CN210462156U - Composite walking mechanism of water drainage pipeline robot - Google Patents
Composite walking mechanism of water drainage pipeline robot Download PDFInfo
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- CN210462156U CN210462156U CN201921359985.1U CN201921359985U CN210462156U CN 210462156 U CN210462156 U CN 210462156U CN 201921359985 U CN201921359985 U CN 201921359985U CN 210462156 U CN210462156 U CN 210462156U
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Abstract
The utility model discloses a compound running gear of drain pipeline robot, including rotating two driving drum that set up on the support, all be provided with helical blade on two driving drum lateral walls, helical blade spiral opposite direction on two driving drum, one of them driving drum is left-handed helical cylinder, and another driving drum is right-handed helical cylinder, two driving drum parallel arrangement, and left-handed helical cylinder's both ends respectively are connected with a mecanum wheel levogyration wheel, and right-handed helical cylinder's both ends respectively are connected with a mecanum wheel dextrogyration wheel. Compound running gear be applicable to very much the drain pipe robot, when having water in the drainage pipe, the spiral cylinder passes through circumferential direction, impels the drain pipe robot forward, in no water pipe, turn into axial motion by mecanum wheel with driving roll's circumferential direction, impel the drain pipe robot forward.
Description
Technical Field
The utility model relates to a drain pipeline robot technical field specifically is a compound running gear of drain pipeline robot.
Background
In most drainage pipelines, the water level is high, so the pipeline robot needs to have the ability to walk in water. At present, the robot mainly has the following propulsion modes in water: the existing propulsion mode has certain limitations in size, structure, propulsion efficiency and stability. The spiral propulsion structure can walk in a severe underwater environment, is simple in structure, excellent in propulsion performance, high in size matching degree with a pipeline robot and good in stability, and therefore adopts a spiral propulsion mode in water.
The spiral roller is propelled forwards in water through circumferential rotation, but the spiral propulsion is difficult to walk in a waterless pipeline, so that the deficiency of the spiral propulsion must be compensated by adopting a composite walking mode. Need turn into axial motion with circumferential direction when anhydrous pipeline, if increase the reducing gear box, then can greatly increased running gear's overall size, be difficult to satisfy the pipeline to the requirement of robot size, consequently need a mechanism can directly turn into axial motion with circumferential motion.
Disclosure of Invention
The utility model aims at providing a compound running gear of drain pipe robot.
In order to solve the above problems, the utility model adopts the following technical proposal:
the utility model provides a compound running gear of drain pipeline robot, including rotating two driving roller that set up on the support, all be provided with helical blade on two driving roller lateral walls, helical blade spiral opposite direction on two driving roller, one of them driving roller is left-handed helical cylinder, another driving roller is right-handed helical cylinder, two driving roller parallel arrangement, the both ends of left-handed helical cylinder respectively are connected with a mecanum wheel levogyration wheel, be mecanum wheel levogyration wheel one and mecanum wheel levogyration wheel two respectively, the both ends of right-handed helical cylinder respectively are connected with a mecanum wheel dextrogyration wheel, be mecanum wheel dextrogyration wheel one and mecanum wheel dextrogyration wheel two respectively.
Furthermore, the left-handed helical drum comprises a helical outer drum and a driving body arranged in the helical outer drum, the helical outer drum is of a cylindrical structure, and helical blades are fixedly arranged on the peripheral surface of the helical outer drum along the length direction of the helical outer drum; the driving body comprises an inner cylinder arranged in the spiral outer cylinder and a motor arranged in the inner cylinder, a left rotating hub is sleeved on an output shaft of the motor through a thrust ball bearing, and the peripheral surface of the left rotating hub is fixedly connected with the inner wall of the spiral outer cylinder; the other end of the inner cylinder, which is different from the left rotary hub, is connected with a stainless steel shaft connecting shaft, the right rotary hub is sleeved on the stainless steel shaft connecting shaft through a thrust ball bearing II and a deep groove ball bearing, and the outer peripheral surface of the right rotary hub is fixedly connected with the inner wall of the spiral outer cylinder.
