CN215848182U - Mechanical arm transmission device and robot - Google Patents

Abstract

The utility model relates to the technical field of robots, in particular to a mechanical arm transmission device which comprises a housing, a first transmission shaft, a second transmission shaft, a first driving mechanism and a second driving mechanism, wherein the housing is provided with a first transmission shaft and a second transmission shaft; a first transmission gear and a second transmission gear are arranged in the housing; the first transmission shaft is rotatably arranged on the housing, one end of the first transmission shaft extends out of the housing, and the other end of the first transmission shaft is fixedly connected with the first transmission gear in the housing; one end of the second transmission shaft extends out of the housing, and the other end of the second transmission shaft penetrates through the shaft hole of the first transmission shaft and is fixedly connected with a second transmission gear positioned on the inner side of the inner end of the first transmission shaft in the housing; the first driving mechanism and the second driving mechanism are in transmission connection with the first transmission gear and the second transmission gear respectively; the robot comprises the mechanical arm transmission device; the beneficial technical effects of the utility model are as follows: the pipe fitting device can be adapted to pipes with different pipe diameters, and has good universality; the device has the characteristic of compact structure, and is beneficial to reducing the whole volume and the weight of the whole device.

Description

Mechanical arm transmission device and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a mechanical arm transmission device and a robot.

Background

In recent years, with the development and popularization of robotics, the use of robots has become more and more widespread in many high-risk or human-force-incompletable jobs. For example, in the working scene of oil and gas pipelines, the pipelines need to be regularly inspected, but the pipeline environment has risks of explosiveness, leakage of dangerous gas and the like, so a robot carrying various sensors is often adopted to replace manual work, and a series of pipeline operations can be performed under the remote control operation of workers or the automatic control of a computer.

However, most of the existing pipeline robots adopt the internal walking operation of the pipeline, so that the operation area needs to be shut down and stopped to carry out detection, and the defect of inconvenient use exists. In addition, the existing pipeline robot needs to make various control actions, so that the parts are various and the size is large. Therefore, how to design a robot which can walk on the outer wall of the pipeline and has a compact structure becomes a problem to be solved.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a mechanical arm transmission device and a robot, which can walk on the outer walls of pipelines with various pipe diameters and have the characteristics of compact structure, convenience in use and good applicability.

In order to realize the purpose, the following technical scheme is provided:

a mechanical arm transmission device comprises a housing, a first transmission shaft, a second transmission shaft, a first driving mechanism and a second driving mechanism; a first transmission gear and a second transmission gear are arranged in the housing; the first transmission shaft is rotatably arranged on the housing, one end of the first transmission shaft extends out of the housing, and the other end of the first transmission shaft is fixedly connected with the first transmission gear in the housing; one end of the second transmission shaft extends out of the housing, and the other end of the second transmission shaft penetrates through the shaft hole of the first transmission shaft and is fixedly connected with a second transmission gear positioned on the inner side of the inner end of the first transmission shaft in the housing; the first driving mechanism and the second driving mechanism are in transmission connection with the first transmission gear and the second transmission gear respectively.

The use principle and the working principle of the technical scheme are as follows: this device mainly cooperates the arm of pipeline robot to use, and the arm is carrying out the pipeline operation in-process, often need do the swing arm rotation action and embrace, open the arm action, and in the use in this device, the outer end of first transmission shaft is connected with the rotating assembly transmission of arm, utilizes first actuating mechanism to drive first transmission gear and first transmission shaft, makes the swing arm rotation action through rotatory subassembly control arm then. The second transmission shaft is in transmission connection with the bending assembly of the mechanical arm, the second transmission gear and the second transmission shaft are driven by the second driving mechanism, then the mechanical arm is controlled to make bending motion through the bending assembly, and the motion of encircling or unfolding the mechanical arm is achieved.

The utility model has the beneficial effects that: in the device, the first transmission shaft, the second transmission shaft, the first transmission gear and the second transmission gear are designed on the same axis and integrated in the housing, so that the whole device is more compact, and the size of the pipeline robot is reduced; the mechanical arm of the pipeline robot is connected with the corresponding transmission shaft on the outer side of the housing, and the pipeline robot is convenient to use.

A robot comprises the mechanical arm transmission device, a chassis, a mechanical arm, an advancing wheel set, an advancing driving mechanism, a power supply, a rotating assembly and a bending assembly, wherein the rotating assembly and the bending assembly are in transmission connection with the mechanical arm; the mechanical arm and the mechanical arm transmission device are arranged on two sides of the upper part of the chassis; the advancing wheel sets are arranged on two opposite sides of the chassis, and the advancing driving mechanism is in transmission connection with the advancing wheel sets; the mechanical arm comprises a plurality of joint bodies which are sequentially hinged; avoidance gaps are formed between the joint bodies at the lower parts of the hinged parts, and walking parts are rotatably arranged at the lower parts of the joint bodies.

