CN206290904U - A kind of umbrella shape driving wheel structure - Google Patents
A kind of umbrella shape driving wheel structure Download PDFInfo
- Publication number
- CN206290904U CN206290904U CN201620594768.0U CN201620594768U CN206290904U CN 206290904 U CN206290904 U CN 206290904U CN 201620594768 U CN201620594768 U CN 201620594768U CN 206290904 U CN206290904 U CN 206290904U
- Authority
- CN
- China
- Prior art keywords
- driving wheel
- sliding block
- upper frame
- tensioning
- support arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model is related to pipe robot, in particular for a kind of umbrella shape driving wheel structure of pipe robot.It is a umbrella folding structure, including tensioning spring, tensioning sliding block, beveled structure upper frame, master arm, secondary support arm, driving wheel and wheel carrier；The beveled structure upper frame is the body of whole driving wheel structure；Master arm one end is connected with beveled structure upper frame, the other end suspension driving wheel and wheel carrier structure；And the stage casing of master arm, it is connected with secondary support arm, the other end of secondary support arm is connected with tensioning sliding block；Tensioning sliding block can be slided on beveled structure upper frame, and tensioning spring is provided between tensioning sliding block and beveled structure upper frame.When sliding block is moved, tensioning spring can give sliding block appropriate restoring force, so that the further drive pair support arm of meeting promotes master arm, driving wheel and the enough tensile forces of wheel carrier be given with this.
Description
Technical field
The utility model is related to pipe robot, in particular for a kind of umbrella shape driving wheel structure of pipe robot.
Background technology
Due to pipe robot, the screw type pipeline machine of vertical pipe and horizontal pipe particularly can be simultaneously adapted to
People, at present also in research and development stage, few cases for having carried out commercial Application.Therefore in actual application
Fault rescue is also seldom accounted for, and carries out targeted design.
At present, in the design of pipe inner-spiral type robot, for the electric adjusting mechanism adjusted to inside pipe wall normal pressure,
To a certain extent, the function of facilitating robot fault to rescue is completed.Because it belongs to motor drive mechanism, i.e.,：Using electric adjustable
Whole mode, driving wheel structure is withdrawn to robot body direction, is thoroughly solved with this in artificial distraction procedure for driving
The friction damage of wheel construction.But it is motor drive mechanism, it is therefore desirable to have driver, power supply unit etc., structure is more complicated, no
Suitable for the use of small-bore pipeline screw machines people.The space allowable of motor drive mechanism meeting extrusion press human body.
Utility model content
The purpose of this utility model is to propose that one kind overcomes existing motor drive mechanism, is not suitable for Small Diameter Pipe Inspection Robot
Use problem so that driving wheel structure there are enough normal pressures to tube wall to provide the power of stabilization in proper motion；In people
During for rescue, normal pressure, frictional force, convenient rescue lifting, the umbrella shape driving wheel of the two existence switching are reduced as far as possible
Structure.
Concrete technical scheme of the present utility model is：
A kind of umbrella shape driving wheel structure, is a umbrella folding structure, including tensioning spring, tensioning sliding block, beveled structure top
Frame, master arm, secondary support arm, driving wheel and wheel carrier；The beveled structure upper frame is the body of whole driving wheel structure；It is main
Support arm one end is connected with beveled structure upper frame, the other end suspension driving wheel and wheel carrier structure；And the stage casing of master arm, with pair
Support arm is connected, and the other end of secondary support arm is connected with tensioning sliding block；Tensioning sliding block can be slided on beveled structure upper frame,
Tensioning spring is provided between tensioning sliding block and beveled structure upper frame.When sliding block is moved, tensioning spring can be returned to sliding block is appropriate
Multiple power, so that the further drive pair support arm of meeting promotes master arm, driving wheel and the enough tensile forces of wheel carrier is given with this.
Further, it is riveting that described master arm one end is connected with beveled structure upper frame.
Further, the stage casing of the master arm, it is riveting to be connected with secondary support arm.
Further, the master arm is the master arm of parallelogram sturcutre.
Further, the utility model provides a kind of umbrella shape driving wheel structure answering as robot electric governor motion
With.
Above-mentioned robot is pipe robot, especially pipe inner-spiral type robot.
Pipe inner-spiral type robot, mainly by radially wheel（Driving wheel）Rotation give equipment with axial force, it is ensured that
Equipment can be in pipeline（Even in vertical pipeline）Some position stabilization shut down, and can be given in motion process
Necessary power.It is difficult in use by artificially acting come moving machine just because of in-pipe robot so, is had led to
Device people.But Practical Project after robot have failed in pipe when using, must be rescued, and artificially implement pipe
Pipe robot is exactly lifted out pipeline by the mode of inner machine people rescue completely.The demand of the axial force of this demand and stabilization
Run counter to, and umbrella shape driving wheel structure just can be by meeting the two demands.
