CN205957798U - Barrel pipe cleaning robot's spiral drive structure - Google Patents
Barrel pipe cleaning robot's spiral drive structure Download PDFInfo
- Publication number
- CN205957798U CN205957798U CN201620386360.4U CN201620386360U CN205957798U CN 205957798 U CN205957798 U CN 205957798U CN 201620386360 U CN201620386360 U CN 201620386360U CN 205957798 U CN205957798 U CN 205957798U
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- China
- Prior art keywords
- connecting rod
- guide wheel
- wheel
- slide block
- wheel mechanism
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Abstract
The utility model provides a barrel pipe cleaning robot's spiral drive structure, spiral drive structure comprises backup pad, driving motor, spiral drive execution head, motion holder, driving motor passes through the motor fixing base and installs in the backup pad, spiral drive is carried out the head and is fixed on driving motor's the output shaft, pretext trisection flange disc, L type driving wheel support, wheelset, compression spring constitution are carried out in spiral drive, the motion holder comprises first disc, second disc, fixed support bar, preceding supporting guide wheel mechanism, back supporting guide wheel mechanism and holder compression spring. The utility model provides a barrel pipe cleaning robot's spiral drive structure of continuous and stable motion under simple structure, the adaptable different internal diameter operating modes.
Description
Technical field
The invention belongs to military cleaning equipment field, the spiral driving knot of especially a kind of gun tube pipeline cleaning robot
Structure.
Background technology
It is known that constantly being lifted with China's national power, military capabilities develop into the important ring of national strategy development
Section.Ground force's proportioning is occupied to the army of China of very high percentage, big gun army and cannon are ground force's capacity building important component parts.Right
For the accuracy of Canon launching, the cleaning inside degree of various system for artillery and rifling are extremely heavy for Canon launching precision
Will, therefore the equipment research for gun tube cleaning inside deepens continuously in recent years.
For the gun tube of distance transmission cannon, its internal request cleaning ambient is as follows：Gun tube diameter is little, and inner space is narrow
Narrow, particularly with remote equipment, gun tube depth is profound, but essentially straight type gun barrel, and internal debris are more, to rifling precision shadow
Sound is larger.
For traditional narrow conduit clean robot, generally there are three kinds of working forms, its driving structure is divided into：Crawler belt
Formula, creeping motion type, colyliform friction-type.Its construction features is as follows respectively：Creeping motion type driving structure, adhesive force is big, motor torque demands
Height, stable movement, strong by property, drive mechanism is complicated, manufactures difficult processing it is difficult to miniaturization, it is difficult to laminating curved surface, is not suitable for interior
Wall pipeline drives；Creeping motion type, motion is discontinuous, and wheel efficiency is low, and stationarity is poor, is that point contacts with inwall, easily skids, adaptability
Difference, fragile；Spiral driving, motion is continuous, and adhesive force is moderate, and the adaptability for bend and reducing is preferable.
Content of the invention
For conventional pipelines robot colyliform friction-driving structure adhesive force moderate it is impossible to preferably meet tapered pipeline
Structure is not enough, and the present invention proposes a kind of rotation driving, and structure is simple, motion stabilization, and caliber subject range is big, and pretightning force is adjustable
Gun tube pipeline cleaning robot spiral driving structure, formed a kind of pipe robot for gun tube cleaning.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of spiral driving structure of gun tube pipeline cleaning robot, described spiral driving structure is by gripper shoe, drive
Galvanic electricity machine, spiral driving execute head, motion retainer composition, and described motor is arranged on described by motor fixing seat
On fagging, described spiral driving execution head is fixed on the output shaft of described motor, and the work in described motor
Use lower rotation, described spiral driving execution head is by trisection flange disk, L-type drive wheel bracket, wheel group, compression spring structure
Become, described wheel group is rotatably fixed in L-type drive wheel bracket, and described in three groups, L-type drive wheel bracket is along trisection flange circle
Disk radial direction can be slidably mounted on described trisection flange disk, described L-type drive wheel bracket and described trisection flange
Be provided with compression spring between disk, described motion retainer is fixed on the rear of described gripper shoe, described motion retainer by
First disk, the second disk, fixing support bar, front support guide wheel mechanism, rear support guide wheel mechanism and retainer compression spring structure
Become, in the middle of described first disk, described second disk, be fixed with three described fixing support bars, described front support guide wheel mechanism set
Be contained in the front end of described fixing support bar, described rear support guide wheel mechanism is sleeved on the rear end of described fixing support bar, described before
Support guide wheel mechanism, be provided with described retainer compression spring between rear support guide wheel mechanism, with ensure front support guide wheel mechanism,
Rear support guide wheel mechanism is in open configuration.
