Triaxial differential type pipe creeping device

Abstract

The invention relates to a three- shaft differential type pipe creeper, which is characterized in that the invention comprises three differential gears with same structure I, II, III, a transfer gear, three creeping wheel servomechanisms with same structure, a preloaded reducing mechanism, and a driving mechanism, the invention can connect with various pipe operation devices which are matched with the invention to proceed creeping operation along to the inner walls of the pipe, the creep speed of each creeping wheel is real-time regulated according to the self-attitude and pipe environment condition in order to realize self-regulation, and to avoid the phenomenon of motion interference which is generated at the moment that the current wheel type pipe creeper passes through the pipe or passes through the pipe whose inner physical dimension is changed, thereby increasing driving efficiency and traction ability, and reducing input power and the friction and abrasion of the a driving pair in the process of motion. The creeping wheel can realize the total main drive through a driving mechanism of a motor, and the invention has the advantages of simple structure, high driving efficiency, small power volume, low cost, long service life, spreading application range, etc.

Description

technical field [0001] The invention relates to a walking machine, more specifically, a three-axis differential pipeline crawler, which can be connected with many matching pipeline operation devices, and crawls along the inner wall of the pipeline. Background technique [0002] The existing wheeled pipeline crawlers do not have the self-adaptive function, and the crawling wheels cannot adjust the crawling speed of each crawling wheel in real time according to the environmental state of the change in the geometric size of the inner wall of the pipeline. Therefore, when this wheeled pipeline crawler passes through a bend When the geometric dimensions of the inner wall of the pipe or pipe change position, motion interference will occur, resulting in parasitic power, which will greatly reduce the transmission efficiency and effective drag force of the wheeled pipe crawler, and will increase the input power and motion process The friction and wear of the middle transmission pair ...

AI Technical Summary

Problems solved by technology

[0002] The existing wheeled pipeline crawlers do not have the self-adaptive function, and the crawling wheels cannot adjust the crawling speed of each crawling wheel in real time according to the environmental state of the change in the geometric size of the inner wall of the pipeline. Therefore, when this wheeled pipeline crawler passes through a bend When the geometric dimensions of the inner wall of the pipe or pipe change position, motion interference will occur, resulting in parasitic power, which will greatly reduce the transmission efficiency and effective drag force of the wheeled pipe crawler, and will increase the input power and motion process The friction and wear of the middle transmission pair reduces the service life and increases the amount of maintenance and costs; in addition, due to the limited space in the pipeline, the energy supply is the bottleneck of the long-distance crawler. The existing wheeled pipeline crawler Each crawling wheel is driven by its own motor, and the speed of each motor is calculated by the servo controller based on the information of the pipe condition and the crawler's working posture obtained by the sensor in the pipeline. The disadvantage is that the structure is complex and the cost is high. Moreover, the real-time and compliance of changing the position through the geometric dimension of the bend pipe or the inner wall of the pipe are still not good, and because multiple motors occupy most of the limited space in the pipe, this crawler is not suitable for use in pipes with small and medium diameters

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