The use principle and the working principle of the technical scheme are as follows: the mechanical arm can rotate to any direction on the up-down swinging plane, and then the operations of holding the pipeline tightly, loosening the pipeline or folding the joint body and the like are completed. When the pipeline is held tightly to needs, because the arm is the flexible arm that forms by a plurality of joints body is articulated in proper order, the arm can be rolled up to crooked subassembly, makes the joint body rotate to dodging in the clearance around the pin joint, makes the bottom and the laminating of pipeline outer wall of the joint body, consequently can the different pipe diameter size's of adaptation pipeline. Because the lower part of the joint body is provided with the walking part, the robot can move on the outer wall of the pipeline through the advancing wheel group while the mechanical arm surrounds the outer pipe. When the pipeline inspection work is carried out, a pipeline robot is placed on the outer wall of the pipeline, the mechanical arms are adjusted through the rotating assemblies to overturn to the two sides of the pipeline, then the mechanical arms are tightened through the bending assemblies, so that the joint bodies on the mechanical arms surround and tightly hold the outer pipe, then the robot is controlled by the advancing driving mechanism to move on the outer wall of the pipeline, and then the pipeline is detected by utilizing various sensors.

The beneficial technical effects of the utility model are as follows: 1. the flexible arms are adopted for clamping the outer pipeline, so that the flexible arms can be adapted to pipelines with different pipe diameters; 2. the joint body can be bent inwards when the mechanical arms are folded, the overall size of the robot is reduced, so that the robot can pass through a channel with a smaller width, the robot can adapt to the complicated and changeable pipeline conditions, and the universality is good; 3. the mechanical arm transmission device has the characteristic of compact structure, and is beneficial to reducing the volume of the whole robot and the weight of the whole robot; 4. the travel wheel set adopts Mecanum wheels, can realize forward, backward, leftward and rightward travel, and has the characteristics of wide control surface and convenience in adjusting a travel route; 5. The two robot bodies are used jointly, can be used in linear pipelines and crossed pipelines, and is suitable for various pipeline scenes.

Drawings

Fig. 1 is a schematic view of the overall structure of the robot according to the present invention.

Fig. 2 is a schematic view of a part of the internal structure of the robot according to the present invention.

Fig. 3 is another angle overall structure diagram of the robot of the present invention.

Fig. 4 is a schematic sectional view of the connection between the robot arm transmission device and the robot arm according to the present invention.

Fig. 5 is a schematic structural view of the housing of the present invention.

FIG. 6 is a schematic view of another angle of the cover of the present invention.

Fig. 7 is a schematic structural view of the interior of the left cover shell in the present invention.

Fig. 8 is a schematic structural view of the joint body of the present invention.

Fig. 9 is a schematic diagram of an exploded structure of the joint body of the present invention.

FIG. 10 is a schematic view of the turnover mechanism of the present invention.

FIG. 11 is a schematic view of the driving relationship of the turnover mechanism of the present invention.

Fig. 12 is a schematic diagram of two robot bodies crossing an obstacle in a straight line in the present invention.

Fig. 13 is a schematic diagram of the first vertical turning action of two robot bodies according to the present invention.

Fig. 14 is a schematic diagram of the second vertical turning action of the two robot bodies in the present invention.

Fig. 15 is a schematic view of the vertical turning action of two robot bodies in the present invention.

Fig. 16 is a schematic view showing the vertical turning operation of two robot bodies according to the present invention.

Fig. 17 is a schematic view of the cross-road turning operation of two robot bodies according to the present invention.

In the figure: 1. a left housing; 2. a right housing; 3. a first drive shaft; 4. a second drive shaft; 5. a first drive mechanism; 6. a second drive mechanism; 7. a first drive gear; 8. a second transmission gear; 9. a third drive shaft; 10. a third drive mechanism; 11. a first boss; 12. a second boss; 13. a third boss; 14. a first through hole; 15. a second through hole; 16. a third through hole; 17. a chassis; 18. a mechanical arm; 19. a travel drive mechanism; 20. a body; 21. a joint body; 22. avoiding the gap; 23. a traveling section; 24. a first disc; 25. a second disc; 26. a support bar; 27. a connecting frame; 28. a mounting frame; 29. a winding shaft; 30. a power cord; 31. shaping strips; 32. a first through hole; 33. a second through hole; 34. a first rotating gear; 35. a second rotating gear; 36. a first bevel gear; 37. a second bevel gear; 38. a shaft seat; 39. a rotating shaft; 40. a fourth drive shaft; 41. a ball bearing; 42. accommodating grooves; 43. a limiting plate; 44. a circular hole; 45. a Mecanum wheel; 46. an installation table; 47. a fixed mount; 48 a fastening frame; 49. a turnover mechanism; 50. turning over the bracket; 51. a rotating arm; 52. turning over a motor; 53. a drive worm; 54 drive worm gear; 55. a rotating shaft; 56. 57, a motor output shaft gear; 58. reinforcing ribs; 59. a bearing; 60. a pipeline.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments.

A mechanical arm transmission device, as shown in fig. 4, 5 and 6, comprises a housing, a first transmission shaft 3, a second transmission shaft 4, a first driving mechanism 5 and a second driving mechanism 6; a first transmission gear 7 and a second transmission gear 8 are arranged in the housing; the first transmission shaft 3 is rotatably arranged on the housing, one end of the first transmission shaft extends out of the housing, and the other end of the first transmission shaft is fixedly connected with the first transmission gear 7 in the housing; one end of the second transmission shaft 4 extends out of the housing, and the other end of the second transmission shaft passes through the shaft hole of the first transmission shaft 3 and is fixedly connected with a second transmission gear 8 positioned on the inner side of the inner end of the first transmission shaft 3 in the housing; the first driving mechanism 5 and the second driving mechanism 6 are in transmission connection with a first transmission gear 7 and a second transmission gear 8 respectively.

This device mainly cooperates pipeline robot's arm 18 to use, arm 18 is carrying out the pipeline operation in-process, often need do the swing arm rotation action and embrace, open the arm action, in the use in this device, the outer end of first transmission shaft 3 is connected with the rotating assembly transmission of arm 18, utilize first actuating mechanism 5 to drive first transmission gear 7 and first transmission shaft 3, make the swing arm rotation action through rotating assembly control arm 18 then. The second transmission shaft 4 is in transmission connection with a bending component of the mechanical arm 18, the second transmission gear 8 and the second transmission shaft 4 are driven by the second driving mechanism 6, and then the mechanical arm 18 is controlled to perform bending action through the bending component, so that the action of embracing or unfolding the mechanical arm 18 is realized.

In the device, the first transmission shaft 3, the second transmission shaft 4, the first transmission gear 7 and the second transmission gear 8 are designed on the same axis and integrated in the housing, so that the whole device is more compact, and the reduction of the volume of the pipeline robot is facilitated; the mechanical arm 18 of the pipeline robot is connected with the corresponding transmission shaft on the outer side of the housing, and the pipeline robot is convenient to use.

Further, as shown in fig. 4, a third transmission shaft 9 and a third driving mechanism 10 are further included; one end of the third transmission shaft 9 extends out of the housing, and the other end of the third transmission shaft passes through the shaft holes of the second transmission shaft 4 and the second transmission gear 8, is rotatably connected with the housing, and is fixedly connected with a third transmission gear 56 positioned at the inner side of the inner end of the second transmission shaft 4 in the housing; the third driving mechanism 10 is in transmission connection with a third transmission gear 56.

In the use process of the device, the outer end of the third transmission shaft 9 can be in transmission connection with the direction adjusting component of the mechanical arm 18, the third transmission mechanism 10 is utilized to drive the third transmission shaft 9, and then the mechanical arm 18 is controlled to rotate along the axis of the mechanical arm 18 in the length direction through the direction adjusting component. When the robot 18 performs a pipe work, the traveling part 23 of the robot 18 needs to face the pipe so as to surround the pipe wall. However, in the non-operating state, the traveling part 23 of the robot arm 18 is folded and bent in the vertical direction, and is not convenient for storage and placement. The direction of the mechanical arm 18 can be rotated through the direction adjusting component, so that the walking part 23 of the mechanical arm 18 faces to the lower part, and the mechanical arm 18 is conveniently placed. In other scenarios, the robot with the mechanical arm 18 needs to perform the operation of changing the path while traveling on the cross pipes such as T-shaped, L-shaped, cross-shaped, etc., and in this process, the direction of the traveling part 23 of the mechanical arm 18 also needs to be adjusted, and in this embodiment, the operation of adjusting the direction of the traveling part 23 of the mechanical arm 18 can be completed by controlling the direction adjusting unit through the third transmission shaft 9 and the third driving mechanism 10.

Further, as shown in fig. 4, 5 and 6, the housing includes a left housing 1 and a right housing 2, a first boss 11, a second boss 12 and a third boss 13 are stacked on the outer side of the left housing 1, and a cavity matching with the first transmission gear 7, the second transmission gear 8 and the third transmission gear 56 is formed inside the first boss 11, the second boss 12 and the third boss 13; a first through hole 14, a second through hole 15 and a third through hole 16 are respectively arranged on the first boss 11, the second boss 12 and the third boss 13; the first driving mechanism 5, the second driving mechanism 6 and the third driving mechanism 10 are respectively installed on the first boss 11, the second boss 12 and the third boss 13, and output shafts of the first driving mechanism 5, the second driving mechanism 6 and the third driving mechanism 10 penetrate through the first through hole 14, the second through hole 15 and the third through hole 16 to be respectively in transmission connection with the first transmission gear 7, the second transmission gear 8 and the third transmission gear 56.

In this embodiment, the left housing 1 and the right housing 2 are fixed by bolts, and the first transmission gear 7, the second transmission gear 8, and the third transmission gear 56 are included in the cavities inside the left housing 1 and the right housing 2. The bottom of the housing is provided with a mounting hole and is fixed on the chassis 17 through a bolt. A protruding shaft sleeve is arranged on the outer side of the right housing 2, and reinforcing ribs are arranged from the shaft sleeve to the edge of the right housing 2; a bearing is arranged in the shaft sleeve, and the first transmission shaft 3 is rotatably arranged in the shaft sleeve of the right housing 2 through the bearing. The first transmission shaft 3 and the first transmission gear 7, the second transmission shaft 4 and the second transmission gear 8, and the third transmission shaft 9 and the third transmission gear are all connected by adopting a shaft hub. The first driving mechanism 5, the second driving mechanism 6 and the third driving mechanism 10 are respectively a first driving motor, a second driving motor and a third driving motor, and are respectively fixed on the first boss 11, the second boss 12 and the third boss 13 through corresponding fastening frames.

A robot, as shown in fig. 1, fig. 2, fig. 3, and fig. 4, including the above mechanical arm transmission device, further including a chassis 17, a mechanical arm 18, a traveling wheel set, a traveling driving mechanism 19, a power supply, and a rotating component and a bending component, which are in transmission connection with the mechanical arm 18; the mechanical arm 18 and the mechanical arm transmission device are arranged on two sides of the upper part of the chassis 17; the advancing wheel sets are arranged on two opposite sides of the chassis 17, and the advancing driving mechanism 19 is in transmission connection with the advancing wheel sets; the mechanical arm 18 comprises a plurality of joint bodies 21 hinged in sequence; at the lower part of the hinge joint, escape gaps 22 are formed between the joint bodies 21, and walking parts 23 are rotatably arranged at the lower parts of the joint bodies 21.

The mechanical arm 18 can rotate to any direction on the up-and-down swinging plane, and then the operations of holding the pipeline tightly, loosening the pipeline or folding the joint body 21 and the like are completed. When the pipeline is held tightly, because the mechanical arm 18 is the flexible arm that is formed by a plurality of joint bodies 21 hinge in proper order, the mechanical arm 18 can be rolled up to crooked subassembly, makes joint body 21 rotate to dodging in the clearance 22 around the pin joint, makes the bottom and the laminating of pipeline outer wall of joint body 21, consequently can the different pipe diameter size of adaptation pipeline. Because the lower part of the joint body 21 is provided with the walking part 23, the robot can move on the outer wall of the pipeline through the traveling wheel set while the mechanical arm 18 surrounds the outer pipe. When carrying out the pipeline and patrolling and examining the work, place pipeline robot on the pipeline outer wall, adjust 18 both sides of overturning to the pipeline through rotatory subassembly, then tighten up arm 18 through crooked subassembly, make the joint body 21 on the arm 18 encircle and hold the outer tube tightly, then by advancing actuating mechanism 19 control robot and remove on the pipeline outer wall, then utilize multiple sensor to detect the pipeline.

In this embodiment, the mechanical arm transmission devices are provided in two groups, and are respectively installed on two sides of the upper portion of the chassis 17, the machine body 20 is installed between the two mechanical arm transmission devices, the power supply and the control circuit are installed inside the machine body 20, the power supply is electrically connected with the first driving motor, the second driving motor and the third driving motor through electric wires, and the interface is subjected to explosion-proof treatment, so that the use safety is improved. Correspondingly, two mechanical arms 18 are arranged and are in transmission connection with mechanical arm transmission devices on two sides of the upper part of the chassis 17. The swing arm range of the robot arm 18 is outside the chassis 17 to prevent interference with the chassis 17.

Further, as shown in fig. 1, 2 and 3, the rotating assembly includes a rotating tray frame fixed at the outer end of the first transmission shaft 3, and the joint body 21 at the end of the mechanical arm 18 is connected with the rotating tray frame through a connecting frame 27 and a mounting frame 28; the mounting frame 28 is fixed on the rotary tray frame, and one side of the connecting frame 27 is hinged with the joint body 21 at the end part of the mechanical arm 18; the other side is rotatably connected to a mounting bracket 28.

When the mechanical arm 18 needs to be rotated around the first transmission shaft 3, the first driving mechanism 5, namely the first driving motor, is started, the first transmission gear 7 and the first transmission shaft 3 are driven to rotate through the motor output shaft gear 57, and the first transmission shaft 3 drives the rotating tray frame and the mechanical arm 18 to rotate.

In this particular embodiment, the carousel comprises a first disk 24 and a second disk 25, the first disk 24 and the second disk 25 being connected by a plurality of support rods 26. The two sides of the mounting frame 28 are fixed at the middle parts of the first disc 24 and the second disc 25 through screws. A through hole is arranged at the center of the first disc 24 and the second disc 25, and bearings matched with the second transmission shaft 4 are arranged at the through holes so as to install the second transmission shaft 4 and ensure that the second transmission shaft 4 rotates in the shaft hole of the first transmission shaft 3.

Further, as shown in fig. 1 and 2, the bending assembly includes a winding shaft 29 and a power cord 30; the winding shaft 29 is fixedly connected with the second transmission shaft 4 in the rotating disc frame; one end of the power cord 30 is wound around the winding shaft 29, and the other end passes through the mounting bracket 28, the connecting bracket 27, the first rotating gear 34 and each joint body 21 and is fixed to the outermost joint body 21.

In this embodiment, the take-up shaft 29 and the secondary drive shaft 4 are of an integral structure. When the robot is placed on the outer wall of the pipeline, two second driving mechanisms 6 in two groups of mechanical arm transmission devices, namely two second driving motors are started, the motor output shaft gear 57 drives the second transmission gear 8 to rotate, the second transmission gear 8 drives the second transmission shaft 4 to rotate, then the winding shaft 29 is driven to wind the power rope 30, each joint body 21 is enabled to rotate around the hinged point of the joint body to the avoidance gap 22, the effect that the two mechanical arms 18 synchronously hold the outer wall of the pipeline tightly is achieved, then the advancing driving mechanism 19 is started to drive the advancing wheel, and the robot is driven to move on the outer wall of the pipeline. The take-up shaft 29 does not interfere with the rotating turret when rotating inside the rotating turret.

Further, as shown in fig. 1 and fig. 2, the mechanical arm 18 further includes an elastic shaping strip 31, each joint body 21 is provided with a first insertion hole 32 and a second insertion hole 33, the shaping strip 31 is sequentially inserted into the first insertion hole 32 of each joint body 21 and maintains the mechanical arm 18 in a preset shape, and the power cord 30 is sequentially inserted into the second insertion hole 33 of each joint body 21.

In this embodiment, the shaping bar 31 is located at the upper portion of the power cord 30 to more quickly relieve the stress and restore the robot 18 to a straight state, and the power cord 30 is located at the lower portion to wind up the robot 18. The shaping strip 31 is an elastic steel strip, so that the mechanical arm 18 is in a linear state in the initial state and is prevented from being in a loose state. When the winding shaft 29 rotates to start winding the power rope 30, the shaping strip 31 is pulled from the linear state to the bending state under the action of the tensile force until the mechanical arm 18 can hold the outer wall of the pipeline tightly. When the winding shaft 29 rotates reversely, the power cord 30 is loosened, and the shaping strip 31 is restored to a linear state under the action of stress. The joint bodies 213 have an inverted trapezoidal shape, and a clearance gap 22 is formed between adjacent joint bodies 213 at the bottom.

Further, as shown in fig. 4 and 7, the device further comprises a third transmission shaft 9, a third driving mechanism 10 and a direction adjusting assembly in transmission connection with the mechanical arm 18; a third transmission gear 56 is arranged in the housing; one end of the third transmission shaft 9 extends out of the housing and is in transmission connection with the direction adjusting component, and the other end of the third transmission shaft passes through the shaft holes of the second transmission shaft 4 and the second transmission gear 8, is in rotary connection with the housing and is fixedly connected with a third transmission gear 56 positioned on the inner side of the inner end of the second transmission shaft 4 in the housing; the third driving mechanism 10 is in transmission connection with a third transmission gear 56.

In order to facilitate the storage of the mechanical arm 18 and the movement and path change, the walking part 23 at the bottom of the joint body 21 of the mechanical arm 18 may not face the outer wall of the pipeline, at this time, the two third driving mechanisms 10 in the two sets of mechanical arm transmission devices are started, namely, the third driving motors drive the two third transmission gears 56 to rotate, and then the third transmission shafts 9 are driven to rotate, so that the two mechanical arms 18 are controlled to rotate around the axes of the self length directions synchronously until the walking part 23 faces the outer wall of the pipeline. Similarly, in the same manner, the robot arm 18 is rotated until the traveling part 23 faces downward, so that the robot arm 18 is conveniently stored.

Further, the direction adjustment assembly includes a first rotating gear 34, a second rotating gear 35, a first bevel gear 36, and a second bevel gear 37; the first rotating gear 34 is arranged between the connecting frame 27 and the mounting frame 28, and the first rotating gear 34 is fixedly connected with the connecting frame 27 and rotatably connected with the mounting frame 28 through a rotating shaft 39; a shaft seat 38 is arranged on the outer side of the mounting frame 28, and a fourth transmission shaft 40 is rotatably arranged in the shaft seat 38; the second rotating gear 35 is fixed at one end of the fourth transmission shaft 40 and is in meshing transmission with the first rotating gear 34, the first bevel gear 36 is fixed at the other end of the fourth transmission shaft 40, and the second bevel gear 37 is arranged on the outer side of the rotating disk frame, is fixed at the outer end of the third transmission shaft 9 and is in meshing transmission with the first bevel gear 36.

When the direction of the walking part 23 at the bottom of the mechanical arm 18 is adjusted, two third driving mechanisms 10 in two sets of mechanical arm transmission devices are started, that is, the third driving motors are started, the third transmission gears 56 are driven to rotate through the motor output shaft gears 57, and then the third transmission shafts 9 are driven to rotate, the third transmission shafts 9 drive the second bevel gears 37 to rotate, the second bevel gears 37 drive the first bevel gears 36 to rotate, the first bevel gears 36 drive the fourth transmission shafts 40 in the shaft seats 38 to rotate, and then the second rotating gears 35 are driven to rotate, the second rotating gears 35 drive the first rotating gears 34 to rotate, the connecting frames 27 fixedly connected with the first rotating gears 34 also rotate, and the corresponding mechanical arms 18 are driven to rotate around the axes of the length directions.

In this embodiment, the first rotary gear 34 is fixed on one side of the connecting frame 27 by bolts, and the rotating shaft 39 is rotatably mounted on the side of the mounting frame 28 by bearings; the fourth transmission shaft 40 is mounted in the shaft seat 38 by a bearing. The second rotating gear 35 is shaft-hub-connected to one end of a fourth transmission shaft 40. Axle seat 38 is integral with mounting bracket 28.

Further, as shown in fig. 8 and 9, the traveling part 23 includes a ball 41 rotatably provided at the bottom of the joint body 21; ball 41 sets up in the globular holding tank 42 in joint body 21 bottom, and organism 20 bottom still fixedly connected with limiting plate 43, set up the just circular port 44 with holding tank 42 on the limiting plate 43, when making holding tank 42 can hold ball 41, ball 41 agrees with the holding tank 42 inner wall, and the diameter that the ball 41 lower part passed circular port 44 and circular port 44 is less than ball 41's diameter. The lower portion of the ball 41 is exposed below the stopper plate 43 through the circular hole 44 so as to be able to contact the outer wall of the pipe and roll on the outer wall of the pipe.

Further, as shown in fig. 1 and 2, the traveling wheel set is a mecanum wheel 45. Four mecanum wheels 45 are used as a set, including 2 left-hand wheels and 2 right-hand wheels, and the left-hand wheels and the right-hand wheels are in chiral symmetry. In this embodiment, the chassis 17 is provided with a protruding mounting platform 46 on the front side and the rear side, a fixing frame 47 is transversely provided on the mounting platform 46, a fourth driving motor is mounted on both sides of the fixing frame 47, and the output shafts of the four fourth driving motors are respectively connected with the wheel shafts of the four mecanum wheels 45. The fourth driving motor is mounted on the fixed frame 47 through a fastening frame. The fastening frame is provided with a shaft hole so that the output shaft of the fourth driving motor can extend out to be connected with the wheel shaft of the mecanum wheel 45. Based on Mecanum wheels 45, the robot can move back and forth, left and right on the outer wall of the pipeline.

Because the pipeline transportation scene often has explosion-proof requirement, the electrified equipment of this scheme to and electric wire kneck all do explosion-proof treatment, improve safety in utilization. The first driving motor, the second driving motor, the third driving motor and the fourth driving motor are all explosion-proof motors.

The scheme also provides a robot system capable of running on the crossed pipeline, the robot system comprises two robot main bodies with the same structure and a turnover mechanism 49, and two ends of the turnover mechanism 49 are hinged with the machine bodies 20 of the two robots through rotating shafts 55.

A method for using the system comprises the following steps: as shown in figures 12 to 17 of the drawings,

step S1, placing two robot bodies on the outer wall of the pipeline 60, when the mechanical arms 18 of the two robot bodies are both in a parallel state with the axis of the pipeline 60, starting the main body at the lower part or at least one of the two main bodies in a straight line to work, starting the first driving mechanism 5, and controlling the mechanical arms 18 of the main body at the lower part or the two main bodies in a straight line to rotate to the position vertical to the axis of the pipeline 60 on the vertical plane; then, the process goes to step S2, and when the mechanical arms 18 of the two robot main bodies are in the vertical state, the process goes to step S2 directly;

step S2, starting the second driving mechanism 6 by the robot main body positioned at the lower part or two robot main bodies positioned in a straight line, and controlling the mechanical arm 18 to bend and hold the outer wall of the pipeline 60 tightly;