Further, described wheel group is rotatably fixed in L-type drive wheel bracket, described wheel group by the first driving wheel, second
Driving wheel is constituted, and is respectively fixed with the first driving wheel, the second driving wheel by wheel shaft through described L-type drive wheel bracket both sides,
The arranged direction of the axis of described wheel shaft, non-parallel with described trisection flange disc centre axis, there is angle of inclination, and incline
When rake angle is 8 °, the friction effect of wheel group driving force is optimal.
Further, described front support guide wheel mechanism is by the first slide block, the second slide block, first connecting rod, second connecting rod, leading
Wheel group is constituted, and described first slide block, described second slide block can slide anteroposterior be sleeved on described fixing support bar, and described first even
Bar one end is hinged with described first slide block, and the described first connecting rod other end is hinged with one end of described second connecting rod, and described second
The connecting rod other end is hinged with described second slide block, rotatably pacifies with described second connecting rod in described first connecting rod on hinged central shaft
Equipped with front jocket wheel group；Described rear support guide wheel mechanism is by the 3rd slide block, Four-slider, third connecting rod, fourth link, rear guide wheel group
Constitute, described 3rd slide block, described Four-slider can slide anteroposterior be sleeved on described fixing support bar, described third connecting rod one
End is hinged with described 3rd slide block, and the described third connecting rod other end is hinged with one end of described fourth link, described fourth link
The other end is hinged with described Four-slider, and rotatably mounted on described third connecting rod hinged central shaft with described fourth link have
Guide wheel group afterwards.
Beneficial effects of the present invention are mainly manifested in：A kind of spiral driving structure of gun tube pipeline cleaning robot, should
Spiral driving structure, motion is continuous, and adhesive force is moderate, and the adaptability for bend and reducing is preferable.Structure is simple, controlling party
Just, the internal observation activity such as the cleaning within extremely suitable deep pipeline, flaw detection, shooting.
Brief description
Fig. 1 is the gun tube pipeline cleaning robot schematic diagram that the spiral driving structure of the present invention is formed
Fig. 2 is the spiral driving structure schematic diagram of gun tube pipeline cleaning robot of the present invention
Fig. 3 is that the present invention spirally drives execution header structure schematic diagram
Fig. 4 is that the present invention spirally drives execution header structure schematic diagram (another view)
Fig. 5 is motion retainer structural representation of the present invention
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1-5, a kind of spiral driving structure of gun tube pipeline cleaning robot, described spiral driving structure by
Gripper shoe 7, motor 5-1, spiral driving execution 5, motion retainer 6 are constituted, and it is solid that described motor passes through motor
Reservation 5-2 is arranged in described gripper shoe, and described spiral driving execution head is fixed on the output shaft of described motor, and
Rotate in the presence of described motor, described spiral driving execution head is by trisection flange disk 5-3, L-type driving wheel
Support 5-6, wheel group, compression spring 5-4 are constituted, and described wheel group is rotatably fixed in L-type drive wheel bracket, L-type described in three groups
Drive wheel bracket can be slidably mounted on described trisection flange disk along trisection flange disk radial direction, described L-type
It is provided with compression spring, described wheel group is rotatably fixed on L-type and drives between drive wheel bracket and described trisection flange disk
On wheel support, described wheel group is made up of the first driving wheel 5-7, the second driving wheel 5-8, passes through described L-type driving wheel by wheel shaft
Support both sides are respectively fixed with the first driving wheel, the second driving wheel, and the arranged direction of the axis of described wheel shaft, with described trisection
Flange disc centre axis is non-parallel, there is angle of inclination, and when angle of inclination is 8 °, the friction effect of wheel group driving force is
Good.