The motor drives the left-handed rotating hub to rotate, a first Mecanum wheel left-handed rotating hub is fixedly connected to the left-handed rotating hub, the left-handed rotating hub drives the first Mecanum wheel left-handed rotating hub to rotate, the left-handed rotating hub is connected with the spiral outer barrel through threads, the spiral outer barrel rotates together with the left-handed rotating hub at the moment, the right-handed rotating hub is also connected with the spiral roller through threads, the spiral roller rotates to drive the right-handed rotating hub to rotate together, a second Mecanum wheel left-handed rotating hub is fixedly connected to the right-handed rotating hub, and the second Mecanum wheel left-handed rotating hub is driven to rotate together.
Preferably, the height of the helical blade is 17.5mm, the helical angle is 45 degrees, and the end surface of the helical blade is contoured into a horizontal line at the top and arcs symmetrical on two sides. The drum with the helical blade height h of 17.5mm and the helical angle of 45 degrees has the best acceleration effect on the circumferential direction of the water body.
Preferably, one end of the inner cylinder, which is provided with the left rotary hub, is provided with a flange plate, and the flange plate is fixedly connected with the inner wall of the inner cylinder through threads and used for fixing the motor.
Preferably, a circular ring gasket is sleeved on a stainless steel shaft connecting shaft between the second thrust ball bearing and the deep groove ball bearing, one end face of the second thrust ball bearing is abutted against the end face of the inner cylinder, a skeleton seal is sleeved on the stainless steel shaft connecting shaft on one side, far away from the circular ring gasket, of the deep groove ball bearing, and the skeleton seal is arranged between the deep groove ball bearing and the right-handed rotating hub.
The first thrust ball bearing and the second thrust ball bearing are used for axial dynamic and static matching and bearing axial force, the deep groove ball bearing is used for radial dynamic and static matching and bearing radial force, the flange plate and the stainless steel shaft connecting shaft are connected with the outer cylinder of the motor through threads, the second thrust ball bearing, the deep groove ball bearing and the framework are installed on the stainless steel connecting shaft in a sealing mode, and the middle of the second thrust ball bearing and the deep groove ball bearing is separated through a ring gasket to prevent movement interference.
The technical effects of the utility model:
compound running gear be applicable to very much the drain pipe robot, when having water in the drainage pipe, the spiral cylinder passes through circumferential direction, impels the drain pipe robot forward, in no water pipe, turn into axial motion by mecanum wheel with driving roll's circumferential direction, impel the drain pipe robot forward.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 shows the internal structure of the drive roller.
Fig. 3 shows the structure of a helical blade.
Detailed Description
The following description will further describe embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1, a composite walking mechanism of a drainage pipeline robot comprises two driving rollers rotatably arranged on a support, wherein the outer side walls of the two driving rollers are respectively provided with a helical blade, the helical blade on the two driving rollers has opposite helical directions, one of the driving rollers is a left-handed helical roller 200, the other driving roller is a right-handed helical roller 500, the two driving rollers are arranged in parallel, two ends of the left-handed helical roller are respectively connected with a mecanum wheel left-handed wheel, respectively a mecanum wheel left-handed wheel one 100 and a mecanum wheel left-handed wheel two 300, two ends of the right-handed helical roller are respectively connected with a mecanum wheel right-handed wheel, respectively a mecanum wheel right-handed wheel one 400 and a mecanum wheel right-handed wheel two 600.
The left-handed helical drum and the right-handed helical drum have the same internal structure, and the difference lies in that the helical direction of helical blades is opposite, the helical direction of the helical blade of one left-handed helical drum is left-handed helix, and the helical direction of the helical blade of the right-handed helical drum is right-handed helix.
The internal structure of the drive roller will be described herein by taking a left-handed helical roller as an example.
As shown in fig. 2, the left-handed helical drum includes a helical outer cylinder 13 and a driving body disposed in the helical outer cylinder, the helical outer cylinder 13 is a cylindrical structure, and helical blades are fixedly disposed on the outer circumferential surface of the helical outer cylinder along the length direction thereof.
As shown in fig. 3, the helical blade is a continuous helix. The outer peripheral surface of the spiral roller shell is uneven and provided with a spiral groove and a spiral bulge, and the intersection line of the plane passing through the axis of the spiral roller shell and the outer peripheral surface of the shell is a sine curve; the helical blade is located on the protrusion. The height of the helical blade is 17.5mm, the helical angle is 45 degrees, and the end surface profile of the helical blade is a top horizontal line and two symmetrical arcs.
The driving body comprises an inner cylinder 3 arranged in the spiral outer cylinder and a motor 4 arranged in the inner cylinder, a left rotating hub 6 is sleeved on an output shaft of the motor through a first thrust ball bearing 12, and the peripheral surface of the left rotating hub is fixedly connected with the inner wall of the spiral outer cylinder; the other end of the inner cylinder, which is different from the left rotary hub, is connected with a stainless steel shaft connecting shaft 2, the right rotary hub 1 is sleeved on the stainless steel shaft connecting shaft through a second thrust ball bearing 14 and a deep groove ball bearing 15, and the outer peripheral surface of the right rotary hub 1 is fixedly connected with the inner wall of the spiral outer cylinder.
A circular ring gasket is sleeved on a stainless steel shaft connecting shaft between the second thrust ball bearing 14 and the deep groove ball bearing 15, one end face of the second thrust ball bearing 14 is abutted against the end face of the inner cylinder, a skeleton seal 16 is sleeved on the stainless steel shaft connecting shaft on one side, far away from the circular ring gasket, of the deep groove ball bearing 15, and a skeleton seal is arranged between the deep groove ball bearing and the right-handed rotating hub 1.
In this embodiment, the outer peripheral surface of the left rotary hub is connected to the inner wall of the spiral outer cylinder by a screw thread, or other sealing and fastening methods may be used.
And a flange 5 is arranged at one end of the left rotary hub in the inner cylinder, and the flange is fixedly connected with the inner wall of the inner cylinder 3 through threads and used for fixing the motor. The stainless steel shaft connecting shaft 2 is fixedly connected with the inner wall of the inner barrel 3 through threads and used for being sleeved with the right-handed rotating hub 1.
The motion principle is as follows: the left-handed rotating hub 6 is driven to rotate by the motor 4, a first Mecanum wheel left-handed rotating hub 100 is fixedly connected to the left-handed rotating hub 6, the left-handed rotating hub drives the first Mecanum wheel left-handed rotating hub to rotate, the left-handed rotating hub 6 is connected with the spiral outer barrel 13 through threads, the spiral outer barrel 13 rotates together with the left-handed rotating hub 6 at the moment, the right-handed rotating hub 1 is also connected with the spiral roller 13 through threads, the spiral roller 13 rotates to drive the right-handed rotating hub 1 to rotate together, a second Mecanum wheel left-handed rotating hub 300 is fixedly connected to the right-handed rotating hub 1 to drive the second Mecanum wheel left-handed rotating hub to rotate together. The first thrust ball bearing 12 and the second thrust ball bearing 14 are used for axial dynamic and static matching and bearing axial force, the deep groove ball bearing 15 is used for radial dynamic and static matching and bearing radial force, the flange 5 and the stainless steel shaft connecting shaft 2 are connected with the motor outer cylinder 3 through threads, the second thrust ball bearing 14, the deep groove ball bearing 15 and the framework seal 16 are installed on the stainless steel connecting shaft 2, and the second thrust ball bearing 14 and the deep groove ball bearing 15 are separated by a ring gasket to prevent movement interference.
