved.
Further, as shown in fig. 2, 3 and 4, a ninth transmission gear 37 is further disposed between the first transmission gear 14 and the second transmission gear 15, and the ninth transmission gear 37 is engaged with the first transmission gear 14 and the second transmission gear 15 for transmitting power while keeping the moving direction of the traveling wheel 2 consistent with the first transmission gear 14. In this particular embodiment, the first transfer gear 14, the second transfer gear 15, and the ninth transfer gear 37 are in 1:1:1 mesh with each other.
Further, as shown in fig. 5, a plurality of gear shaft prepared holes 31 are symmetrically formed at both sides of the fork 4, so that the positions of the second transmission gear 15, the third transmission gear 25 and the ninth transmission gear 37 can be conveniently exchanged at both sides of the fork 4, and the installation is more flexible and convenient.
Claims (10)
1. A steering advancing mechanism of a pipeline robot comprises a machine body (1), an advancing power device, a steering power device and an advancing wheel (2); the front part and the rear part of the machine body (1) are both provided with mounting plates (3), and fork frames (4) are arranged below the mounting plates (3); the traveling wheels (2) are respectively and rotatably arranged on the front fork frame (4) and the rear fork frame (4) through wheel shafts (5); the device is characterized by further comprising a travelling worm (6), a travelling worm wheel (7), a first connecting shaft (8), a second connecting shaft (9), a first bevel gear (10), a second bevel gear (11), a steering worm wheel (12), a steering worm (13), a first transmission gear (14) and a second transmission gear (15); the first connecting shaft (8) is vertically arranged at the top of the fork frame (4) and is provided with a shaft hole (16) penetrating through the fork frame (4), and the first connecting shaft (8) penetrates through and is rotatably arranged on the mounting plate (3); the steering worm wheel (12) is connected with the first connecting shaft (8) at the upper part of the mounting plate (3) and is meshed with the steering worm (13); the lower part of the second connecting shaft (9) is connected with the first bevel gear (10) in the fork opening of the fork frame (4), the upper part of the second connecting shaft passes through a shaft hole (16) of the first connecting shaft (8) to be connected with the advancing worm wheel (7), and the advancing worm wheel (7) is meshed with the advancing worm (6); a third connecting shaft (17) which is transversely and rotatably arranged is arranged on the fork frame (4), one end of the third connecting shaft (17) is connected with the first transmission gear (14), the other end of the third connecting shaft extends into a fork opening of the fork frame (4) to be connected with the second bevel gear (11), the first bevel gear (10) is meshed with the second bevel gear (11), and the second transmission gear (15) is arranged at one end of the wheel shaft (5) and is in transmission fit with the first transmission gear (14); the traveling worms (6) positioned at the front part and the rear part are connected with the steering worms (13) through a first transmission rod (18) and a second transmission rod (19), and the first transmission rod (18) and the second transmission rod (19) are in transmission connection with a traveling power device and a steering power device respectively.
2. The steering and traveling mechanism of the pipeline robot according to claim 1, wherein the mounting plate (3) is provided with a housing (20), the middle part of the housing (20) is provided with wheel holes (21) which are vertically penetrated, and the upper part of one side and the lower part of the other side in the housing (20) are respectively provided with a worm mounting area (22) which is communicated with the wheel holes (21); the advancing worm (6) and the steering worm (13) are respectively and rotatably arranged in the worm mounting area (22), and the advancing worm wheel (7) and the steering worm wheel (12) are correspondingly arranged in the wheel hole (21).
3. The steering traveling mechanism of the pipe robot according to claim 2, wherein the housing (20) is provided at four corners of the top thereof with mounting holes (23), respectively, and the housing (20) is fixed to the mounting plate (3) at the mounting holes (23) by means of long rod bolts (24).
4. The steering traveling mechanism of the pipeline robot according to any one of claims 1 to 3, wherein the output shafts of the traveling power device and the steering power device are provided with a third transmission gear (25) and a fourth transmission gear (26), respectively, and the first transmission lever (18) and the second transmission lever (19) are provided with a fifth transmission gear (27) and a sixth transmission gear (28), respectively; the third transmission gear (25) is meshed with the fifth transmission gear (27), and the fourth transmission gear (26) is meshed with the sixth transmission gear (28).
5. The steering mechanism of the pipeline robot as claimed in claim 4, wherein a support (29) is provided in the body (1), a shaft seat (30) is provided on the support (29), and the first transmission rod (18) and the second transmission rod (19) are rotatably provided on the shaft seat (30).
6. The steering traveling mechanism of a pipeline robot as claimed in claim 1, 2, 3 or 5, wherein the fork (4) has a convex-shaped space in the middle; the first bevel gear (10) and the second bevel gear (11) are positioned at the top of the convex space, and the travelling wheel (2) is arranged in a wider area at the bottom of the convex space.
7. The steering traveling mechanism for a pipe robot according to claim 4, wherein the fork (4) has a convex-shaped space in the middle; the first bevel gear (10) and the second bevel gear (11) are positioned at the top of the convex space, and the travelling wheel (2) is arranged in a wider area at the bottom of the convex space.
8. The pipe robot steering traveling mechanism according to claim 1, 2, 3, 5 or 7, wherein a power source (32) is provided in the machine body (1), the traveling power unit and the steering power unit each comprise a speed reducer (33) and a motor (34) provided in the machine body (1), the speed reducer (33) is provided at a front end of an output shaft of the motor (34), and the motor (34) is electrically connected to the power source (32).
9. The steering traveling mechanism of the pipe robot as claimed in claim 4, wherein a power source (32) is provided in the body (1), the traveling power unit and the steering power unit each comprise a speed reducer (33) and a motor (34) provided in the body (1), the speed reducer (33) is provided at a front end of an output shaft of the motor (34), and the motor (34) is electrically connected to the power source (32).
10. The steering traveling mechanism of the pipe robot as claimed in claim 6, wherein a power source (32) is provided in the body (1), the traveling power unit and the steering power unit each comprise a speed reducer (33) and a motor (34) provided in the body (1), the speed reducer (33) is provided at a front end of an output shaft of the motor (34), and the motor (34) is electrically connected to the power source (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110769644.7A CN113418080A (en) | 2021-07-07 | 2021-07-07 | Steering and advancing mechanism of pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110769644.7A CN113418080A (en) | 2021-07-07 | 2021-07-07 | Steering and advancing mechanism of pipeline robot |
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| CN113418080A true CN113418080A (en) | 2021-09-21 |
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| CN202110769644.7A Pending CN113418080A (en) | 2021-07-07 | 2021-07-07 | Steering and advancing mechanism of pipeline robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113733073A (en) * | 2021-09-26 | 2021-12-03 | 重庆七腾科技有限公司 | Mechanical arm transmission device, robot system and using method |
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Application publication date: 20210921 |