阅读说明：本技术 一种十字型管道机器人 (Cross-shaped pipeline robot ) 是由 汪皖豫 于 2020-12-26 设计创作，主要内容包括：本发明公开一种十字型管道机器人,包括两个对称的十字形支架,十字形支架通过连接杆连接,每个支架末端安装有阻尼轮,每个支架上均垂直安装有驱动机构,驱动机构包括驱动架,驱动架内安装有锥齿轴和传动锥齿轴,锥齿轴和传动锥齿轴垂直啮合连接,勺杆与锥齿轴连接,传动锥齿轴与锥齿伸缩电机连接,通过控制锥齿伸缩电机实现传动的进行与中断；主动同步带轴与锥齿伸缩电机连接,同步带连接主动同步带轴和从动同步带轴；阻尼轮安装在从动同步带轴上,四个勺杆转勺周向安装在锥齿轴末端；通过转勺的转动实现锥齿轴的转动,带动传动锥齿轴的转动,进而与之连接的传动锥齿轴转动,实现了同步带连接主动同步带轴和从动同步带轴,带动阻尼轮的转动。(The invention discloses a cross-shaped pipeline robot, which comprises two symmetrical cross-shaped brackets, wherein the cross-shaped brackets are connected through a connecting rod, the tail end of each bracket is provided with a damping wheel, each bracket is vertically provided with a driving mechanism, each driving mechanism comprises a driving frame, a bevel gear shaft and a transmission bevel gear shaft are arranged in the driving frame, the bevel gear shafts and the transmission bevel gear shafts are vertically meshed and connected, a spoon rod is connected with the bevel gear shafts, the transmission bevel gear shafts are connected with a bevel gear telescopic motor, and the transmission is carried out and interrupted by controlling the bevel gear telescopic motor; the driving synchronous belt shaft is connected with the bevel gear telescopic motor, and the synchronous belt is connected with the driving synchronous belt shaft and the driven synchronous belt shaft; the damping wheel is arranged on the driven synchronous belt shaft, and the four spoon rod rotating scoops are circumferentially arranged at the tail end of the bevel gear shaft; the rotation of the bevel gear shaft is realized through the rotation of the rotary spoon, the rotation of the transmission bevel gear shaft is driven, and then the transmission bevel gear shaft connected with the transmission bevel gear shaft rotates, so that the synchronous belt is connected with the driving synchronous belt shaft and the driven synchronous belt shaft, and the damping wheel is driven to rotate.)

1. A cross-shaped pipeline robot comprises two symmetrical cross-shaped supports which pass through

The connecting rod is connected with the connecting rod,

the cross-shaped bracket comprises four brackets forming a cross shape, the tail end of each bracket is provided with a damping wheel,

each bracket is vertically provided with a driving mechanism,

and driving mechanisms are vertically arranged on the four brackets to form clockwise arrangement.

2. The cross-shaped pipeline robot as claimed in claim 1, wherein the driving mechanism comprises a driving frame, a bevel gear shaft and a transmission bevel gear shaft are installed in the driving frame, the bevel gear shaft and the transmission bevel gear shaft are vertically engaged and connected,

the spoon rod is connected with the bevel gear shaft, the transmission bevel gear shaft is connected with the bevel gear telescopic motor, and transmission is carried out and interrupted by controlling the bevel gear telescopic motor;

the driving synchronous belt shaft is connected with the bevel gear telescopic motor, and the synchronous belt is connected with the driving synchronous belt shaft and the driven synchronous belt shaft to realize power transmission;

the damping wheel is arranged on the driven synchronous belt shaft,

the four spoon rod rotating spoons are circumferentially arranged at the tail end of the bevel gear shaft;

the rotation of the bevel gear shaft is realized through the rotation of the rotary spoon, the rotation of the transmission bevel gear shaft is driven, and then the transmission bevel gear shaft connected with the transmission bevel gear shaft rotates, so that the synchronous belt is connected with the driving synchronous belt shaft and the driven synchronous belt shaft, and the damping wheel is driven to rotate.

Technical Field

The invention relates to a cross-shaped pipeline robot.

Background

Pipeline robots in the prior art mostly walk actively and cannot advance by means of external force.

Disclosure of Invention

Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide a cross-shaped pipeline robot which can realize autonomous movement by external force.

A cross-shaped pipeline robot comprises two symmetrical cross-shaped brackets which are connected through a connecting rod,

the cross-shaped bracket comprises four brackets forming a cross shape, the tail end of each bracket is provided with a damping wheel,

each bracket is vertically provided with a driving mechanism,

and driving mechanisms are vertically arranged on the four brackets to form clockwise arrangement.

