Triaxial differential type pipe creeping device

A pipeline crawler, differential technology, applied in the direction of special pipes, pipe components, pipes/pipe joints/pipes, etc., can solve the problems of increasing friction and wear of the input power transmission pair, high cost, complex structure, etc. Transmission efficiency and drag capability, reduced friction and wear, and small power-to-volume ratio

CN101187437AInactive Publication Date: 2008-05-28HARBIN INST OF TECH +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2008-05-28
Estimated Expiration
Not applicable · inactive patent

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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.
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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 ...

Examples

Embodiment Construction

[0017] The present invention will be further described below using the accompanying drawings and examples.

[0018] Referring to Figures 1-3, the three-axis differential pipeline crawler has three differentials I, II, and III with the same structure. The structure of the differential is: a differential cross shaft 6 is mounted on the supporting housing 58, and the first bevel gear 1 and the fourth bevel gear 4 of the differential are mounted on the cross shaft 6 of the differential. The second bevel gear 2 of the differential and the third bevel gear 3 of the differential are housed on the vertical axis 5 of the differential that is intersected by the horizontal axis 6 of the differential, and the first bevel gear 1 and the fourth bevel gear 4 of the differential are respectively It meshes with the second bevel gear 2 of the differential and the third bevel gear 3 of the differential, and a power input gear 66 that is fixedly connected with the first bevel gear 1 of the differ...