step S3, the robot body at the lower part or two robot bodies in a straight line starts the driving mechanism 19 to drive the Mecanum wheel 45 to make the two robot bodies move on the outer wall of the pipeline 60;

step S4:

when encountering a pipeline 60 which is intersected with the pipeline 60 where the two robot main bodies are located, and the plane where the two intersected pipelines 60 are located is the same as the plane where the two robot main bodies turn around the rotating shaft 55, the method comprises the following steps:

step A, the turnover mechanism 49 of the robot main body positioned at the lower part or the rear part starts to work, the turnover mechanism 49 controls the robot main body positioned at the upper part or the front part to turn upwards around the rotating shaft 55 until the mechanical arms 18 of the robot main body positioned at the upper part or the front part are positioned at the two sides of the crossed pipeline 60;

b, starting the robot main body positioned at the upper part or the front part to work, starting the second driving mechanism 6, and controlling the mechanical arm 18 to bend and hold the outer wall of the pipeline 60 tightly;

c, starting the second driving mechanism 6 by the robot main body positioned at the lower part or the rear part, and controlling the mechanical arm 18 to be loosened and separated from the clamping state;

step D, the turnover mechanism 49 of the robot main body positioned at the upper part or the front part starts to work, and the turnover mechanism 49 drives the robot main body positioned at the lower part to turn upwards around the rotating shaft 55 at the lower part until the robot main body is separated from the original pipeline 60;

e, starting a traveling driving mechanism 19 by the robot main body positioned at the upper part or the front part, and driving Mecanum wheels 45 to move the two robot main bodies;

when encountering a pipeline 60 intersected with the pipeline 60 where the two robot main bodies are located, and the plane where the two intersected pipelines 60 are located is different from the plane where the two robot main bodies turn around the rotating shaft 55, the method comprises the following steps:

step a: the traveling driving mechanism 19 of the robot main body located at the lower part starts to work, and the traveling driving mechanism 19 controls the mecanum wheels 45 to rotate on the pipelines 60 by an angle, so that the plane where the two robot main bodies are overturned around the rotating shaft 55 is the same as the plane where the two intersected pipelines 60 are located;

step b: and D, repeating the step A to the step E.

Further, the step S1 further includes: when the walking part 23 at the lower part of the joint body 21 of the mechanical arm 18 does not face the tube wall, the third driving mechanism 10 is started first, and the mechanical arm 18 is controlled to rotate around the axis of the self length direction until the walking part 23 faces the tube wall.

In this embodiment, as shown in fig. 10 and fig. 11, where fig. 10 adopts an omitted drawing method, the turnover mechanism 49 includes a turnover bracket 50, a rotating arm 51, a turnover motor 52, a transmission worm 53, and a transmission worm gear 54, which are located at adjacent ends of two robot bodies; two ends of the rotating arm 51 are hinged on the overturning supports 50 of the two robot main bodies through rotating shafts 55 respectively, and the transmission worm 53 is positioned at the upper part of the rotating shaft 55 and is in transmission connection with the overturning motor 52; the transmission worm wheel 54 is fixed on the rotating shaft 55, and the transmission worm 53 is in meshing transmission connection with the transmission worm wheel 54. In fig. 12 to 17, a simple drawing method is adopted for the turnover mechanism 49, and the specific structure of the turnover mechanism 49 is shown in fig. 10 and 11, but not limited to this structure.

Two opposite overturning brackets 50 are respectively arranged at the adjacent end parts of the two robot main bodies, and the number of the rotating arms 51 is correspondingly two. The transmission worm 53 and the transmission worm wheel 54 are respectively arranged in the diagonal turnover bracket 50 as a group, and when the turnover mechanism 49 works, the two groups of transmission worm 53 and transmission worm wheel 54 mechanisms arranged diagonally can be started simultaneously or in a single group. When the turning motor 52 is started, the driving worm 53 is driven to rotate, the driving worm 53 drives the driving worm wheel 54 to rotate, and due to the fact that the driving worm wheel 54 is fixedly connected with the rotating shaft 55, the other main body is turned around the rotating shaft 55 under the driving effect of the driving worm 53 and the driving worm wheel 54.

Claims (10)

1. The mechanical arm transmission device is characterized by comprising a housing, a first transmission shaft (3), a second transmission shaft (4), a first driving mechanism (5) and a second driving mechanism (6); a first transmission gear (7) and a second transmission gear (8) are arranged in the housing; the first transmission shaft (3) is rotatably arranged on the housing, one end of the first transmission shaft extends out of the housing, and the other end of the first transmission shaft is fixedly connected with the first transmission gear (7) in the housing; one end of the second transmission shaft (4) extends out of the housing, and the other end of the second transmission shaft penetrates through the shaft hole of the first transmission shaft (3) and is fixedly connected with a second transmission gear (8) positioned on the inner side of the inner end of the first transmission shaft (3) in the housing; the first driving mechanism (5) and the second driving mechanism (6) are in transmission connection with the first transmission gear (7) and the second transmission gear (8) respectively.