Described motion retainer is fixed on the rear of described gripper shoe, described motion retainer by the first disk 6-1, second
Disk 6-2, fixing support bar 6-3, front support guide wheel mechanism, rear support guide wheel mechanism and retainer compression spring are constituted, described
It is fixed with three described fixing support bars, described front support guide wheel mechanism is sleeved on institute in the middle of first disk, described second disk
State the front end of fixing support bar, described rear support guide wheel mechanism is sleeved on the rear end of described fixing support bar, and described front support is led
Wheel mechanism, be provided with described retainer compression spring 6-14 between rear support guide wheel mechanism, with ensure front support guide wheel mechanism, after
Guide wheel mechanism is supported to be in open configuration；Described front support guide wheel mechanism is by the first slide block 6-4, the second slide block 6-5, first connecting rod
6-6, second connecting rod 6-7, front jocket wheel group 6-8 are constituted, described first slide block, described second slide block can slide anteroposterior be sleeved on described
On fixing support bar, described first connecting rod one end is hinged with described first slide block, the described first connecting rod other end and described second
One end of connecting rod is hinged, and the described second connecting rod other end is hinged with described second slide block, in described first connecting rod and described second
Rotatably mounted on rod hinge connection central shaft have front jocket wheel group；Described rear support guide wheel mechanism is by the 3rd slide block 6-9, Four-slider
6-10, third connecting rod 6-11, fourth link 6-12, rear guide wheel group 6-13 constitute, described 3rd slide block, described Four-slider can before
Slide afterwards and be sleeved on described fixing support bar, described third connecting rod one end is hinged with described 3rd slide block, described third connecting rod
The other end is hinged with one end of described fourth link, and the described fourth link other end is hinged with described Four-slider, described
Three connecting rods are rotatably mounted on the hinged central shaft with described fourth link rear guide wheel group.
A kind of spiral driving structure of gun tube pipeline cleaning robot, for forming a kind of gun tube pipeline cleaning machine
People, by spiral driving structure, cleaning module, control module 3 and second camera module composition, described cleaning module is by special clear
Scrub 2-1, cleanout fluid spraying mechanism is constituted, described special cleaning brush is fixed on the output shaft front end of described motor, described
Cleanout fluid spraying mechanism is installed on the supporting plate, and described cleanout fluid spraying mechanism is by cleanout fluid storage bottle and spray actuator structure
Become, the actuator of described spray also can be driven by intermittent type mechanical mechanism by spray motor execution.Described control module
For controlling motor, cleanout fluid spraying mechanism execution power source and second camera module.Described control module adopts
Arduino Romeo controller, Arduino Romeo controller two-way PWM exports, control the rotating forward of motor, reversion and
Speed governing, supports half-duplex wireless telecommunications serial ports, man-machine real-time communication.
In conjunction with specific embodiments, when the pipe robot for gun tube cleaning enters gun tube 4 inside, described spiral driving
Execution 5 under the effect of described compression spring, described motion retainer 6 under described retainer compression spring acts on, non-convention
It is fitted in thinking on gun tube inwall 4, in the presence of motor 5-1, can advance, retreat, speed governing, be also adapted to and big gun simultaneously
The operating mode of the internal reducing of cylinder.
