CN210920563U - Self-walking robot in energy self-sufficient pipeline - Google Patents
Self-walking robot in energy self-sufficient pipeline Download PDFInfo
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- CN210920563U CN210920563U CN201921395490.4U CN201921395490U CN210920563U CN 210920563 U CN210920563 U CN 210920563U CN 201921395490 U CN201921395490 U CN 201921395490U CN 210920563 U CN210920563 U CN 210920563U
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Abstract
The utility model discloses a self-propelled robot in energy self-supporting formula pipeline, its structure includes detecting device, walking robot, and detecting device connects in walking robot upper surface through inlaying the solid, and walking robot includes back drive arrangement, connecting device, preceding drive arrangement, and connecting device connects in back drive arrangement one end through inlaying the solid, and preceding drive arrangement connects in the connecting device other end through inlaying the solid, and connecting device includes the back connecting block, turns to the device, and the back connecting block connects in turning to device one end through intermittent type cooperation, the beneficial effects of the utility model are that: the self-walking robot has the advantages that the connecting device arranged in the self-walking robot in the energy self-sufficient pipeline can enable the robot to freely advance in the arc-shaped or zigzag pipeline, the direction of adjustment of the rear connecting block and the steering device can be timely, flexibility is high, and service efficiency of the robot is greatly improved.
Description
Technical Field
The utility model belongs to the technical field of the robot and specifically relates to a self-propelled robot in energy self-supporting formula pipeline.
Background
In the fields of general petroleum pipelines, industry, nuclear facilities, natural gas, military equipment and the like, the pipelines are widely applied as an effective material conveying means. In order to prolong the service life of the pipeline and prevent accidents such as leakage, the pipeline robot must be periodically overhauled, and the pipeline robot is developed and developed to meet the requirements of efficient and accurate pipeline detection and maintenance.
Aiming at the current self-propelled robot in the energy self-sufficient pipeline, a relative scheme is made aiming at the following problems:
when the self-walking robot is used in the self-power-supply pipeline, the traditional robot usually deals with a straight pipeline, but when the robot encounters an arc-shaped and zigzag pipeline, the motion track of the robot cannot well adapt to the shape of the pipeline, and the direction is not easy to adjust in work.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at overcomes prior art not enough, provides a self-propelled robot in energy self-supporting formula pipeline.
The utility model discloses a following technical scheme realizes: a self-propelled robot in energy self-supporting pipeline structurally comprises a detection device and a walking robot, wherein the detection device is fixedly connected to the upper surface of the walking robot through an embedding body, the walking robot comprises a rear driving device, a connecting device and a front driving device, the connecting device is fixedly connected to one end of the rear driving device through an embedding body, the front driving device is fixedly connected to the other end of the connecting device through an embedding body, the connecting device comprises a rear connecting block and a steering device, the rear connecting block is connected to one end of the steering device through an intermittent fit, the steering device comprises a double-end transmission shaft, a limiting bearing, a fixed gear and a movable gear, the double-end transmission shaft is connected to one side of the fixed gear through gear engagement, the limiting bearing is connected to one end of the double-end transmission shaft through an interference fit, the fixed gear is fixedly connected, the movable gear is connected below the fixed gear in a clearance fit mode.
Furthermore, spacing bearing passes through interference fit and connects in back connecting block both ends, the double-end transmission shaft passes through spacing bearing and installs on back connecting block center axis.
Further, the movable gear is connected to the lower end of the inner surface of the steering device in a clearance fit mode, and the movable gear can rotate freely.
Furthermore, the maximum swinging angle range of the steering device and the single side of the rear connecting block is 29 degrees.
Further, the power of the double-end transmission shaft is driven by a rear driving device.
Advantageous effects
The utility model relates to a working principle of robot is walked by oneself in self-supporting formula pipeline of energy:
when the self-propelled robot in the self-powered pipeline is used, a rear driving device and a connecting device in the self-powered pipeline start to move in a linkage mode, a rear connecting block is used for connecting a steering device with the rear driving device, when the direction needs to be adjusted, a double-end transmission shaft in the power-driven steering device is provided by the rear driving device, the double-end transmission shaft fixed by a limiting bearing transmits power to a fixed gear, the direction of the connecting device can be adjusted by the fixed gear, the direction rotation is achieved by the front driving device, a movable gear below the fixed gear is used for bearing the transmission force, and the double-end transmission shaft can be guaranteed to work on the axis all the time.
Compared with the prior art, the beneficial effects of the utility model are that: the self-walking robot has the advantages that the connecting device arranged in the self-walking robot in the energy self-sufficient pipeline can enable the robot to freely advance in the arc-shaped or zigzag pipeline, the direction of adjustment of the rear connecting block and the steering device can be timely, flexibility is high, and service efficiency of the robot is greatly improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is the appearance structure diagram of the self-walking robot in the self-sufficient pipeline of energy of the utility model.
Fig. 2 is the utility model discloses the plane structure schematic diagram of the walking robot of self-propelled robot in the self-supporting pipeline of energy.
Fig. 3 is a schematic plane structure diagram of the connecting device of the self-propelled robot in the self-contained energy pipeline of the present invention.
Fig. 4 is the utility model discloses the structure schematic diagram dissects of connecting block after even of self-propelled robot in the self-supporting pipeline of energy.
Fig. 5 is the internal structure diagram of the steering device of the self-propelled robot in the self-sufficient pipeline of energy of the utility model.
In the figure: the walking robot comprises a detection device 1, a walking robot 2, a rear driving device A, a connecting device B, a front driving device C, a rear connecting block B1, a steering device B2, a double-head transmission shaft B21, a limit bearing B22, a fixed gear B23 and a movable gear B24.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a self-propelled robot in a self-contained energy pipeline, which comprises: the structure of the robot comprises a detection device 1 and a walking robot 2, wherein the detection device 1 is connected to the upper surface of the walking robot 2 through an embedded fixture, the walking robot 2 comprises a rear driving device A, a connecting device B and a front driving device C, the connecting device B is connected to one end of the rear driving device A through an embedded fixture, the front driving device C is connected to the other end of the connecting device B through an embedded fixture, the connecting device B comprises a rear connecting block B1 and a steering device B2, the rear connecting block B1 is connected to one end of a steering device B2 through an intermittent fit, the steering device B2 comprises a double-head transmission shaft B21, a limit bearing B22, a fixed gear B23 and a movable gear B24, the double-head transmission shaft B21 is connected to one side of the fixed gear B23 through a gear mesh, the limit bearing B22 is connected to one end of the double-head transmission shaft B21 through an interference fit, the fixed gear B23 is connected to, the movable gear B24 is connected below the fixed gear B23 through clearance fit, the limit bearings B22 are connected to two ends of the rear connecting block B1 through interference fit, the double-head transmission shaft B21 is installed on the central axis of the rear connecting block B1 through the limit bearings B22, the movable gear B24 is connected to the lower end of the inner surface of the steering device B2 through clearance fit, the movable gear B24 can rotate freely, the steering device B2 and the rear connecting block B1 are single-edge, the maximum swingable angle range is 29 degrees, and the power of the double-head transmission shaft B21 is driven by the rear driving device A.
The utility model relates to a working principle of robot is walked by oneself in self-supporting formula pipeline of energy: when the self-propelled pipeline robot with self-sufficient energy is used, a rear driving device A, a connecting device B and a front driving device C in the self-sufficient pipeline robot 2 start to travel in a linkage mode, a rear connecting block B1 is used for connecting a steering device B2 with the rear driving device A, when the direction needs to be adjusted, an independent motor in the rear driving device A is used for driving a double-head transmission shaft B21 in a steering device B2, the double-head transmission shaft B21 fixed by a limiting bearing B22 transmits power to a fixed gear B23, the fixed gear B23 can adjust the direction of the connecting device B, the front driving device C realizes direction rotation, at the moment, a movable gear B24 below the fixed gear B23 is used for bearing transmission force, and the double-head transmission shaft B21 can be guaranteed to work on the axis all the time.
The utility model discloses the technological progress that prior art obtained relatively is:
the self-walking robot has the advantages that the connecting device arranged in the self-walking robot in the energy self-sufficient pipeline can enable the robot to freely advance in the arc-shaped or zigzag pipeline, the direction of adjustment of the rear connecting block and the steering device can be timely, flexibility is high, and service efficiency of the robot is greatly improved.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (5)
1. The utility model provides a self-propelled robot in self-supporting formula pipeline of energy, its structure includes detecting device (1), walking robot (2), its characterized in that:
the detection device (1) is connected to the upper surface of a walking robot (2) through embedding, the walking robot (2) comprises a rear driving device (A), a connecting device (B) and a front driving device (C), the connecting device (B) is connected to one end of the rear driving device (A) through embedding, the front driving device (C) is connected to the other end of the connecting device (B) through embedding, the connecting device (B) comprises a rear connecting block (B1) and a steering device (B2), the rear connecting block (B1) is connected to one end of the steering device (B2) through intermittent fitting, the steering device (B2) comprises a double-head transmission shaft (B21), a limit bearing (B22), a fixed gear (B23) and a movable gear (B24), the double-head transmission shaft (B21) is connected to one side of the fixed gear (B23) through gear meshing, and the limit bearing (B22) is connected to one end of the double-head transmission shaft (B21) through interference fitting, the fixed gear (B23) is connected to the upper end of the inner surface of the steering device (B2) by caulking, and the movable gear (B24) is connected below the fixed gear (B23) by clearance fit.
2. The self-contained energy robot in pipe as claimed in claim 1, wherein: the limiting bearing (B22) is connected to two ends of the rear connecting block (B1) in an interference fit mode, and the double-head transmission shaft (B21) is installed on the central axis of the rear connecting block (B1) through the limiting bearing (B22).
3. The self-contained energy robot in pipe as claimed in claim 1, wherein: the loose gear (B24) is connected with the lower end of the inner surface of the steering device (B2) through clearance fit, and the loose gear (B24) can rotate freely.
4. The self-contained energy-source robot walking in a pipeline as claimed in claim 3, wherein: the steering device (B2) and the rear connecting block (B1) are unilateral, and the maximum swingable angle range is 29 degrees.
5. The self-contained energy-source robot traveling in a pipeline as claimed in claim 2, wherein: the power of the double-end transmission shaft (B21) is driven by a rear driving device (A).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921395490.4U CN210920563U (en) | 2019-08-25 | 2019-08-25 | Self-walking robot in energy self-sufficient pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921395490.4U CN210920563U (en) | 2019-08-25 | 2019-08-25 | Self-walking robot in energy self-sufficient pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210920563U true CN210920563U (en) | 2020-07-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921395490.4U Active CN210920563U (en) | 2019-08-25 | 2019-08-25 | Self-walking robot in energy self-sufficient pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210920563U (en) |
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2019
- 2019-08-25 CN CN201921395490.4U patent/CN210920563U/en active Active
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Effective date of registration: 20220224 Address after: 710018 room 908, block a, zhongdeng Wenjing building, Fengcheng ninth Road, economic and Technological Development Zone, Xi'an, Shaanxi Province Patentee after: SHAANXI MIAOMU ENVIRONMENTAL PROTECTION ENGINEERING Co.,Ltd. Address before: Room 1503, building 5, Lijing new town, Binjiang Industrial Zone, Xiamei Town, Nanan City, Quanzhou City, Fujian Province Patentee before: NAN'AN YITONG INDUSTRIAL PRODUCT DESIGN Co.,Ltd. |