CN218661135U

CN218661135U - Wheel assembly of pipeline robot

Info

Publication number: CN218661135U
Application number: CN202222524693.7U
Authority: CN
Inventors: 王家豪; 赵海峰
Original assignee: Nanjing College of Information Technology
Current assignee: Nanjing College of Information Technology
Priority date: 2022-09-23
Filing date: 2022-09-23
Publication date: 2023-03-21
Anticipated expiration: 2032-09-23

Abstract

The utility model discloses a pipeline robot's wheel subassembly, including hindering the module more and becoming the angle module, hinder the module more and include wheel, first support frame, rim plate, expansion pulley, gear wheel, pinion, belt pulley and belt pulley driving motor, the rim plate is installed in the wheel outside, sets up the spout on the rim plate, installs expansion pulley and gear wheel in the spout, installs the pinion outward to the spout, be provided with belt pulley and belt pulley driving motor on the first support frame, belt pulley on the expansion pulley and the belt pulley on the first support frame are through same skin transmission, and belt pulley driving motor drive belt pulley rotates, drives pinion and gear wheel rotation, and the expansion pulley of gear wheel rotation in with the spout is rotated out and is enlarged the wheel diameter and realize hindering more. The utility model discloses the device can hinder, variable angle more, and adaptability and flexibility are high and adjust convenient and fast, are applicable to the pipeline robot of walking in complicated pipeline inside.

Description

Wheel assembly of pipeline robot

Technical Field

The utility model relates to a pipeline robot especially relates to a pipeline robot can hinder more, variable angle's wheel subassembly.

Background

The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a small pipeline, carry various sensors and operation machinery and carry out a series of pipeline operations under the remote control operation of workers or the automatic control of a computer. Wheeled pipeline robot extensively applies to the pipeline and detects, compares the manpower and detects, and is safe high-efficient, but pipeline inner structure is because the pollutant becomes complicated day by day, and this has also increased wheeled pipeline robot's the operation degree of difficulty, when facing more complicated pipeline internal obstacle and pollutant, the adaptability of ordinary wheel is relatively poor, does not have the variability, and the scene and the scope of effect are very restricted, and this has just provided higher requirement to the performance of wheeled pipeline robot wheel.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: the utility model aims at providing a pipeline robot can hinder, variable angle's wheel subassembly more.

The technical scheme is as follows: the utility model discloses the device is including hindering the module more and becoming the angle module more, hinder the module more and include wheel, first support frame, rim plate, expansion pulley, gear wheel, pinion, belt pulley and belt pulley driving motor, the rim plate is installed in the wheel outside, sets up the spout on the rim plate, installs expansion pulley and gear wheel in the spout, installs the pinion outward to the spout, be provided with belt pulley and belt pulley driving motor on the first support frame, belt pulley on the expansion pulley and the belt pulley on the first support frame pass through same belt drive, and belt pulley driving motor drive belt pulley rotates, drives pinion and gear wheel rotation, and gear wheel rotation is with expansion pulley in the spout screw-out expansion wheel diameter realization obstacle more.

Further, the variable angle module comprises a second support frame, a worm wheel, a worm, a V-shaped plate, a first rotating shaft, a second rotating shaft and a worm driving motor, the worm driving motor is installed on the second support frame, the worm driving motor drives the worm to rotate, the worm wheel is driven to rotate, the center of the worm wheel is connected to the first rotating shaft through the change of the angle control angle of the rotation of the worm wheel, the second rotating shaft is installed on the first support frame, and the first rotating shaft and the second rotating shaft are connected through the V-shaped plate.

Furthermore, be provided with the rectangle telescopic link on the retractable wheel, the telescopic link end is equipped with protruding cylinder and matches with the spout mouth.

Furthermore, the extension part of the telescopic wheel is in a sawtooth shape.

Further, the sliding groove is a convex sliding groove.

The working principle is as follows: the utility model discloses a belt pulley driving motor drives the belt pulley transmission, drives gear wheel and pinion rotation, realizes the terminal bellied cylinder of telescopic link of expansion pulley at gear wheel dysmorphism notch sliding fit to drive the expansion pulley along the radial flexible reducing that realizes of rim plate type spout, worm driving motor drives the worm and drives the turbine rotation, and first pivot passes through the V template and drives and change the angle with second pivot fixed connection's obstacle crossing module.

Has the advantages that: compared with the prior art, the utility model, have following advantage: the wheels can cross obstacles and change angles in the walking process, have high adaptability and flexibility, are convenient and quick to adjust, and are suitable for pipeline robots walking in complex pipelines.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural diagram of a variable angle module;

fig. 3 is a schematic view of the structure of the retractable wheel.

Detailed Description

The technical solution of the present invention will be further explained with reference to the accompanying drawings.

As shown in figure 1, the device of the utility model comprises an obstacle crossing module and an angle changing module.

The obstacle crossing module comprises a wheel 1, a first support frame 2, a wheel disc 3, a telescopic wheel 4, a large gear 5, a small gear 6, a belt pulley 7 and a belt pulley driving motor 8; a wheel disc 3 is mounted on the outer side of the wheel 1, a sliding groove is formed in the wheel disc 3, a telescopic wheel 4 and a large gear 5 are mounted in the sliding groove, a small gear 6 is mounted outside the sliding groove, a belt pulley 7 is coaxially mounted on the small gear 6, a belt pulley 7 and a belt pulley driving motor 8 are arranged on the first support frame 2, the belt pulley 7 on the telescopic wheel 4 and the belt pulley 7 on the first support frame 2 are driven by the same belt, the belt pulley driving motor 8 drives the belt pulley 7 to rotate to drive the small gear 6 and the large gear 5 to rotate, and the large gear 5 rotates to enable the telescopic wheel 4 in the sliding groove to be screwed out to enlarge the diameter of the wheel 1 to achieve obstacle crossing;

the obstacle crossing module is used for radially extending and retracting a pipeline robot when encountering an obstacle which cannot be crossed and is used for passing the obstacle, wherein the wheel 1 mainly realizes walking, the first support frame 2 is used for supporting and installing the obstacle crossing wheel module, the belt wheel driving motor 8 is installed at the top of the first support frame 2, the belt wheel driving motor 8 is connected with the pinion 6 through transmission of the belt pulley 7, the pinion 6 is meshed with the gearwheel 5 through a gear to realize transmission, three special-shaped notches which are twisted towards the axis of the gearwheel 5 are formed in the surface of the gearwheel 5, a cylindrical hole is formed in the center of the wheel disc 3, and a convex chute is formed in the radial direction of the wheel disc 3. As shown in figure 2, the extending part of the extensible wheel 4 is in a sawtooth shape and is used for increasing the ground grabbing force when the extensible wheel 4 extends out, and the adaptability of the wheel 1 to complex terrain is increased; 4 telescopic rod portions of telescopic pulley divide into the cuboid, and the cooperation is installed inside 3 type of protruding spout on the rim plate, and 4 telescopic link end portions of telescopic pulley are equipped with a bellied cylinder, bellied cylinder surface and special-shaped notch sliding fit.

The angle-variable module comprises a second support frame 9, a worm wheel 10, a worm 11, a V-shaped plate 12, a first rotating shaft 13, a second rotating shaft 14 and a worm driving motor 15; a worm driving motor 15 is mounted on the second support frame 9, the worm driving motor 15 drives a worm 11 to rotate to drive a worm wheel 10 to rotate, the change of the angle is controlled by the rotation angle of the worm wheel 10, the center of the worm wheel 10 is connected to a first rotating shaft 13, a second rotating shaft 14 is mounted on the first support frame 2, and the first rotating shaft 13 and the second rotating shaft 14 are connected through a V-shaped plate 12;

as shown in fig. 3, the angle-variable module is used for changing the angle of the obstacle-crossing wheel module when the pipeline robot encounters an obstacle which cannot be crossed, and is used for passing the obstacle, wherein the second support frame 9 is used for supporting and installing the angle-variable module, a notch for installing a worm wheel 10 and a worm 11 is formed in the second support frame 9, the worm driving motor 15 drives the worm 11 to rotate, the worm 11 is a driving part, the worm wheel 10 is a driven part, and the V-shaped plate 12 is fixedly connected with the obstacle-crossing wheel module and the angle-variable module through a first rotating shaft 13 and a second rotating shaft 14.

Claims

1. A wheel assembly of a pipeline robot, characterized in that: including hindering the module more and become the angle module, hinder the module more and include wheel (1), first support frame (2), rim plate (3), expansion pulley (4), gear wheel (5), pinion (6), belt pulley (7) and belt pulley driving motor (8), rim plate (3) are installed in wheel (1) outside, set up the spout on rim plate (3), install expansion pulley (4) and gear wheel (5) in the spout, pinion (6) are installed outward to the spout, coaxial arrangement belt pulley (7) on pinion (6), be provided with belt pulley (7) and belt pulley driving motor (8) on first support frame (2), belt pulley (7) on pinion (6) and belt pulley (7) on first support frame (2) are through same belt transmission, and belt pulley driving motor (8) driving pulley (7) rotate, drive pinion (6) and gear wheel (5) and rotate, and expansion pulley (4) in the spout are rotated to wheel (1) diameter and are enlarged and are realized hindering more.

2. The wheel assembly of the pipeline robot of claim 1, wherein: become angle module and include second support frame (9), worm wheel (10), worm (11), V template (12), first pivot (13), second pivot (14) and worm driving motor (15), install worm driving motor (15) on second support frame (9), worm driving motor (15) drive worm (11) rotate, drive worm wheel (10) are rotatory, through the change of the rotatory angle control angle of worm wheel (10), worm wheel (10) center connection is on first pivot (13), installs second pivot (14) on first support frame (2), and first pivot (13) and second pivot (14) are connected through V template (12).

3. The wheel assembly of the pipeline robot of claim 1, wherein: the telescopic wheel (4) is provided with a rectangular telescopic rod, and the tail end of the telescopic rod is provided with a protruding cylinder matched with the sliding groove opening.

4. The wheel assembly of the pipeline robot of claim 1, wherein: the extension part of the retractable wheel (4) is in a sawtooth shape.

5. The wheel assembly of the pipeline robot of claim 1, wherein: the sliding groove is a convex sliding groove.