Claims (3)
1. a kind of spiral driving structure of gun tube pipeline cleaning robot, described spiral driving structure is by gripper shoe, driving
Motor, spiral driving execute head, motion retainer composition it is characterised in that described motor is pacified by motor fixing seat
It is contained in described gripper shoe, described spiral driving execution head is fixed on the output shaft of described motor, and in described drive
Rotate in the presence of galvanic electricity machine, described spiral driving execution head is by trisection flange disk, L-type drive wheel bracket, wheel group, pressure
Contracting spring is constituted, and described wheel group is rotatably fixed in L-type drive wheel bracket, and L-type drive wheel bracket described in three groups is along third
Point-score orchid disk radial direction can be slidably mounted on described trisection flange disk, described L-type drive wheel bracket and described three
It is provided with compression spring, described motion retainer is fixed on the rear of described gripper shoe, described motion between decile flange disk
Retainer is by the first disk, the second disk, fixing support bar, front support guide wheel mechanism, rear support guide wheel mechanism and retainer pressure
Contracting spring is constituted, and is fixed with three described fixing support bars, described front support is led in the middle of described first disk, described second disk
Wheel mechanism is sleeved on the front end of described fixing support bar, after described rear support guide wheel mechanism is sleeved on described fixing support bar
End, is provided with described retainer compression spring between described front support guide wheel mechanism, rear support guide wheel mechanism, to ensure front support
Guide wheel mechanism, rear support guide wheel mechanism are in open configuration.
2. gun tube pipeline cleaning robot as claimed in claim 1 spiral driving structure it is characterised in that：Described wheel group
Rotatably it is fixed in L-type drive wheel bracket, described wheel group is made up of the first driving wheel, the second driving wheel, is passed through by wheel shaft
Described L-type drive wheel bracket both sides are respectively fixed with the first driving wheel, the second driving wheel, the arrangement side of the axis of described wheel shaft
To, non-parallel with described trisection flange disc centre axis, there is angle of inclination, and when angle of inclination is 8 °, wheel group drives
The friction effect of power is optimal.
3. gun tube pipeline cleaning robot as claimed in claim 1 spiral driving structure it is characterised in that：Described front
Support guide wheel mechanism is made up of the first slide block, the second slide block, first connecting rod, second connecting rod, front jocket wheel group, described first slide block, institute
State the second slide block can slide anteroposterior be sleeved on described fixing support bar, described first connecting rod one end is cut with scissors with described first slide block
Connect, the described first connecting rod other end is hinged with one end of described second connecting rod, the described second connecting rod other end is sliding with described second
Block is hinged, and rotatably mounted on described first connecting rod hinged central shaft with described second connecting rod have front jocket wheel group；Prop up after described
Support guide wheel mechanism is made up of the 3rd slide block, Four-slider, third connecting rod, fourth link, rear guide wheel group, described 3rd slide block, institute
State Four-slider can slide anteroposterior be sleeved on described fixing support bar, described third connecting rod one end is cut with scissors with described 3rd slide block
Connect, the described third connecting rod other end is hinged with one end of described fourth link, the described fourth link other end is sliding with the described 4th
Block is hinged, on the hinged central shaft of described third connecting rod and described fourth link rotatably mounted have after guide wheel group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620386360.4U CN205957798U (en) | 2016-04-29 | 2016-04-29 | Barrel pipe cleaning robot's spiral drive structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620386360.4U CN205957798U (en) | 2016-04-29 | 2016-04-29 | Barrel pipe cleaning robot's spiral drive structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205957798U true CN205957798U (en) | 2017-02-15 |
Family
ID=57966821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620386360.4U Expired - Fee Related CN205957798U (en) | 2016-04-29 | 2016-04-29 | Barrel pipe cleaning robot's spiral drive structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205957798U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107520203A (en) * | 2017-08-24 | 2017-12-29 | 牡丹江师范学院 | A kind of construction staving cleaning device |
| CN109555933A (en) * | 2019-01-28 | 2019-04-02 | 江苏科技大学 | A kind of spiral inner wall sweeping robot |
-
2016
- 2016-04-29 CN CN201620386360.4U patent/CN205957798U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107520203A (en) * | 2017-08-24 | 2017-12-29 | 牡丹江师范学院 | A kind of construction staving cleaning device |
| CN107520203B (en) * | 2017-08-24 | 2018-08-21 | 牡丹江师范学院 | A kind of construction staving cleaning device |
| CN109555933A (en) * | 2019-01-28 | 2019-04-02 | 江苏科技大学 | A kind of spiral inner wall sweeping robot |
| CN109555933B (en) * | 2019-01-28 | 2021-04-23 | 江苏科技大学 | Spiral inner wall cleaning robot |
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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: 20170215 Termination date: 20180429 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |