CN202691445U - Pipeline robot under the combination drive of single electric motor, wheel type and speed change spiral type - Google Patents
Pipeline robot under the combination drive of single electric motor, wheel type and speed change spiral type Download PDFInfo
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- CN202691445U CN202691445U CN 201220258963 CN201220258963U CN202691445U CN 202691445 U CN202691445 U CN 202691445U CN 201220258963 CN201220258963 CN 201220258963 CN 201220258963 U CN201220258963 U CN 201220258963U CN 202691445 U CN202691445 U CN 202691445U
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Abstract
The utility model discloses a pipeline robot under the combination drive of single electric motor, wheel type and speed change spiral type. The pipeline robot is characterized by including a spiral type drive device, a wheel type drive device and an electric motor power output device; the spiral type drive device includes a rotating body, a spur gear is arranged on the rotating body, and a set of inclined wheel group is arranged on each of three holes evenly distributed on the rotating body and connected with an inclination adjusting mechanism; the wheel type drive device includes a support body, three sets of drive wheel groups are evenly distributed on the support body, and a linkage structure is arranged in the support body; and the electric motor power output device includes a clamp body, a slippage split-flow shaft is arranged in the clamp body, a second gear is arranged at the middle of the slippage split-flow shaft and is meshed with a spur gear of the electric motor, the spur gear of the electric motor is connected with an output end of the electric motor, the other end of the electric motor is connected with the support body, and an electromagnet assembly is arranged on the support body. The pipeline robot has the characteristics of stability in advancing, large speed adjusting space, and wide drive power application conditions.
Description
Technical field
The utility model relates to the pipeline robot of a kind of single motor, the wheeled and spiral combination drive of speed change, belongs to the pipeline robot field.
Background technique
At present, pipeline operations is all the more frequent, and its job requirements and operating environment are complicated and changeable.Traditional pipeline robot adopts four-wheel-type, and its walking is unstable, topple easily, and driving force is not enough.Because the sensor that carries varies in weight and conduit slope is different, causes the operating load of motor to alter a great deal, output power is difficult for meeting the demands.The present screw machine people speed of advancing is single, and power often can not take full advantage of.Moreover robot is in the condition of the advancing difference of zones of different, and gait of march requires also often different.Existing robot work accommodation ability, speed, driving force are single.But, still fail at present these problems are solved effectively.
Summary of the invention
The purpose of this utility model is to solve existing robot output power not meet the demands, the work accommodation ability, speed, the problem that driving force is single provide a kind of stable, speed of advancing to regulate the pipeline robot of the space is large, the driving force condition of compatibility is wide single motor, the wheeled and spiral combination drive of speed change.
In order to achieve the above object, the utility model provides the pipeline robot of a kind of single motor, the wheeled and spiral combination drive of speed change, it is characterized in that, comprises spiral drive unit, wheel type drive device and motor power output unit;
Described spiral drive unit comprises solid of rotation, and solid of rotation is provided with spur gear, is respectively equipped with cover inclination wheels on the solid of rotation in equally distributed three holes, and the inclination wheels are connected with incidence regulating mechanism;
Described wheel type drive device comprises support, is evenly distributed with three covers on the support and drives wheels, is provided with linkage structure in the support;
Described motor power output unit comprises cramping body, be provided with the slippage shunt shaft in the cramping body, the centre of slippage shunt shaft is provided with the second gear, the second gear and the engagement of motor straight gear, the motor straight gear is connected with the output terminal of motor, the other end of motor is connected with support, and support is provided with electromagnet assembly.
Preferably, described incidence regulating mechanism comprises stepper motor, the first gear on stepper motor one end and index gears engagement, and index gears and bevel gear wheel are fixed, the first bevel pinion engagement on bevel gear wheel and the inclination wheels.
Preferably, described solid of rotation is provided with the electromagnetism pin, and electromagnetism pin front end is tooth-shape structure, when the electromagnetism pin is not switched on, and electromagnetism pin and index gears engagement; When the electromagnetism pin was switched on, the electromagnetism pin separated with index gears.
Preferably, described linkage structure comprises bevel gear spur gear concretion body, the 5th gear on the bevel gear spur gear concretion body meshes with equally distributed three the second bevel pinions respectively, three the second bevel pinions are connected with the 7th gear on three groups of slippage straight-tooth wheels by three head rods respectively, octadentate wheel on three groups of slippage straight-tooth wheels is connected with three pairs of bevel gear set by the second connecting rod respectively, and the three pairs of bevel gear set are overlapped the driving wheels and are connected with three respectively.
Preferably, described slippage shunt shaft is by the 3rd gear and spur gear engagement.
Preferably, described slippage shunt shaft is by the engagement of the 6th gear on the 4th gear and the bevel gear spur gear concretion body.
The utility model has been equivalent to save the weight of a cover motor and corollary equipment, and has avoided again controlling the improper situation that causes two kinds of driving mode to be worked simultaneously by using a motor driving to realize spiral driving or wheeled driving.According to job requirements and actual loading, select appropriate driving mode.When screw drives, can by the size at adjusting color screw angle, further change the size of speed and driving force.The utility model is advanced very stable, and it is very large that speed is regulated the space, and the driving force condition of compatibility is very wide.
Description of drawings
Fig. 1 is the structural representation of the pipeline robot of a kind of single motor, the wheeled and spiral combination drive of speed change;
Fig. 2 is the internal structure schematic representation of spiral drive unit;
Fig. 3 is the structural representation of the helix angle spiral drive unit hour of wheel;
Fig. 4 is the structural representation of the spiral drive unit of the helix angle of wheel when larger;
Fig. 5 is that the helix angle of wheel is 90 the structural representations of spiral drive unit when spending;
Fig. 6 is the internal structure schematic representation of wheel type drive device inner link and motor power output unit;
The structural representation of the motor power output unit when Fig. 7 drives for passing through spiral drive unit;
Fig. 8 is the structural representation of the motor power output unit when driving by wheel type drive device.
Description of reference numerals:
1 is solid of rotation, 2 is spur gear, 3 are the inclination wheels, 4 is index gears, 5 is the electromagnetism pin, 6 is stepper motor, 7 is bevel gear wheel, 8 is the first bevel pinion, 9 for driving wheels, 10 is bevel gear set, 11 are slippage straight-tooth wheels, 12 is the second bevel pinion, 13 is bevel gear spur gear concretion body, 14 is support, 15 is motor, 16 is the motor straight gear, 17 are the slippage shunt shaft, 18 is electromagnet assembly, 19 is cramping body, 20 is spiral drive unit, 21 is wheel type drive device, 22 is the motor power output unit, 23 is the first gear, 24 is head rod, 25 is the second connecting rod, 26 is the second gear, 27 is the 3rd gear, 28 is the 4th gear, 29 is the 5th gear, 30 is the 6th gear, 31 is the 7th gear, 32 is the octadentate wheel, 33 is incidence regulating mechanism, and 34 is linkage structure.
Embodiment
For the utility model is become apparent, hereby with preferred embodiment, and cooperate accompanying drawing to be described in detail below.
As shown in Figure 1, be the structural representation of the pipeline robot of a kind of single motor, the wheeled and spiral combination drive of speed change.The utility model is the pipeline robot of a kind of single motor, the wheeled and spiral combination drive of speed change, comprises spiral drive unit 20, wheel type drive device 21 and motor power output unit 22.
As shown in Figure 6, be the internal structure schematic representation of wheel type drive device 21 and motor power output unit 22, and combination as shown in Figure 1, wheel type drive device 21 comprises following structure, be evenly distributed with three covers on the support 14 and drive wheels 9, be provided with linkage structure 34 in the support 14.Linkage structure 34 comprises bevel gear spur gear concretion body 13, the 5th gear 29 on the bevel gear spur gear concretion body 13 meshes with equally distributed three the second bevel pinions 12 respectively, three the second bevel pinions 12 are connected with the 7th gear 31 on three groups of slippage straight-tooth wheels 11 by three head rods 24 respectively, octadentate wheel 32 on three groups of slippage straight-tooth wheels 11 is connected with three pairs of bevel gear set 10 by the second connecting rod 25 respectively, and the three pairs of bevel gear set 10 are overlapped driving wheels 9 and are connected with three respectively.
In conjunction with Fig. 1 and shown in Figure 6, motor power output unit 22 comprises following structure, be provided with slippage shunt shaft 17 in the cramping body 19, the centre of slippage shunt shaft 17 is fixed with the second gear 26, the second gear 26 and 16 engagements of motor straight gear, motor straight gear 16 is connected with the output terminal of motor 15, the other end of motor 15 is connected with support 14, support 14 is provided with electromagnet assembly 18 (comprising spring), one end of slippage shunt shaft 17 is fixed with the 3rd gear 27, and the other end is fixed with the 4th gear 28.
The round end of motor 15 is equipped with motor straight gear 16, and motor straight gear 16 meshes with slippage shunt shaft 17 middle the second wider gears 26 all the time, drives slippage shunt shaft 17 and rotates.The 4th gear 28 and the 3rd gear 27 are equipped with respectively in slippage shunt shaft 17 two ends, are used for respectively transmission wheel type drive unit 21 and spiral drive unit 20.And electromagnet assembly 18 is exactly i.e. which kind of drive unit of on earth transmission in position of controlling slippage shunt shaft 17, determines the mode of advancing that robot adopts.
In the less situation of robot resistance when advancing (, pipe level less such as load) or in the highway section that need not to stop operation, robot can advance with larger speed in power allows.Judge as calculated, can use wheeled driving mode.Electromagnet assembly 18 energising work, the 6th gear 30 engagements of the 4th gear 28 of slippage shunt shaft 17 1 ends and the bevel gear spur gear concretion body 13 in the wheel type drive device 21.Simultaneously, the helix angle of the wheel of spiral drive unit 20 is adjusted to 90 degree (as shown in Figure 5, for the helix angle of wheel is 90 the structural representations of spiral drive unit when spending), wheel type drive device 21 work.
The power of motor 15 rotates by the 6th gear 30 band dynamic bevel gear spur gear concretion bodys 13 on the bevel gear spur gear concretion body 13.The rotation of bevel gear spur gear concretion body 13 is passed to three the second bevel pinion 12, the second bevel pinions 12 by the 5th gear 29 on the bevel gear spur gear concretion body 13 and is driven separately the 7th corresponding gear 31 by head rod 24.The 7th gear 31 is wider, allows narrow octadentate wheel 32 slippages in the situation of all the time engagement.The octadentate wheel 32 of slippage drives the bevel-gear sett group 10 related with wheel, finally drives wheel turns.
The conduit slope that robot travels is large or load is heavier, and robot can use spiral driving mode instead.At this moment, electromagnet assembly 18 discharges slippage shunt shafts 17, the 3rd gear 27 of slippage shunt shaft 17 under spring action with spur gear 2 engagements of spiral drive unit 20, spiral drive unit 20 work.
When robot adopts spiral advancing, can be again according to need of work and induced pressure and pipe condition adjusting gait of march and driving force.The power of motor 15 rotates by the spur gear 2 driven rotary bodies 1 of interior engagement, and the wheel that is in oblique position rolls, and produces tractive force upwards, and robot becomes spiral and advances.When stepper motor 6 acknowledge(ment) signals rotate, simultaneously electromagnetism pin 5 energisings are regained, stepper motor 6 drives spur gear 2, and then drive bevel gear wheel 7, bevel gear wheel 7 rotates, drive the first bevel pinion 8, and then (as shown in Figure 3, Figure 4, Fig. 3 is the structural representation of the helix angle spiral drive unit hour of wheel so that the tilt angle of wheel changes; Fig. 4 is the structural representation of the spiral drive unit of the helix angle of wheel when larger), robot will advance with different helix angles, satisfy speed and driving force requirement.
Claims (6)
1. the pipeline robot of a single motor, the wheeled and spiral combination drive of speed change is characterized in that, comprises spiral drive unit (20), wheel type drive device (21) and motor power output unit (22);
Described spiral drive unit (20) comprises solid of rotation (1), solid of rotation (1) is provided with spur gear (2), be respectively equipped with cover inclination wheels (3) in upper equally distributed three holes of solid of rotation (1), inclination wheels (3) are connected with incidence regulating mechanism (33);
Described wheel type drive device (21) comprises support (14), is evenly distributed with three covers on the support (14) and drives wheels (9), is provided with linkage structure (34) in the support (14);
Described motor power output unit (22) comprises cramping body (19), be provided with slippage shunt shaft (17) in the cramping body (19), the centre of slippage shunt shaft (17) is provided with the second gear (26), the second gear (26) and motor straight gear (16) engagement, motor straight gear (16) is connected with the output terminal of motor (15), the other end of motor (15) is connected with support (14), and support (14) is provided with electromagnet assembly (18).
2. the pipeline robot of a kind of single motor as claimed in claim 1, the wheeled and spiral combination drive of speed change, it is characterized in that, described incidence regulating mechanism (33) comprises stepper motor (6), the first gear (23) on stepper motor (6) one ends and index gears (4) engagement, index gears (4) is fixed with bevel gear wheel (7), the first bevel pinion (8) engagement on bevel gear wheel (7) and the inclination wheels (3).
3. the pipeline robot of a kind of single motor as claimed in claim 1, the wheeled and spiral combination drive of speed change, it is characterized in that, described solid of rotation (1) is provided with electromagnetism pin (5), electromagnetism pin (5) front end is tooth-shape structure, when electromagnetism pin (5) when not switching on, electromagnetism pin (5) and index gears (4) engagement; When electromagnetism pin (5) was switched on, electromagnetism pin (5) separated with index gears (4).
4. a kind of single motor as claimed in claim 1, the pipeline robot of the wheeled and spiral combination drive of speed change, it is characterized in that, described linkage structure (34) comprises bevel gear spur gear concretion body (13), the 5th gear (29) on the bevel gear spur gear concretion body (13) meshes with equally distributed three the second bevel pinions (12) respectively, three the second bevel pinions (12) are connected with the 7th gear (31) on three groups of slippage straight-tooth wheels (11) by three head rods (24) respectively, octadentate wheel (32) on three groups of slippage straight-tooth wheels (11) is connected with three pairs of bevel gear set (10) by the second connecting rod (25) respectively, and three pairs of bevel gear set (10) drive wheels (9) with three covers respectively and are connected.
5. the pipeline robot of a kind of single motor as claimed in claim 1, the wheeled and spiral combination drive of speed change is characterized in that, described slippage shunt shaft (17) is by the 3rd gear (27) and spur gear (2) engagement.
6. the pipeline robot of a kind of single motor as claimed in claim 1, the wheeled and spiral combination drive of speed change, it is characterized in that described slippage shunt shaft (17) is by the engagement of the 6th gear (30) on the 4th gear (28) and the bevel gear spur gear concretion body (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220258963 CN202691445U (en) | 2012-06-02 | 2012-06-02 | Pipeline robot under the combination drive of single electric motor, wheel type and speed change spiral type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220258963 CN202691445U (en) | 2012-06-02 | 2012-06-02 | Pipeline robot under the combination drive of single electric motor, wheel type and speed change spiral type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202691445U true CN202691445U (en) | 2013-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220258963 Expired - Fee Related CN202691445U (en) | 2012-06-02 | 2012-06-02 | Pipeline robot under the combination drive of single electric motor, wheel type and speed change spiral type |
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| CN (1) | CN202691445U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102691856A (en) * | 2012-06-02 | 2012-09-26 | 东华大学 | Single-motor, wheel type and variable speed spiral type hybrid driven pipeline robot |
| CN103322300A (en) * | 2013-06-14 | 2013-09-25 | 上海大学 | Diameter-variable support mechanism for pipe section |
| CN105318141A (en) * | 2015-11-03 | 2016-02-10 | 西南石油大学 | Miniature spiral pipeline robot |
| CN106741259A (en) * | 2016-11-27 | 2017-05-31 | 申俊 | A kind of exploring robot |
| CN106864615A (en) * | 2016-11-27 | 2017-06-20 | 申俊 | A kind of exploring robot |
| CN107120492A (en) * | 2016-02-24 | 2017-09-01 | 湖南大学校产学协力团 | Check device in pipe based on mobile communication terminal |
| CN107448727A (en) * | 2017-08-31 | 2017-12-08 | 安徽大地环保科技有限公司 | A kind of inner-walls of duct cleaning equipment |
| CN108582090A (en) * | 2017-12-29 | 2018-09-28 | 浙江帝恒实业有限公司 | The supervisory-controlled robot moved on freeway guardrail |
| CN113048323A (en) * | 2021-04-07 | 2021-06-29 | 上海应用技术大学 | Wheel-leg type robot capable of crawling on inner wall of reducing pipeline |
-
2012
- 2012-06-02 CN CN 201220258963 patent/CN202691445U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102691856A (en) * | 2012-06-02 | 2012-09-26 | 东华大学 | Single-motor, wheel type and variable speed spiral type hybrid driven pipeline robot |
| CN102691856B (en) * | 2012-06-02 | 2014-01-08 | 东华大学 | Single-motor, wheel type and variable speed spiral type hybrid driven pipeline robot |
| CN103322300A (en) * | 2013-06-14 | 2013-09-25 | 上海大学 | Diameter-variable support mechanism for pipe section |
| CN103322300B (en) * | 2013-06-14 | 2016-08-10 | 上海大学 | A kind of Diameter-variable support mechanism for pipe section |
| CN105318141A (en) * | 2015-11-03 | 2016-02-10 | 西南石油大学 | Miniature spiral pipeline robot |
| CN105318141B (en) * | 2015-11-03 | 2017-05-10 | 西南石油大学 | Miniature spiral pipeline robot |
| CN107120492A (en) * | 2016-02-24 | 2017-09-01 | 湖南大学校产学协力团 | Check device in pipe based on mobile communication terminal |
| CN106741259A (en) * | 2016-11-27 | 2017-05-31 | 申俊 | A kind of exploring robot |
| CN106864615A (en) * | 2016-11-27 | 2017-06-20 | 申俊 | A kind of exploring robot |
| CN107448727A (en) * | 2017-08-31 | 2017-12-08 | 安徽大地环保科技有限公司 | A kind of inner-walls of duct cleaning equipment |
| CN108582090A (en) * | 2017-12-29 | 2018-09-28 | 浙江帝恒实业有限公司 | The supervisory-controlled robot moved on freeway guardrail |
| CN113048323A (en) * | 2021-04-07 | 2021-06-29 | 上海应用技术大学 | Wheel-leg type robot capable of crawling on inner wall of reducing pipeline |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130123 Termination date: 20150602 |
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| EXPY | Termination of patent right or utility model |