While not specifically stated in the specification as being prior art or as being capable of implementation in any particular manner, it is to be understood that any modifications or variations may be resorted to as will be apparent to those skilled in the art, and that all such modifications or variations are intended to be encompassed by the scope of the invention as defined by the appended claims.
Claims (5)
1. The utility model provides a compound running gear of drain pipe robot which characterized in that: including rotating two driving roller that set up on the support, all be provided with helical blade on two driving roller lateral walls, helical blade spiral opposite direction on two driving roller, one of them driving roller is left-handed helical cylinder, another driving roller is right-handed helical cylinder, two driving roller parallel arrangement, left-handed helical cylinder's both ends respectively are connected with a mecanum wheel levogyration wheel, be mecanum wheel levogyration wheel one and mecanum wheel levogyration wheel two respectively, right-handed helical cylinder's both ends respectively are connected with a mecanum wheel dextrogyration wheel, be mecanum wheel dextrogyration wheel one and mecanum wheel dextrogyration wheel two respectively.
2. The composite traveling mechanism of a drainage pipeline robot of claim 1, characterized in that: the left-handed helical drum comprises a helical outer drum and a driving body arranged in the helical outer drum, the helical outer drum is of a cylindrical structure, and helical blades are fixedly arranged on the peripheral surface of the helical outer drum along the length direction of the helical outer drum; the driving body comprises an inner cylinder arranged in the spiral outer cylinder and a motor arranged in the inner cylinder, a left rotating hub is sleeved on an output shaft of the motor through a thrust ball bearing, and the peripheral surface of the left rotating hub is fixedly connected with the inner wall of the spiral outer cylinder; the other end of the inner cylinder, which is different from the left rotary hub, is connected with a stainless steel shaft connecting shaft, the right rotary hub is sleeved on the stainless steel shaft connecting shaft through a thrust ball bearing II and a deep groove ball bearing, and the outer peripheral surface of the right rotary hub is fixedly connected with the inner wall of the spiral outer cylinder.
3. The composite traveling mechanism of a drainage pipeline robot of claim 2, characterized in that: the height of the helical blade is 17.5mm, the helical angle is 45 degrees, and the end surface profile of the helical blade is a top horizontal line and two symmetrical arcs.
4. The composite traveling mechanism of a drainage pipeline robot of claim 2, characterized in that: and a flange plate is arranged at one end of the inner cylinder, which is provided with the left rotary hub, and the flange plate is fixedly connected with the inner wall of the inner cylinder through threads.
5. The composite traveling mechanism of a drainage pipeline robot of claim 3, characterized in that: the stainless steel shaft connecting shaft between the second thrust ball bearing and the deep groove ball bearing is sleeved with a circular ring gasket, one end face of the second thrust ball bearing is abutted against the end face of the inner cylinder, the stainless steel shaft connecting shaft on one side, away from the circular ring gasket, of the deep groove ball bearing is sleeved with a skeleton seal, and the skeleton seal is arranged between the deep groove ball bearing and the right-handed rotating hub.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921359985.1U CN210462156U (en) | 2019-08-21 | 2019-08-21 | Composite walking mechanism of water drainage pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921359985.1U CN210462156U (en) | 2019-08-21 | 2019-08-21 | Composite walking mechanism of water drainage pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210462156U true CN210462156U (en) | 2020-05-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921359985.1U Expired - Fee Related CN210462156U (en) | 2019-08-21 | 2019-08-21 | Composite walking mechanism of water drainage pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210462156U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113482142A (en) * | 2021-08-20 | 2021-10-08 | 许馨予 | Water conservancy desilting dredging equipment |
-
2019
- 2019-08-21 CN CN201921359985.1U patent/CN210462156U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113482142A (en) * | 2021-08-20 | 2021-10-08 | 许馨予 | Water conservancy desilting dredging equipment |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200505 Termination date: 20210821 |
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| CF01 | Termination of patent right due to non-payment of annual fee |