CN209977571U - Spiral driving mechanism for pipeline robot - Google Patents

Abstract

A screw driving mechanism for a pipeline robot comprises a driving body and a holding body; the driving body is composed of a driving body body, a supporting wheel frame and a driving wheel; the holding body is composed of a supporting wheel frame, a driving wheel, a motor and The holding body is composed of a body; the holding body and the driving body are connected by a coupling. The utility model improves the shortcomings of few supporting surfaces and low efficiency of the screw drive, improves the walking efficiency and bending ability of the pipeline robot, simplifies the mechanism structure, makes the control convenient and simple, and improves the working ability of the pipeline robot in a complex environment .

Description

A screw drive mechanism for pipeline robot

technical field

The utility model relates to a pipeline inspection and maintenance robot, in particular to a spiral-driven pipeline robot, which is used in industrial production.

Background technique

At present, with the rapid development of the pipeline business, the problem of internal inspection and cleaning of the pipeline is becoming more and more obvious. The inner wall of the transportation pipeline is prone to aging, cracks, cracks, foreign matter adhesion and other problems. However, the internal environment of the pipeline is complex, and it is difficult for people to pass through various small and medium-sized pipelines. The traditional method of relying on manual inspection is not only inefficient but also difficult, which has caused great obstacles to the maintenance and inspection of the pipeline. Due to the development of the city, a large amount of domestic debris or construction waste is mixed in the sewage pipelines, especially in the sewage, which accelerates the occurrence of sedimentation and siltation, which can easily cause people's lives and property losses, and bring trouble to people's lives and social economy. Therefore, there is an urgent need for a pipeline robot that can enter a small and medium-sized pipeline with complex internal environment and has the function of cleaning the inner wall of the pipeline.

The driving methods of pipeline robots at home and abroad are roughly as follows: piston moving method, rolling moving method, crawler moving method, foot moving method, creeping moving method and screw propulsion method.

Among them, the piston mobile type has poor obstacle surmounting ability and turning ability; the roller mobile type is fast and easy to turn, but has a large volume and a complex structure; the crawler mobile type has large adhesion, traction and obstacle surmounting ability, but is large in size and complex in structure Easy to roll over; the foot-leg mobile type has great adhesion, traction and obstacle-surmounting ability, but the moving speed is slow and the control is complicated; the peristaltic mobile type is suitable for small pipe diameters and has strong obstacle-surmounting ability, but the moving speed is slow and the control is complicated; The spiral mobile type can walk in the vertical pipeline, which is easy to control and consumes less energy, but the moving speed is slow.

The scope of application of these pipeline robot driving methods has certain limitations.

Utility model content

The purpose of the utility model is to provide a driving mechanism capable of adapting to the pipe in a horizontal or curved reducing pipe.

In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme.

A screw driving mechanism for a pipeline robot according to the utility model comprises a driving body and a holding body.

The driving body is composed of a driving body body, a supporting wheel frame and a driving wheel; the driving body body is fixedly connected with the coupling; the supporting wheel frames are divided into two groups, each group of three, a total of six, and the same group The axes of the three adjacent supporting wheel frames are located on the same plane, and the angle between the two axes is 120 degrees, which are fixed on the body of the driving body, and the other ends of the supporting wheel frames are respectively fixed with driving wheels.

The holding body is composed of a supporting wheel frame, a driving wheel, a motor and a holding body body; the motor is fixedly connected with the coupling; the holding body body is fixedly connected with the coupling; the supporting wheel frame is divided into two groups, each group Three, a total of six, and the same group is fixed on the holder body at 120 degrees between the same plane perpendicular to the axis and adjacent to the supporting wheel frames, and the other ends of the supporting wheel frames are respectively fixed with driving wheels.

The holding body and the driving body are connected by a coupling. The rotation of the motor drives the body of the driving body to rotate, the driving wheels on the holding body are parallel to the axis of the body, and the six driving wheels on the driving body are distributed on the same spiral line, each of which forms three spiral lines. , relying on the helical driving force generated by the driving wheel on the driving body to push the driving body and the holding body forward.

The forward helix angle of the pipeline robot is 27.3 degrees.

The coupling of the pipeline robot is a universal coupling.

The motor of the pipeline robot is a geared motor.

The utility model improves the shortcomings of few supporting surfaces and low efficiency of the screw drive, improves the walking efficiency and bending ability of the pipeline robot, simplifies the mechanism structure, makes the control convenient and simple, and improves the working ability of the pipeline robot in a complex environment .

Description of drawings

FIG. 1 is a schematic structural diagram of the device according to the present invention.

FIG. 2 is a schematic diagram of the screw driving mode according to the utility model.

In the figure: 1 is the driving body, 2 is the supporting wheel frame, 3 is the driving wheel, 4 is the coupling, 5 is the motor, and 6 is the holding body.

Detailed ways

The present utility model will be further described below in conjunction with the accompanying drawings.

As shown in the accompanying drawings, the utility model provides a screw driving mechanism of a pipeline robot, which includes a driving body and a holding body. The driving body is composed of a driving body 1, a supporting wheel frame 2 and a driving wheel 3: the driving body 1 of the pipeline robot is fixedly connected with the coupling 4; the six driving wheels 3 and the six supporting wheel frames 2 are respectively fixed connected, and the angle between the adjacent supporting wheel frames 2 on the same plane is 120 degrees. The holding body is composed of a supporting wheel frame 2, a driving wheel 3, a motor 5 and a holding body 1: the motor 5 is fixedly connected with the coupling 4; the pipeline robot driving body 1 is fixedly connected with the coupling 4; the six The one driving wheel 3 is fixedly connected to the six supporting wheel frames 2 respectively, and the angle between the adjacent supporting wheel frames 2 on the same plane is 120 degrees. A coupling 4 is used to connect the holding body and the driving body.

As shown in the attached drawings, the above-mentioned spiral driving mechanism suitable for a pipeline robot is to directly describe the spiral trajectory on the surface of the driving body 1, and the driving wheels 3 located in different cross-sections are sequentially arranged in the driving on the helix on the surface of the body fuselage 1 . When the motor 5 rotates, the driving body 1 is driven to rotate, so that the screw driving force generated by the driving wheel 3 pushes the robot to advance inside the pipeline. This design ensures that the robot body has multiple support sections, thereby improving its reliability and stability inside the pipeline.

When the robot travels in an environment with silt and dirt, the improved drive mode has developed a helical trajectory on the tube wall because the drive wheel located in the first section, and the drive wheel of the other section only needs to follow the existing The trajectories can be advanced sequentially. The improved drive method is more labor-saving and more efficient.

Claims (1)

1. A spiral driving mechanism for a pipeline robot is characterized by comprising a driving body and a holding body;

the driving body consists of a driving body, a supporting wheel carrier and a driving wheel; the driving body is fixedly connected with the coupler; the supporting wheel frames are divided into two groups, each group comprises three supporting wheel frames, the axes of the three adjacent supporting wheel frames in the same group are positioned on the same plane, the included angle between every two axes is 120 degrees, and the supporting wheel frames are fixed on the driving body;

the holding body consists of a supporting wheel frame, a driving wheel, a motor and a holding body; the motor is fixedly connected with the coupler; the body of the holding body is fixedly connected with the coupler; the supporting wheel frames are divided into two groups, each group comprises three supporting wheel frames, and the same group is fixed on the body of the holding body at an angle of 120 degrees on the same plane vertical to the axis and between the adjacent supporting wheel frames;

the other end of the supporting wheel frame is respectively fixed with a driving wheel;

the holding body is connected with the driving body through a coupler; the motor rotates to drive the body of the driving body to rotate, the driving wheels on the maintaining body are parallel to the axis of the body, every two driving wheels at the front and the back of the six driving wheels on the driving body are distributed on the same spiral line, the six driving wheels form three spiral lines, and the driving body and the maintaining body are pushed to advance by the spiral driving force generated by the driving wheels on the driving body;

the advancing helical angle of the pipeline robot is 27.3 degrees; the coupling of the pipeline robot is a universal coupling; the motor of the pipeline robot is a speed reduction motor.

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