Due to the artificial direction for pulling failed machines people be it is unique, i.e.,：Near the direction of entrance.Therefore it may only be necessary to protect
During robot body is pulled, the axial force that driving wheel gives robot can reduce card, it becomes possible to spiral shell in convenient pipe
The fault rescue of rotating robot.And umbrella shape driving structure, exactly just there is directionality.It is artificial upwards when being carried out to beveled structure
The process of lifting, can the hesitate effect of frictional force of the structure is inwardly drawn in, so as to reduce malleation of the driving wheel for tube cavity wall
Power further reduces frictional force.Such stress variation tendency so that whole umbrella shape driving wheel can simultaneously meet normal fortune
For the tensioning demand of tube wall when dynamic, while also disclosure satisfy that the demand of the artificial traction of fault rescue.
Brief description of the drawings
The three-dimensional plan view of Fig. 1 umbrella shape driving wheel structures.
Fig. 2 umbrella shape driving wheel structure tension calculation models.
Wherein, 1- tensioning springs, 2- beveled structures upper frame, 3- master arms, 4- pairs support arm, 5- tensionings sliding block, 6- drive
Driving wheel and wheel carrier.
Specific embodiment
A kind of umbrella shape driving wheel structure, is a umbrella folding structure, including tensioning spring, tensioning sliding block, beveled structure top
Frame, master arm, secondary support arm, driving wheel and wheel carrier；The beveled structure upper frame is the body of whole driving wheel structure；It is main
Support arm one end rivets with beveled structure upper frame, the other end suspension driving wheel and wheel carrier structure；And the stage casing of master arm, with pair
Support arm is riveted, and the other end of secondary support arm is connected with tensioning sliding block；Tensioning sliding block can be slided on beveled structure upper frame,
Tensioning spring is provided between tensioning sliding block and beveled structure upper frame.When sliding block is moved, tensioning spring can be returned to sliding block is appropriate
Multiple power, so that the further drive pair support arm of meeting promotes master arm, driving wheel and the enough tensile forces of wheel carrier is given with this.Institute
State the master arm that master arm is parallelogram sturcutre.
1. umbrella shape driving wheel structure
The utility model umbrella shape driving wheel structure, be one kind similar to umbrella folding structure, and to inner cavity of pipe have
The mechanical structure of tight ability.As shown in figure 1, it is main by tensioning spring 1, tensioning sliding block 5, beveled structure upper frame 2, master arm 3,
The part such as secondary support arm 4, driving wheel and wheel carrier 6 is constituted.Its progress pattern is that tensile force is applied to tensioning sliding block by tensioning spring；
Tensioning sliding block allows secondary support arm to promote master arm to be displaced outwardly by changing the position being hinged with secondary support arm；Master arm
Drive driving wheel and wheel carrier to be outwards tensioned, the support for inner cavity of pipe wall is completed with this.
Such as Fig. 2, " umbrella shape driving wheel " structure can for the quantitative relationship by tensioning spring power and the tensile force of inner-walls of duct
To be calculated in the following manner：
Assuming that：The stiffness factor of known tensioning spring is KN/m, and the change of spring turns to Lmin by Lmax changes, then directly
Can be in the hope of：F=K（Lmax-Lmin）, and because：N groups pair support arm is fixed with tensioning sliding block, therefore knot is supported to single group
The tensile force of structure is F/n；
The analysis in direction is supported by last position for secondary support arm, we can by tensile force Fn be decomposed into Fx and
Fy, and by non-concurrent force equilibrium principle, it is known that Fx is master arm drives driving wheel and wheel carrier for inner cavity of pipe
Normal pressure, i.e. tensile force.As can be seen here, tensile force can be tried to achieve quantitatively in specific pipe, and by for secondary support arm
The design of last locality, can improve the service efficiency of tensile force.
1. the parallelogram sturcutre design of umbrella shape driving wheel master arm
In the design of master arm structure, because it is joined directly together with driving wheel and wheel carrier, and by then passing through swing
Its angle adjusts total for the tensile force of inner-walls of duct, thus adjustment process can influence driving wheel and wheel carrier for
The tensioning force direction of inner cavity of pipe.If driving wheel direction is not exclusively located at pipeline radially, it is easy to cause the list of driving wheel structure
Lateral wearing.Artificial priming during fault rescue is more prone to cause the damage of driving structure.
Therefore for this demand, master arm of the design with parallelogram sturcutre.Using the structure of parallelogram
Characteristic, during the angle of two parallel edges changes, another two parallel edges are parallel all the time, i.e.,：The appearance of holding itself
State is constant.It is possible thereby to ensure under any circumstance, driving wheel and wheel carrier keep constant for the laminating attitude of inner cavity of pipe.
2. the fault rescue of in-pipe robot is facilitated, i.e.,：Driving wheel structure requirement has enough in proper motion to tube wall
Normal pressure with provide stabilization power；In artificial rescue, the convenient rescue lifting of normal pressure is reduced as far as possible.