2. The robot arm transmission device according to claim 1, further comprising a third transmission shaft (9) and a third drive mechanism (10); one end of a third transmission shaft (9) extends out of the housing, and the other end of the third transmission shaft passes through shaft holes of the second transmission shaft (4) and the second transmission gear (8), is rotatably connected with the housing and is fixedly connected with a third transmission gear (56) positioned at the inner side of the inner end of the second transmission shaft (4) in the housing; the third driving mechanism (10) is in transmission connection with the third transmission gear (56).

3. A robot comprising a robot arm transmission device according to claim 1, further comprising a chassis (17), a robot arm (18), a travel wheel set, a travel driving mechanism (19), a power supply, and a rotating assembly and a bending assembly in transmission connection with the robot arm (18); the mechanical arm (18) and the mechanical arm transmission device are arranged on two sides of the upper part of the chassis (17); the advancing wheel sets are arranged on two opposite sides of the chassis (17), and the advancing driving mechanism (19) is in transmission connection with the advancing wheel sets; the mechanical arm (18) comprises a plurality of joint bodies (21) which are sequentially hinged; avoidance gaps (22) are formed between the joint bodies (21) at the lower parts of the hinged parts, and walking parts (23) are rotatably arranged at the lower parts of the joint bodies (21).

4. A robot according to claim 3, characterized in that the rotating assembly comprises a rotating disc frame fixed to the outer end of the first transmission shaft (3), the joint body (21) at the end of the robot arm (18) being connected to the rotating disc frame by means of a connecting frame (27) and a mounting frame (28); the mounting frame (28) is fixed on the rotary tray frame, and one side of the connecting frame (27) is hinged with a joint body (21) at the end part of the mechanical arm (18); the other side is rotatably connected with a mounting frame (28).

5. Robot according to claim 4, characterized in that the bending assembly comprises a take-up reel (29) and a power cord (30); the winding shaft (29) is fixedly connected with the second transmission shaft (4) in the rotating disc frame; one end of the power rope (30) is wound and tied on the winding shaft (29), the other end of the power rope penetrates through the mounting frame (28), the connecting frame (27), the first rotating gear (34) and each joint body (21) and is fixed on the outermost joint body (21), and the second driving mechanism (6) enables the joint bodies (21) to rotate around the hinged points of the joint bodies to the avoidance gap (22) through the winding power rope (30).

6. The robot according to claim 5, wherein the mechanical arm (18) further comprises an elastic shaping strip (31), each joint body (21) is provided with a first through hole (32) and a second through hole (33), the shaping strip (31) is sequentially inserted into the first through hole (32) of each joint body (21) to maintain the mechanical arm (18) in a preset shape, and the power rope (30) sequentially passes through the second through hole (33) of each joint body (21).

7. Robot according to any of claims 4 to 6, characterized by a third drive shaft (9), a third drive mechanism (10) and a direction adjustment assembly in drive connection with the robot arm (18); a third transmission gear (56) is arranged in the housing; one end of a third transmission shaft (9) extends out of the housing and is in transmission connection with the direction adjusting component, and the other end of the third transmission shaft passes through shaft holes of the second transmission shaft (4) and the second transmission gear (8), is in rotary connection with the housing and is fixedly connected with a third transmission gear (56) positioned on the inner side of the inner end of the second transmission shaft (4) in the housing; the third driving mechanism (10) is in transmission connection with the third transmission gear (56).

8. Robot according to claim 7, characterized in that the direction adjustment assembly comprises a first rotary gear (34), a second rotary gear (35), a first bevel gear (36) and a second bevel gear (37); the first rotating gear (34) is arranged between the connecting frame (27) and the mounting frame (28), and the first rotating gear (34) is fixedly connected with the connecting frame (27) and rotatably connected with the mounting frame (28) through a rotating shaft (39); a shaft seat (38) is arranged on the outer side of the mounting rack (28), and a fourth transmission shaft (40) is rotatably arranged in the shaft seat (38); the second rotating gear (35) is fixed at one end of the fourth transmission shaft (40) and is in meshing transmission with the first rotating gear (34), the first conical gear (36) is fixed at the other end of the fourth transmission shaft (40), and the second conical gear (37) is arranged on the outer side of the rotating disc frame, is fixed at the outer end of the third transmission shaft (9) and is in meshing transmission with the first conical gear (36).

9. A robot as claimed in claim 3, 4, 5, 6 or 8, characterized in that the sets of travelling wheels are Mecanum wheels (45).

10. Robot according to claim 7, characterized in that the sets of travelling wheels are Mecanum wheels (45).

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