CN212776265U

CN212776265U - Pipeline type tectorial membrane wriggling robot

Info

Publication number: CN212776265U
Application number: CN202021470230.1U
Authority: CN
Inventors: 孙诗卉
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-23
Filing date: 2020-07-23
Publication date: 2021-03-23
Anticipated expiration: 2030-07-23

Abstract

The utility model discloses a pipeline type tectorial membrane wriggling robot, including first mobile component, the mobile part of second and tectorial membrane, first mobile component is located the top of the mobile part of second, first mobile component is the same with the mobile part structure of second, first mobile component includes braced frame, a motor, track and gear train, braced frame's both sides are equipped with symmetric distribution's gear train, the gear train rotates with braced frame to be connected, track movable mounting is on the surface of gear train, the track rotates with the gear train to be connected, the motor divides to be equipped with two sets ofly and installs in braced frame's both ends, the power take off end and the gear train fixed connection of motor, braced frame's fixed surface is connected with guide wheel and support. The utility model discloses an use the mode that the tectorial membrane combines the track to carry out the transmission, demonstrate stronger obstacle-crossing ability, use and aerify the tectorial membrane structure of filling, make the robot have stronger flexibility, can adapt to the complex environment.

Description

Pipeline type tectorial membrane wriggling robot

Technical Field

The utility model relates to the technical field of robot, specifically be a pipeline type tectorial membrane wriggling robot.

Background

At present, common pipeline dredging robots are different in walking mode or power support, are suitable for different pipelines and are low in efficiency. The movement modes of the pipeline robot are various, including a wheel type, a crawler type, a crawling type, a foot type, a crawling type and the like.

However, the conventional pipe robot has the following problems in the use process: (1) the existing pipeline has too complex mechanical structure, thus increasing the production and manufacturing cost; (2) no matter be crawler-type or crawl formula robot, the ability to surmounting obstacles in the pipeline is not enough, and adapts to the pipe diameter size too single, and is not enough to the adaptability of environment. For this reason, a new technical solution needs to be designed for solution.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a pipeline type tectorial membrane peristaltic robot carries out the transmission through the mode that uses the tectorial membrane to combine the track, demonstrates stronger obstacle-crossing ability, uses the tectorial membrane structure of aerifing the packing, makes the robot have stronger flexibility, can adapt to complex environment.

In order to achieve the above object, the utility model provides a following technical scheme: a pipeline type film-coating peristaltic robot comprises a first mechanical part, a second mechanical part and a film, wherein the first mechanical part is positioned above the second mechanical part, the first mechanical part and the second mechanical part are identical in structure, the first mechanical part comprises a supporting frame, a motor, a crawler belt and a gear set, the two sides of the supporting frame are provided with the gear set which is symmetrically distributed, the gear set is rotatably connected with the supporting frame, the crawler belt is movably arranged on the surface of the gear set, the crawler belt is rotatably connected with the gear set, the motor is respectively provided with two sets of parts and is arranged at the two ends of the supporting frame, the power output end of the motor is fixedly connected with the gear set, the surface of the supporting frame is fixedly connected with a guide wheel and a support, the surface of the guide wheel and the surface of the support are rotatably connected with guide wheels, and the film passes through the crawler belts on the side walls of the first, and the two ends of the film are overturned and wrapped on the surface of the supporting frame.

As an improvement of the technical scheme, the covering film is a cylindrical silica gel soft film, the interfaces at the two ends of the covering film are fixedly connected with each other in a bonding mode, and the inner surface of the covering film is in contact with the guide wheel.

In an improvement of the technical scheme, the crawler belt of the first motor part and the crawler belt of the second motor part are respectively in contact with the upper surface and the lower surface of the film through structural fastening of the bracket and clamp the film, the crawler belt is made of rubber, and tooth marks are uniformly machined and formed on the surfaces of the crawler belts.

As an improvement of the technical scheme, a controller is fixedly connected to the surface of the supporting frame and is connected with the motor.

Compared with the prior art, the beneficial effects of the utility model are as follows:

1. the scheme optimizes the structure of the existing pipeline film-coating robot, simplifies the structure of the robot, has a better film-coating effect, and reduces the production and manufacturing costs.

2. The utility model discloses an using the mode that the membrane combines the track to carry out the transmission, showing stronger obstacle-crossing ability, utilizing the common driven mode of frictional force of motor and upper and lower floor, making drive power bigger, being convenient for advance in the pipeline of different environment, use the tectorial membrane structure of aerifing the packing, make the robot have stronger flexibility, can adapt to complex environment.

Drawings

Fig. 1 is a schematic side view of the pipeline type film-coated peristaltic robot of the present invention;

fig. 2 is a schematic view of the pipeline type film-coated peristaltic robot in the top view structure.

In the figure: the device comprises a first motor part-1, a second motor part-2, a film covering-3, a supporting frame-4, a motor-5, a crawler-6, a gear set-7, a guide wheel bracket-8, a guide wheel-9 and a controller-10.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Please refer to fig. 1-2, the present invention provides a technical solution: a pipeline type film-coating peristaltic robot comprises a first mobile component 1, a second mobile component 2 and a film coating 3, wherein the first mobile component 1 is positioned above the second mobile component 2, the first mobile component 1 and the second mobile component 2 are identical in structure, the first mobile component 1 comprises a supporting frame 4, a motor 5, crawler belts 6 and gear sets 7, the two sides of the supporting frame 4 are provided with the gear sets 7 which are symmetrically distributed, the gear sets 7 are rotatably connected with the supporting frame 4, the crawler belts 6 are movably arranged on the surfaces of the gear sets 7, the crawler belts 6 are rotatably connected with the gear sets 7, the motor 5 is respectively provided with two groups and is arranged at the two ends of the supporting frame 4, the power output end of the motor 5 is fixedly connected with the gear sets 7, the surface of the supporting frame 4 is fixedly connected with guide wheels 9 and brackets 8, the surfaces of the guide wheels 9 and the brackets 8 are rotatably connected with the guide wheels 9, the film coating 3 penetrates through the crawler belts 6 on the side walls, two ends of the tectorial membrane 3 are overturned and wrapped on the surface of the supporting frame 4.

Further improved, as shown in fig. 1 and 2: the tectorial membrane 3 is cylindric silica gel mantle, and the interface at tectorial membrane 3 both ends bonds fixed connection each other, and the internal surface of tectorial membrane 3 contacts with guide wheel 9 in order to guide the marching of tectorial membrane 3 and prevent the unordered folding of tectorial membrane 3, through the interface adhesive connection with tectorial membrane 3 both ends, makes tectorial membrane 3 constitute a complete inclosed cavity, is convenient for aerify in the tectorial membrane 3.

Further improved, as shown in fig. 1: the crawler belt 6 of the first motor part 1 and the crawler belt 6 of the second motor part 2 are respectively in contact with the upper surface and the lower surface of the film 3 through structural fastening of the bracket 8 and clamp the film 3, the crawler belt 6 is made of rubber, the film 3 is clamped through the crawler belt 6 made of rubber, and meanwhile, the surface of the crawler belt 6 is provided with tooth marks to improve the friction force between the crawler belt 6 and the film 3, so that the film 3 obtains larger power to improve the obstacle crossing capability of the robot.

Specifically, as shown in fig. 2: the surface of the supporting frame 4 is fixedly connected with a controller 10, the controller 10 is connected with the motor 5, and the controller 10 is connected with the motor 5, so that the motor 5 can be conveniently controlled, and the running state of the robot can be conveniently controlled.

The utility model discloses a first motor-driven part-1, second motor-driven part-2, tectorial membrane-3, braced frame-4, motor-5, track-6, gear train-7, leading wheel support-8, leading wheel-9, controller-10, the part that the part was general standard spare or technical staff in the field knows, its structure and principle all can all be known through the technical manual or through conventional experimental approach for this technical staff, this controller 10 specifically is to adopt the Arduino controller, the utility model discloses a use tectorial membrane 3 to combine the mode of track 6 to carry out the transmission, show stronger obstacle crossing ability, utilize motor 5 to provide power and then by the mode that the frictional force of lower floor track 6 drives jointly, make the pipeline of different environment of being convenient for advance when obtaining bigger drive power again, the film covering 3 structure filled with air is used, so that the robot has stronger flexibility and can adapt to complex environments.

The utility model discloses when using, aerify inside after accomplishing the installation of tectorial membrane 3, utilize the pressure of air and tectorial membrane 3's elasticity support overall structure, through-hole controller 10 control motor 5 rotates, it rotates to drive track 6 synchronization, tectorial membrane 3 is cliied to track 6, utilize the surface friction with tectorial membrane 3, it moves together to make tectorial membrane 3 follow track 6 between track 6, the motion that drives peripheral tectorial membrane 3 makes robot moving as a whole, the removal of guide wheel 9 guide tectorial membrane 3 prevents that tectorial membrane 3 is out of order folding, because tectorial membrane 3 after aerifing is soft material and is rich in elasticity, can be at the pipe-line operation of unevenness, it is extremely strong to hinder nature, can crowd into than self constrictive pipeline even, adaptability to the environment is stronger, it is more convenient to use, the commonality is wider.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a pipeline type tectorial membrane wriggling robot, includes first mobile unit (1), second mobile unit (2) and tectorial membrane (3), its characterized in that: the first motor part (1) is located above the second motor part (2), the first motor part (1) and the second motor part (2) are identical in structure, the first motor part (1) comprises a supporting frame (4), an electric motor (5), a crawler belt (6) and gear sets (7), the gear sets (7) are symmetrically distributed on two sides of the supporting frame (4), the gear sets (7) are rotatably connected with the supporting frame (4), the crawler belt (6) is movably mounted on the surface of the gear sets (7), the crawler belt (6) is rotatably connected with the gear sets (7), the electric motor (5) is respectively provided with two sets and is mounted at two ends of the supporting frame (4), the power output end of the electric motor (5) is fixedly connected with the gear sets (7), and the surface of the supporting frame (4) is fixedly connected with guide wheels (9) and a support (8), the surface of guide wheel (9) and support (8) rotates and is connected with guide wheel (9), tectorial membrane (3) pass first motor-driven part (1) and second motor-driven part (2) lateral wall track (6), tectorial membrane (3) both ends upset parcel is on the surface of braced frame (4).

2. The tube-type film-covering peristaltic robot as claimed in claim 1, wherein: the laminating (3) is a cylindrical silica gel soft film, the interfaces at the two ends of the laminating (3) are fixedly connected with each other in an adhering mode, and the inner surface of the laminating (3) is in contact with the guide wheel (9).

3. The tube-type film-covering peristaltic robot as claimed in claim 2, wherein: the crawler belt (6) of the first motor component (1) and the crawler belt (6) of the second motor component (2) are fastened through a support (8) to be respectively in contact with the upper surface and the lower surface of the coating (3) and clamp the coating (3), the crawler belt (6) is made of rubber, and tooth marks are uniformly formed on the surface of the crawler belt (6).

4. The tube-type film-covering peristaltic robot as claimed in claim 1, wherein: the surface of the supporting frame (4) is fixedly connected with a controller (10), and the controller (10) is connected with the motor (5).