The driving mechanism comprises a driving frame, a bevel gear shaft and a transmission bevel gear shaft are arranged in the driving frame, the bevel gear shaft and the transmission bevel gear shaft are vertically meshed and connected,

the spoon rod is connected with the bevel gear shaft, the transmission bevel gear shaft is connected with the bevel gear telescopic motor, and transmission is carried out and interrupted by controlling the bevel gear telescopic motor;

the driving synchronous belt shaft is connected with the bevel gear telescopic motor, and the synchronous belt is connected with the driving synchronous belt shaft and the driven synchronous belt shaft to realize power transmission;

the damping wheel is arranged on the driven synchronous belt shaft,

the four spoon rod rotating spoons are circumferentially arranged at the tail end of the bevel gear shaft;

the rotation of the bevel gear shaft is realized through the rotation of the rotary spoon, the rotation of the transmission bevel gear shaft is driven, and then the transmission bevel gear shaft connected with the transmission bevel gear shaft rotates, so that the synchronous belt is connected with the driving synchronous belt shaft and the driven synchronous belt shaft, and the damping wheel is driven to rotate.

Drawings

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

FIG. 2 is a front view schematic of the present invention;

FIG. 3 is a schematic top view of the present invention;

FIG. 4 is a schematic view of a single pivot orientation configuration of the present invention;

FIG. 5 is a schematic top view of the present invention;

FIG. 6 is a schematic view in full section of FIG. 5;

the reference numbers in the figures illustrate:

1. a connecting rod is arranged on the upper portion of the connecting rod,

2. a support frame is arranged on the base plate,

3. the driving frame is provided with a driving frame,

4. the damping wheel is arranged on the base plate,

5. a spoon rod is arranged on the spoon head, a spoon head is arranged on the spoon rod,

6. the conical gear shaft is provided with a conical gear shaft,

7. the tail label is a label of the Chinese character,

8. the transmission bevel gear shaft is driven by the bevel gear shaft,

9. a bevel gear telescopic motor is arranged on the upper portion of the frame,

10. the active synchronous belt shaft is driven to rotate,

11. a synchronous belt is arranged in the middle of the belt body,

12. driven synchronous belt shaft.

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; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

The cross-shaped pipeline robot comprises two symmetrical cross-shaped brackets which are connected through a connecting rod 1,

the cross-shaped bracket comprises four brackets 2 forming a cross shape, the tail end of each bracket is provided with a damping wheel 4,

each bracket is vertically provided with a driving mechanism,

the four brackets are vertically provided with driving mechanisms to form a clockwise arrangement,

the driving mechanism comprises a driving frame 3, a bevel gear shaft 6 and a transmission bevel gear shaft 8 are arranged in the driving frame, the bevel gear shaft and the transmission bevel gear shaft are vertically meshed and connected,

the spoon rod 5 is connected with the bevel gear shaft 6, the transmission bevel gear shaft 8 is connected with the bevel gear telescopic motor 9, and transmission is carried out and interrupted by controlling the bevel gear telescopic motor. The driving synchronous belt shaft is connected with a bevel gear telescopic motor 9, and the synchronous belt 11 is connected with the driving synchronous belt shaft 10 and the driven synchronous belt shaft 12 to realize power transmission. The damping wheel 4 is mounted on the driven timing belt shaft,

13. four spoon pole rotary scoops are circumferentially arranged at the tail end of the bevel gear shaft 6. The rotation of the bevel gear shaft is realized through the rotation of the rotary spoon, the rotation of the transmission bevel gear shaft is driven, and then the transmission bevel gear shaft connected with the transmission bevel gear shaft rotates, so that the synchronous belt 11 is connected with the driving synchronous belt shaft 10 and the driven synchronous belt shaft 12 to drive the damping wheel 4 to rotate. The tail mark 7 is fixedly connected with the driving frame 3 and is used for fixing the direction under the action of water flow and wind flow, so that the fixing frame 3 is always parallel to the direction of the water flow and the wind flow, the spoon rod 5 can be positioned at the best position, and the tail mark can timely rotate when the water flow is inclined to pass through the main frame, so that the spoon rod 5 can transmit power in real time, and the normal operation of the robot is guaranteed.

The innovation point of the invention is that the spoon rod 5 with a special shape can only rotate along one direction under the action of water flow or wind flow, and the control of a power transmission system is realized by skillfully utilizing the bevel gear meshing principle by combining with a bevel gear telescopic motor, wherein a tail mark 7 also plays an important role, the posture of a power unit of the robot can be ensured in real time, power is continuously provided, the robot is impacted by water flow at 90 degrees on the side surface in time, and the power transmission can be ensured to advance along a fixed route.

The invention mainly describes a transmission mode of countercurrent running, generates larger dynamic friction force by extruding the damping wheel 4 and the pipe wall, skillfully utilizes a slender robot structure, reduces resistance and realizes countercurrent running.

The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

The tail mark 7 is arranged on the driving frame 3, and the rotation angle can be adjusted under the action of water flow.