CN202852327U - Electric drive in-pipeline walking machine - Google Patents
Electric drive in-pipeline walking machine Download PDFInfo
- Publication number
- CN202852327U CN202852327U CN 201220431032 CN201220431032U CN202852327U CN 202852327 U CN202852327 U CN 202852327U CN 201220431032 CN201220431032 CN 201220431032 CN 201220431032 U CN201220431032 U CN 201220431032U CN 202852327 U CN202852327 U CN 202852327U
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Abstract
An electric drive in-pipeline walking machine comprise a car frame, drive wheels and auxiliary idler wheels. Two front drive wheels, two auxiliary idler wheels and two rear drive wheels are sequentially arranged on the car frame along the central axis direction of the car frame. The drive wheels are connected with an electric drive mechanism. The electric drive mechanism comprises a motor, a shaft coupling, a worm gear reducer, a chain transmission mechanism, a drive shaft, bearings and a universal spindle coupling. The chain transmission mechanism comprises a driving chain wheel, a chain and a driven chain wheel. An output shaft of the motor is connected with the shaft coupling. The shaft coupling is connected with an input shaft of the worm gear reducer. The driving chain wheel is installed on an output shaft of the worm gear reducer and connected with the driven chain wheel in a transmission mode through the chain. The driven chain wheel is installed on the drive shaft. Two ends of the drive shaft are respectively provided with one of the bearings. The bearings are connected with the universal spindle coupling. The universal spindle coupling is connected with the drive wheels. The electric drive in-pipeline walking machine is improved in reliability, good in safety and strong in slope road walking capacity.
Description
Technical field
The utility model relates to a kind of pipeline internal and walks device.
Background technique
Pipeline robot is a kind of instrument indispensable in the pipeline construction, and the encapsulation of pipeline and working environment have determined the difficulty of pipeline construction.From structural type, mainly be divided into wheeled pipeline robot, pin formula pipeline robot, crawler belt type pipeline robot and creeping type pipeline robot.Wheeled pipeline travelling device mostly adopts pneumatic or hydraulic driving, but is difficult to satisfy the walking requirement of gradient when larger.
Summary of the invention
Walk the deficiency that reliability is relatively poor, Security is lower of device in order to overcome existing pipeline internal, the deficiency of especially sloping road locomotor activity, the utility model provides a kind of and improves reliability, electricity that good, the sloping road of Security locomotor activity is strong drives pipeline internal and walks device.
The technological scheme that its technical problem that solves the utility model adopts is:
A kind of electricity drives pipeline internal and walks device, comprise vehicle frame, driving wheel and auxiliary wheel, arrange successively two front driving wheels, two auxiliary wheels and two rear drive sprockets along the central axis direction of vehicle frame on the described vehicle frame, be positioned at the lower semi-circle of vehicle frame from the axle driving wheel that looks up, auxiliary wheel is positioned at the upper semi-circle of vehicle frame; Driving wheel is installed on the vehicle frame, described driving wheel is connected with electric driving mechanism, described electric driving mechanism comprises motor, coupling, worm type of reduction gearing, chain drive, live axle, bearing and universal shaft coupling, described chain drive comprises drive sprocket, chain and by movable sprocket, the output shaft of described motor is connected with coupling, described coupling is connected with the input shaft of worm type of reduction gearing, on the output shaft of described worm type of reduction gearing drive sprocket is installed, described drive sprocket is connected with passive sprocket driving by chain, describedly be installed on the live axle by movable sprocket, bearing is installed respectively at the two ends of described live axle, described bearing is connected with universal shaft coupling, and described universal shaft coupling is connected with driving wheel.
Further, described auxiliary wheel is connected with auxiliary drive gear, described auxiliary drive gear comprises frame, quill shaft, sliding sleeve, strut and spring, auxiliary wheel is installed in the chute of strut one end by a bearing pin, the auxiliary wheel bearing pin is pressed on the spring, strut can rotate around the turning axle that is fixed on the vehicle frame, and the other end of strut connects with sliding sleeve by hinge, described sliding sleeve with slide over the electric pushrod that slides on the quill shaft in order to driving and be connected.
Further, two of described live axles, described chain drive have two, and a chain drive is connected with a live axle.Preferred scheme is the four-wheel drive mode, certainly, also can adopt front-wheel drive or rear wheel drive mode.
Further, the angle of two driving wheels is 120 ° and symmetrical about Y-axis, and the angle of two auxiliary wheels also is 120 ° and symmetrical about Y-axis, and the angle of driving wheel and two auxiliary wheels is 60 °.
Technical conceive of the present utility model is: if electric pushrod stretches out, promotes sliding sleeve and slides to the right strut is rotated, and the auxiliary wheel radial motion, compressed when being pressed on the inner-walls of duct rear spring.Electric pushrod stretches out longer, and the pressure that acts on the auxiliary wheel is larger, and this pressure is delivered on the driving wheel by frame, can increase adhesion.Be gradient when larger, the length that electric pushrod stretches out should be larger, the adhesion when improving walking.
During walking, electric machine rotation drives front drive sprocket by worm type of reduction gearing and rear drive sprocket rotates, and drive shaft turns before and after driving, four driving wheels rotated simultaneously before and after the front and back live axle drove by universal shaft coupling again, the speed of travel of driving wheel only depends on the rotating speed of motor, can realize the adjusting of the speed of travel by motor speed-regulating.Because worm type of reduction gearing has self-lock ability, when motor stalling, four driving wheels just can not rotate, and therefore, can stop when sloping road and can not slip the slope.
The beneficial effects of the utility model are mainly manifested in: improve reliability, good, the sloping road of Security locomotor activity is strong.
Description of drawings
Fig. 1 is that electricity drives the schematic representation that pipeline internal is walked device.
Fig. 2 is the axial schematic representation of Fig. 1.
Embodiment
Below in conjunction with accompanying drawing the utility model is further described.
See figures.1.and.2, a kind of electricity drives pipeline internal and walks device, comprise vehicle frame 1, driving wheel and auxiliary wheel 8, arrange successively two front driving wheels 2, two auxiliary wheels 8 and two rear drive sprockets 9 along the central axis direction of vehicle frame on the described vehicle frame 1, be positioned at the lower semi-circle of vehicle frame 1 from the axle driving wheel that looks up, auxiliary wheel 8 is positioned at the upper semi-circle of vehicle frame 1; Driving wheel is installed on the vehicle frame 1, described driving wheel is connected with electric driving mechanism, described electric driving mechanism comprises motor 14, coupling 15, worm type of reduction gearing 16, chain drive, live axle, bearing and universal shaft coupling, described chain drive comprises drive sprocket, chain and by movable sprocket, the output shaft of described motor 14 is connected with coupling 15, described coupling 15 is connected with the input shaft of worm type of reduction gearing 16, on the output shaft of described worm type of reduction gearing 16 drive sprocket is installed, described drive sprocket is connected with passive sprocket driving by chain, describedly be installed on the live axle by movable sprocket, bearing is installed respectively at the two ends of described live axle, described bearing is connected with universal shaft coupling, and described universal shaft coupling is connected with driving wheel.
Further, described auxiliary wheel 8 is connected with auxiliary drive gear, described auxiliary drive gear comprises frame 19, quill shaft 20, sliding sleeve 21, strut 6 and spring 7, auxiliary wheel 8 is installed in the chute of strut 6 one ends by a bearing pin, auxiliary wheel 8 bearing pins are pressed on the spring 7, strut 6 rotates around the turning axle that is fixed on the vehicle frame, and the other end of strut 6 connects with sliding sleeve 21 by hinge, described sliding sleeve 21 with slide over the electric pushrod 22 that slides on the quill shaft in order to driving and be connected.
Further, two of described live axles (comprising drive axle 5 and rear drive shaft 12), described chain drive has two, a chain drive is connected with a live axle, drive sprocket comprises front drive sprocket 18 and rear drive sprocket 17, install front by movable sprocket on the described drive axle 5, install rear by movable sprocket 13 on the described rear drive shaft 12, right front bearing 4 and left front bearing are installed respectively in the two ends of described drive axle, right front bearing 4 is connected with right front universal shaft coupling 3, right front universal shaft coupling 3 is connected with right front driving wheel, left front bearing respectively with left front universal shaft coupling, the left drive wheel connects; Right back bearing 11 and left back bearing are installed respectively in the two ends of described rear drive shaft, described right back bearing is connected with right back universal shaft coupling, described right back universal shaft coupling is connected with right back driving wheel, and left back bearing is connected with left back universal shaft coupling, left back driving wheel respectively;Preferred scheme is the four-wheel drive mode, certainly, also can adopt front-wheel drive or rear wheel drive mode.
Further, the angle of two driving wheels is 120 ° and symmetrical about Y-axis, and the angle of two auxiliary wheels also is 120 ° and symmetrical about Y-axis, and the angle of driving wheel and two auxiliary wheels is 60 °.
In the present embodiment, during walking, electric machine rotation drives front drive sprocket by worm type of reduction gearing and rear drive sprocket rotates, and drive shaft turns before and after driving, four driving wheels rotated simultaneously before and after the front and back live axle drove by universal shaft coupling again, and the speed of travel of driving wheel only depends on the rotating speed of motor.Because worm type of reduction gearing has self-lock ability, when motor stalling, four driving wheels just can not rotate, and therefore, can stop when sloping road and can not slip the slope.
Claims (4)
1. an electricity drives pipeline internal and walks device, comprise vehicle frame, driving wheel and auxiliary wheel, arrange successively two front driving wheels, two auxiliary wheels and two rear drive sprockets along the central axis direction of vehicle frame on the described vehicle frame, be positioned at the lower semi-circle of vehicle frame from the axle driving wheel that looks up, auxiliary wheel is positioned at the upper semi-circle of vehicle frame; Driving wheel is installed on the vehicle frame, it is characterized in that: described driving wheel is connected with electric driving mechanism, described electric driving mechanism comprises motor, coupling, worm type of reduction gearing, chain drive, live axle, bearing and universal shaft coupling, described chain drive comprises drive sprocket, chain and by movable sprocket, the output shaft of described motor is connected with coupling, described coupling is connected with the input shaft of worm type of reduction gearing, on the output shaft of described worm type of reduction gearing drive sprocket is installed, described drive sprocket is connected with passive sprocket driving by chain, describedly be installed on the live axle by movable sprocket, bearing is installed respectively at the two ends of described live axle, described bearing is connected with universal shaft coupling, and described universal shaft coupling is connected with driving wheel.
2. electricity as claimed in claim 1 drives pipeline internal and walks device, it is characterized in that: described auxiliary wheel is connected with auxiliary drive gear, described auxiliary drive gear comprises frame, quill shaft, sliding sleeve, strut and spring, auxiliary wheel is installed in the chute of strut one end by a bearing pin, the auxiliary wheel bearing pin is pressed on the spring, strut rotates around the turning axle that is fixed on the vehicle frame, the other end of strut connects with sliding sleeve by hinge, described sliding sleeve with slide over the electric pushrod that slides on the quill shaft in order to driving and be connected.
3. electricity as claimed in claim 1 or 2 drives pipeline internal and walks device, and it is characterized in that: two of described live axles, described chain drive have two, and a chain drive is connected with a live axle.
4. electricity as claimed in claim 1 or 2 drives pipeline internal and walks device, it is characterized in that: the angle of two driving wheels is 120 ° and symmetrical about Y-axis, the angle of two auxiliary wheels also is 120 ° and symmetrical about Y-axis, and the angle of driving wheel and two auxiliary wheels is 60 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220431032 CN202852327U (en) | 2012-08-28 | 2012-08-28 | Electric drive in-pipeline walking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220431032 CN202852327U (en) | 2012-08-28 | 2012-08-28 | Electric drive in-pipeline walking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202852327U true CN202852327U (en) | 2013-04-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220431032 Expired - Fee Related CN202852327U (en) | 2012-08-28 | 2012-08-28 | Electric drive in-pipeline walking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202852327U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102865432A (en) * | 2012-08-28 | 2013-01-09 | 浙江工业大学 | Walker in electric drive pipeline |
-
2012
- 2012-08-28 CN CN 201220431032 patent/CN202852327U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102865432A (en) * | 2012-08-28 | 2013-01-09 | 浙江工业大学 | Walker in electric drive 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: 20130403 Termination date: 20150828 |
|
| EXPY | Termination of patent right or utility model |