As shown in Figure 2, during umbrella shape driving wheel structure carries out artificial lifting rescue, driving wheel and wheel carrier can be subject to
The frictional force f consistent with Fy directions.The frictional force can help the tensioning spring in " umbrella shape driving wheel " structure further to shrink,
Tight sliding block rises.
Tensioning sliding block rises can cause the pin joint for being tensioned sliding block and secondary support arm to rise, and umbrella shape driving wheel structure shrinks,
Reduce radial direction normal pressure, facilitate artificial lifting, play a part of to accelerate accident rescue.
Claims (4)
1. a kind of umbrella shape driving wheel structure, it is characterised in that be a umbrella folding structure, including tensioning spring, tensioning sliding block, umbrella
Shape structure upper frame, master arm, secondary support arm, driving wheel and wheel carrier；The beveled structure upper frame is whole driving wheel structure
Body；Master arm one end is connected with beveled structure upper frame, the other end suspension driving wheel and wheel carrier structure；And in master arm
Section, is connected with secondary support arm, and the other end of secondary support arm is connected with tensioning sliding block；Tensioning sliding block can be in beveled structure upper frame
Upper slip, tensioning spring is provided between tensioning sliding block and beveled structure upper frame.
2. a kind of umbrella shape driving wheel structure according to claim 1, it is characterised in that described master arm one end and umbrella shape
The connection of structure upper frame is riveting.
3. a kind of umbrella shape driving wheel structure according to claim 1, it is characterised in that the stage casing of the master arm, with
Secondary support arm connection is riveting.
4. a kind of umbrella shape driving wheel structure according to claim 1, it is characterised in that the master arm is parallel four side
The master arm of shape structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620594768.0U CN206290904U (en) | 2016-06-18 | 2016-06-18 | A kind of umbrella shape driving wheel structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620594768.0U CN206290904U (en) | 2016-06-18 | 2016-06-18 | A kind of umbrella shape driving wheel structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206290904U true CN206290904U (en) | 2017-06-30 |
Family
ID=59095742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620594768.0U Expired - Fee Related CN206290904U (en) | 2016-06-18 | 2016-06-18 | A kind of umbrella shape driving wheel structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206290904U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106224689A (en) * | 2016-06-18 | 2016-12-14 | 上海西派埃自动化仪表工程有限责任公司 | A kind of umbrella shape driving wheel structure and application thereof |
| CN107600199A (en) * | 2017-10-18 | 2018-01-19 | 西安科技大学 | A kind of wheel-track combined drilling rescue and detection robot of leg |
-
2016
- 2016-06-18 CN CN201620594768.0U patent/CN206290904U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106224689A (en) * | 2016-06-18 | 2016-12-14 | 上海西派埃自动化仪表工程有限责任公司 | A kind of umbrella shape driving wheel structure and application thereof |
| CN106224689B (en) * | 2016-06-18 | 2020-05-15 | 上海西派埃自动化仪表工程有限责任公司 | Umbrella-shaped driving wheel structure and application thereof |
| CN107600199A (en) * | 2017-10-18 | 2018-01-19 | 西安科技大学 | A kind of wheel-track combined drilling rescue and detection robot of leg |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206347203U (en) | Rolling wheel support disc | |
| CN206290904U (en) | A kind of umbrella shape driving wheel structure | |
| CN106924955A (en) | A kind of tennis service machine people of Omni-mobile and application method | |
| CN104890440B (en) | The quick demountor of wheel hub nuts | |
| CN109129518A (en) | A kind of air pressure driving rigid frame carrying rescue robot | |
| CN206862912U (en) | Tire checkup device | |
| CN108216418A (en) | A kind of multi-foot robot | |
| CN106224689A (en) | A kind of umbrella shape driving wheel structure and application thereof | |
| CN206825156U (en) | A kind of cardboard boxboard sanding apparatus | |
| CN104190009B (en) | Rail mounted high building rapidly descending escape device | |
| CN206654187U (en) | A kind of four limbs eight claw synchronization lifting undercarriage of multi-rotor unmanned aerial vehicle | |
| CN205739593U (en) | A kind of uncoiler automatically | |
| CN104913928B (en) | Drilling tool dismantles testing stand | |
| CN202029725U (en) | Automatically lifting pull handle | |
| CN207300617U (en) | Drilling machine for soft rock coring | |
| CN213259258U (en) | Portable dismouting equipment of yaw speed reducer | |
| CN205521429U (en) | Lion dance robot | |
| CN209207403U (en) | A kind of noodle machine flange dismounting device | |
| CN204941468U (en) | A kind of efficient direct-drive oil extractor | |
| CN206326467U (en) | A kind of doorframe robot automatically grinding device | |
| CN106863802B (en) | A kind of practical 3D printer based on Internet of Things | |
| CN106044249A (en) | Energy-saving type stacking mechanical arm | |
| CN207467850U (en) | A kind of diaphragm cutting machine blank body | |
| CN202753486U (en) | Paper bag handle rope knotting mechanism | |
| CN206293285U (en) | Transformer wire ring lapping machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170630 Termination date: 20210618 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |