CN207921587U - A kind of power car - Google Patents
A kind of power car Download PDFInfo
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- CN207921587U CN207921587U CN201721900431.9U CN201721900431U CN207921587U CN 207921587 U CN207921587 U CN 207921587U CN 201721900431 U CN201721900431 U CN 201721900431U CN 207921587 U CN207921587 U CN 207921587U
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Abstract
The utility model is related to a kind of power cars.The utility model vertically climbs maximum drawbar pull 80N along tube wall；Min. turning radius is more than 300mm in traveling pipeline;Most fast 5 ms/min of gait of march；Farthest distance of creeping is 600 meters；It is less than 5 millimeters by maximum weldering stream in pipeline.The technical solution adopted in the utility model includes connecting rod, stepper motor and camera, the stepper motor is set in stepper motor support cover, supporting rod is connected with by spring on the periphery of connecting rod, power wheel is provided on supporting rod, it is provided with glue coating wheel on stepper motor support cover, power car realizes movement in the duct by power wheel and glue coating wheel.
Description
Technical field
The utility model is related to a kind of power cars.
Background technology
Existing pipeline detection robot both domestic and external is varied, different according to power car type of drive and structure, can
It is divided into：Piston type, support wheel type, crawler type, creeping motion type, their main feature are as follows：
（1）Piston type：Using pipeline as cylinder body, pipe robot passes through work as piston for piston type pipeline robot
The pressure difference for filling in the both sides in cylinder body provides power, pipe robot is pushed to the small side of pressure, in order to ensure pressure side
The leakproofness of medium, pipe robot can only be pushed unidirectionally, and when long distance line detects, cylinder body volume is excessive, and speed control is tired
It is difficult.
（2）Support wheel type：Also known as tablet vehicle type drives wheel by motor, utilizes the reverse friction power of wheel and tube wall
Power is provided, leads that driving force is small, and climbing capacity is poor, can carry sensors property it is poor, but flexible movements, the speed of service can
Controlling is strong, and structure is relatively simple.It is usually used in the detection of big-diameter pipeline.
（3）Creeping motion type：By being analogous to insect and animal reptile fashion, creeping motion type pipe robot is handed over by constantly flexible
The fork transformation fulcrum of itself moves forward, and mobile speed is slow, and working efficiency is low, its advantage is that, leakproofness small with structure
It is good, it can realize microminiaturization, medical industry is using more.
（4）Crawler type：Also known as tank formula using motor-driven caterpillar tracks wheel, then drives crawler belt to rotate, complicated.With branch
Support it is wheeled compare, crawler belt and tube wall contact area are big, and driving force is big, and obstacle climbing ability is strong, good to the adaptability of pipeline environment, still
Elbow passability is poor, and speed is slow, structure miniaturization difficult to realize.
Utility model content
The utility model provides a kind of power car.
In order to solve the problems existing in the prior art, the technical solution of the utility model is：A kind of power car, feature exist
In：Including connecting rod, stepper motor, stepper motor support cover；
It is provided with bearing one, end ring one, bearing two, bearing rib in the outer circle of the connecting rod from right to left successively
Circle two, bearing three, end ring three and bearing four, one end end of the connecting rod are connected with jointing, bearing threeway
Jointing compression is crossed, jointing is locked with connecting rod by screw five, and the other end passes through screw 13 and stepper motor branch
The end set of support cover connection, stepper motor support cover has camera shooting headstock；
It is provided with stepper motor in stepper motor support cover, one end of the stepper motor is connected with transmission gear two,
It is covered with gear cover outside transmission gear two, gear cover is fixedly arranged in connecting rod, and transmission gear two is engaged with transmission gear three, transmission
Gear three is pressed in by screw eight in shaft, and bearing two is provided in connecting rod, and bearing two is compressed by shaft, passes through locking
Nut is locked, and the other end of the shaft is provided with transmission gear one, and transmission gear one is pressed in by screw six in shaft,
Transmission gear one is engaged with gear wheel；
The other end of stepper motor support cover is provided with camera shooting headstock, images and is provided on headstock and stepper motor support cover
Screw images to prevent from imaging headstock loosening in motion process and is provided with camera in headstock, stepper motor support cover
Circumference on be evenly arranged with several links, power car support wheel, the structure of power car support wheel are connected on link
Including wheel seat one, wheel shaft and glue coating wheel, the glue coating wheel is set to by wheel shaft on wheel seat one, and wheel seat one passes through axis and stepping
Link connection on motor support cover, is respectively arranged with torsional spring in two side axles of the wheel seat one, and the one of the torsional spring
End is embedded on stepper motor support cover, and the other end is stuck on wheel seat one；
The gear wheel it is provided circumferentially about there are three supporting rod, the shape of three supporting rods is " L " type, three supports
The curved end of bar is hinged by straight pin and gear wheel, and one end of three supporting rods is separately connected wheeled base two, the axis of wheel seat two
On be connected with power wheel, the axis of power wheel and the angle of stepper motor support cover axis are 10-45 °, 3 supporting rods it is another
End is connect with round tension spring, and round tension spring is set to the excircle of connecting rod.
There are six the link settings, and six links are divided to two groups to be uniformly arranged on stepper motor support cover.
Compared with prior art, as follows the advantages of the utility model：
1, the utility model vertically climbs maximum drawbar pull 80N along tube wall；
2, min. turning radius is more than 300mm in the utility model traveling pipeline;
3, most fast 5 ms/min of the gait of march of the utility model；
4, the utility model farthest creep distance be 600 meters；
5, the utility model is less than 5 millimeters by maximum weldering stream in pipeline.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the left view of Fig. 1；
Fig. 3 be Fig. 2-sectional view；
Fig. 4 is the stereogram of the utility model；
Fig. 5 is that stepper motor supports cover stereogram；
Fig. 6 is connecting rod stereogram；
Fig. 7 is gear wheel stereogram；
Fig. 8 is supporting rod stereogram；
Fig. 9 is two stereogram of wheel seat；
Figure 10 is gear cover stereogram.
Description of symbols：1. imaging headstock, 2. stepper motors support cover, 3. wheel seats one, 4. wheel shafts, 5. glue coating wheels, 6. screws
One, 7. screws two, 8. plain cushions one, 9. power wheels, 10. plain cushions two, 11. screws three, 12. wheel seats two, 13. straight pins, 14. supports
Bar, 15. round tension springs, 16. gear covers, 17. torsional springs, 18. screws four, 19. nuts, 20. cameras, 21. jointings, 22.
Screw five, 23. end rings one, 24. bearings one, 25. end rings two, 26. pinion gear covers, the transmission of 27. screws six, 28.
Gear one, 29. screws seven, 30. bearings two, 31. shafts, 32. locking nuts, 33. transmission gears three, 34. screws eight, 35. spiral shells
Follow closely nine, 36. stepper motors, 37. screws ten, 38. screws 11,39. transmission gears two, 40. irdomes, 41. screws 12,
42. screw 13,43. bearings three, 44. end rings three, 45. bearings four, 46. gear wheels, 47. bearings five, 48. connecting rods,
49. link.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
A kind of power car（Referring to Fig. 1-Figure 10）, including connecting rod 48, stepper motor 36, stepper motor support cover 2；
Referring to Fig. 6：The connecting rod is T-shape structure, in the outer circle of the lateral shaft of the connecting rod 48 successively from
A dextrad left side is provided with bearing 1, end ring 1, bearing 2 45, end ring 2 25, bearing 3 24, end ring 3 23
It is connected with jointing 21 with one end end of bearing 4 47, the connecting rod 48, bearing 3 47 is pressed by jointing 21
Tightly, jointing 21 is locked with connecting rod 48 by screw 5 22, and the other end passes through screw 13 and stepper motor support cover 2
The end set of connection, stepper motor support cover 2 has camera shooting headstock 1, is connected with by screw 7 29 in the connecting rod 48
Pinion gear cover 26, irdome 40 consolidate chain in connecting rod 48 with screw 12.
Referring to Fig. 5：Stepper motor 2 is that slotted column construction is opened in side, is uniformly arranged respectively on the outer wall of column construction
There are several links 49, two cyclic annular settings or multiple cyclic annular settings can be divided to.
Stepper motor 36 is provided in stepper motor support cover 2, stepper motor 36 is connected in stepping electricity by screw 10
On machine support cover 2, one end of the stepper motor 36 is connected with transmission gear 2 39, and gear is covered with outside transmission gear 2 39
Cover 16, gear cover 16 is fixedly arranged in connecting rod 48, and transmission gear 2 39 is engaged with transmission gear 3 33, and transmission gear 3 33 passes through
Screw 8 34 is pressed in shaft 31, and bearing 2 30 is provided in connecting rod 48, and bearing 2 30 is compressed by shaft 31, passes through lock
Tight nut 32 is locked, and the other end of the shaft 31 is provided with transmission gear 1, and transmission gear 1 passes through screw 6 27
It is pressed in shaft 31, transmission gear 1 is engaged with gear wheel 46, and other end engaging lug and the supporting rod 14 of gear wheel 46 are cut with scissors
It connects（Referring to Fig. 7）；
38 screws are used for fixing 39 transmission gears 2, and 39 transmission gears 2 is made to be fixed on the transmission shaft of 36 motors.
The other end of stepper motor support cover 2 is provided with camera shooting headstock 1, images and is set on headstock 1 and stepper motor support cover 2
Screw 35 is equipped with to prevent from imaging the loosening of headstock 1 in motion process, images in headstock 1 and is provided with camera 20, the stepping
It is evenly arranged with several links 49 on the circumference of motor support cover 2, power car support wheel, power are connected on link 49
The structure of vehicle support wheel includes wheel seat 1, wheel shaft 4 and glue coating wheel 5, and the glue coating wheel 5 is set to wheel seat 1 by wheel shaft 4
On, wheel seat 1 is connect by axis with the link on stepper motor support cover 2, is set respectively in two side axles of the wheel seat 1
It is equipped with torsional spring 17, one end of the torsional spring 17 is embedded on stepper motor support cover 2, and the other end is stuck on wheel seat 1；
17 endoporus of torsional spring is through on the axis of screw 18, is made 17 end face of torsional spring against the outside with wheel seat 1 with nut 19, is turned round
One end that spring is 17 is embedded on stepper motor support cover 2, and the other end is stuck on wheel seat 3；
The gear wheel 46 it is provided circumferentially about there are three supporting rod 14, the shapes of three supporting rods 14 is " L " type, three
The curved end of a supporting rod 14 is hinged by the engaging lug of straight pin 13 and gear wheel 46, and there are three wheels for dress on three supporting rods 14
Seat 2 12, wheel seat 2 12 is connected to by screw 27 and plain cushion 1 on supporting rod 14, is connected on the axis of wheel seat 2 12 dynamic
Wheel 9, power wheel 9 is fixed on by plain cushion 2 10 and screw 3 11 in 2 12 axial end of wheel seat, axis and the stepping electricity of power wheel 9
The angle of machine support 2 axis of cover is 10-45 °, and the other end of 3 supporting rods 14 is connect with round tension spring 15, and round tension spring 15 is set
It is placed in the excircle of connecting rod 48.
There are six the settings of link 49, and six links are divided to two groups to be uniformly arranged on stepper motor support cover 2.
The course of work of the utility model：
When the main axis of stepper motor 36, band nutating gear 39 rotates, transmission gear 39 and transmission gear 3 33
Engagement, band nutating gear 1 rotate, and transmission gear 1 is engaged with gear wheel 46, and supporting rod is hinged on gear wheel 46
14, wheel seat 2 12 is integrally attached to the composition of power wheel 9 in support 14, axis and stepper motor support 2 axis of cover of power wheel 9
Structure has angle 0~45 °, and 9 power wheel of power wheel is pre-tightened using spring 15, when gear wheel 46 rotate, by power wheel 9 and
Frictional drive between tube wall is converted into the screw along inner wall of the pipe, to realize the axial movement of power car.
The above, the only preferred embodiment of the utility model, are not intended to limit the protection of the utility model
Range, the equivalent structure variation that every specification and accompanying drawing content using the utility model is done should be included in practical new
In the scope of patent protection of type.
Claims (2)
1. a kind of power car, it is characterised in that：Including connecting rod（48）, stepper motor（36）, stepper motor support cover（2）；
The connecting rod（48）Outer circle on be provided with bearing one from right to left successively（24）, end ring one（44）, bearing
Two（45）, end ring two（25）, bearing three（43）, end ring three（23）With bearing four（47）, the connecting rod（48）
One end end be connected with jointing（21）, bearing three（43）Pass through jointing（21）It compresses, jointing（21）With company
Extension bar（48）Pass through screw five（22）Locking, the other end pass through screw 13（42）It supports and covers with stepper motor（2）Connection, stepping
Motor support cover（2）End set have camera shooting headstock（1）；
Stepper motor support cover（2）Inside it is provided with stepper motor（36）, the stepper motor（36）One end be connected with transmission
Gear two（39）, transmission gear two（39）It is covered with gear cover outside（16）, gear cover（16）It is fixedly arranged on connecting rod（48）On, transmission
Gear two（39）With transmission gear three（33）Engagement, transmission gear three（33）Pass through screw eight（34）It is pressed in shaft（31）On,
Connecting rod（48）On be provided with bearing two（45）, bearing two（45）Pass through shaft（31）It compresses, passes through locking nut（32）It is locked,
The shaft（31）The other end be provided with transmission gear one（28）, transmission gear one（28）Pass through screw six（27）It is pressed in
Shaft（31）On, transmission gear one（28）With gear wheel（46）Engagement；
Stepper motor support cover（2）The other end be provided with camera shooting headstock（1）, image headstock（1）It supports and covers with stepper motor（2）
On be provided with screw（35）To prevent from imaging headstock in motion process（1）It loosens, images headstock（1）Inside it is provided with camera
（20）, the stepper motor, which supports, to be covered（2）Circumference on be evenly arranged with several links, connected on link dynamic
The structure of vehicle support wheel, power car support wheel includes wheel seat one（3）, wheel shaft（4）And glue coating wheel（5）, the glue coating wheel（5）It is logical
Cross wheel shaft（4）It is set to wheel seat one（3）On, wheel seat one（3）It is covered by axis and stepper motor support（2）On link connection,
The wheel seat one（3）Two side axles on be respectively arranged with torsional spring（17）, the torsional spring（17）One end be embedded at stepping electricity
Machine support cover（2）On, the other end is stuck in wheel seat one（3）On；
The gear wheel（46）It is provided circumferentially about there are three supporting rod（14）, three supporting rods（14）Shape be " L " type,
Three supporting rods（14）Curved end pass through straight pin（13）With gear wheel（46）It is hinged, three supporting rods（14）One end difference
Connect wheeled base two（12）, wheel seat two（12）Axis on be connected with power wheel（9）, power wheel（9）Axis and stepper motor branch
Support cover（2）The angle of axis is 10-45 °, 3 supporting rods（14）The other end and round tension spring（15）Connection, round tension spring
（15）It is set to connecting rod（48）Excircle.
2. a kind of power car according to claim 1, it is characterised in that：The link（49）There are six settings, and six
A link is divided to two groups to be uniformly arranged on stepper motor support cover（2）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721900431.9U CN207921587U (en) | 2017-12-29 | 2017-12-29 | A kind of power car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721900431.9U CN207921587U (en) | 2017-12-29 | 2017-12-29 | A kind of power car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207921587U true CN207921587U (en) | 2018-09-28 |
Family
ID=63615764
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721900431.9U Active CN207921587U (en) | 2017-12-29 | 2017-12-29 | A kind of power car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207921587U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111998788A (en) * | 2020-07-08 | 2020-11-27 | 温州先临左岸工业设计有限公司 | Auxiliary tool for three-dimensional scanning and surveying and mapping of inner cavity of component |
| CN112483766A (en) * | 2021-01-11 | 2021-03-12 | 浙江省特种设备科学研究院 | Automatic detect crawler in flexible wheeled pipeline |
-
2017
- 2017-12-29 CN CN201721900431.9U patent/CN207921587U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111998788A (en) * | 2020-07-08 | 2020-11-27 | 温州先临左岸工业设计有限公司 | Auxiliary tool for three-dimensional scanning and surveying and mapping of inner cavity of component |
| CN112483766A (en) * | 2021-01-11 | 2021-03-12 | 浙江省特种设备科学研究院 | Automatic detect crawler in flexible wheeled pipeline |
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