A pipeline robot reducer

Abstract

The present invention relates to the technical field of pipeline robots and discloses a pipeline robot reducer, comprising a roller, wherein a fixed bevel gear set is provided on the open side of the roller, and an output bevel gear is fixedly connected to the inner wall of the closed end of the roller, a rotating shaft mechanism is provided between the fixed bevel gear set and the output bevel gear, and the two ends of the rotating shaft mechanism are respectively connected by meshing transmission between a driving gear, a driven gear and the output bevel gear set, and the output bevel gear. In this solution, by dividing the rotating shaft mechanism into a two-section structure, the axial position of the driving gear can be adjusted in conjunction with an electromagnetic mechanism when the ball screw rotates. When the driving gear moves to the inner side of the gear ring, the meshing between the first fixed bevel gear and the second fixed bevel gear is switched to achieve switching between different reduction ratios in conjunction with the axial displacement of the fixed bevel gear set, thereby improving the scope of application of the device and the scope of application of the pipeline robot.

Description

Technical Field

[0001] The present invention relates to the field of pipeline robots, and in particular to a pipeline robot reducer. Background Art

[0002] A reducer is an independent component consisting of a gear transmission, worm transmission, or gear-worm transmission enclosed in a rigid housing. It is often used as a reduction transmission device between the prime mover and the working machine.

[0003] In logistics pipeline robots, due to their large loads, reducers are required to increase torque. Existing reducers include planetary reducers, harmonic reducers, and cycloid reducers. These reducers all have good deceleration effects and can control the output shaft speed by controlling the speed of the drive motor. However, the reduction ratio of each reducer is fixed and cannot be adjusted, resulting in the inability to adjust the torque and insufficient practicality. Some reduction mechanisms with adjustment mechanisms have a large volume and cannot adapt well to the roller structure of the pipeline robot. Therefore, in order to solve the problem that the reduction ratio of the existing reducer cannot be adjusted and the adjustable reducer structure is too large, a pipeline robot reducer is proposed. Summary of the Invention

[0004] In order to solve the above-mentioned problems, the present invention provides a pipeline robot reducer.

[0005] The pipeline robot reducer provided by the present invention adopts the following technical solution:

[0006] A pipeline robot reducer comprises a roller with an opening on one side, the open side of the roller is provided with a fixed bevel gear set that can be displaced in the axial direction, and the inner wall of the closed end of the roller is fixedly connected to the output bevel gear, a rotating shaft mechanism is provided between the fixed bevel gear set and the output bevel gear, and the two ends of the rotating shaft mechanism are respectively connected by meshing transmission between a driving gear, a driven gear and the fixed bevel gear set and the output bevel gear, one side of the fixed bevel gear set is fixedly connected to a sun gear arranged coaxially therewith, and one side of the sun gear is provided with a driving motor, a rotating frame that rotates around the fixed bevel gear set is provided on the outer side of the rotating shaft mechanism, the rotating shaft mechanism is rotatably connected to the rotating frame, the output shaft of the driving motor is connected by meshing transmission between the planetary gear and the sun gear, and the driving motor drives the rotating frame to rotate around the sun gear;

[0007] The fixed bevel gear set includes a first fixed bevel gear and a second fixed bevel gear, the first fixed bevel gear, the second fixed bevel gear and the output bevel gear have different tooth ratios, and the tooth ratio of the first fixed bevel gear to the output bevel gear is smaller than the tooth ratio of the second fixed bevel gear to the output bevel gear;

[0008] The rotating shaft mechanism includes a coaxially arranged ball screw and a rotating shaft, the ball screw is connected to the driving gear through a nut seat, and an independently movable gear ring is provided on the outside of the ball screw. When the first fixed bevel gear and the driving gear are engaged, the gear ring is clearance-matched with the second fixed bevel gear. When the driving gear rotates independently between the ball screw and the rotating shaft, it is displaced axially along the ball screw to the inside of the gear ring. At the same time, the fixed bevel gear set is displaced axially along its own axis, and the second fixed bevel gear and the gear ring are meshed and connected.

[0009] Preferably, an electromagnetic mechanism is provided on the nut seat, and the output section of the electromagnetic mechanism extends to the interior of the nut seat. The electromagnetic mechanism is used to transport the extended section to the interior of the nut seat to achieve positioning of the ball inside the nut seat.

[0010] Preferably, a bracket is provided on the outside of the roller, and one side of the bracket is rotatably connected to the center position of the closed end of the roller, and the other side is fixedly connected to a fixed shaft, one end of the fixed shaft is located inside the roller and is fixedly connected to the sun gear, a first bearing is provided on the side of the first fixed bevel gear close to the bracket, the inner wall of the first bearing is fixedly connected to the first fixed bevel gear, a first hydraulic cylinder is provided on the outside of the outer wall of the first bearing, the output end of the first hydraulic cylinder is fixedly connected to the outer wall of the first bearing, and the fixed end is fixedly connected to the bracket.

[0011] Preferably, a second bearing is provided on the outer sliding sleeve at the connection position of the ball screw and the rotating shaft, and the inner wall of the second bearing is sleeved on the connection position of the ball screw and the rotating shaft so that the two can rotate radially synchronously. A second hydraulic cylinder is provided on the outer side of the second bearing, and the fixed end of the second hydraulic cylinder is fixedly connected to the rotating frame, and the output end of the second hydraulic cylinder is fixedly connected to the outer wall of the second bearing. The second hydraulic cylinder drives the second bearing to perform axial displacement, switching between synchronous and independent rotation of the ball screw and the rotating shaft.

[0012] Preferably, the top bolt of the rotating frame is fixedly connected to a servo motor, and the output shaft of the servo motor is equipped with a driving gear. The ball screw is provided with an adjusting gear on one end located on the inner side of the rotating frame, and the adjusting gear and the driving gear are meshed and connected. When the servo motor drives the adjusting gear to rotate, the ball screw and the rotating shaft rotate independently.

[0013] Preferably, a groove is formed on the outer wall of the roller, and a rubber ring is embedded in the groove of the roller.

[0014] Preferably, a mounting bracket is provided on a side of the gear ring close to the rotating bracket, and a bearing with an outer wall fixedly connected thereto is provided at the bottom end of the mounting bracket, and an inner wall of the bearing is fixedly connected to the mounting bracket.

[0015] In summary, the present invention includes at least one of the following beneficial technical effects:

[0016] By dividing the rotating shaft mechanism into a two-section structure, the two sections can move independently, so that when the ball screw rotates, the axial position of the driving gear can be adjusted in conjunction with the electromagnetic mechanism. When the driving gear moves to the inner side of the gear ring, it cooperates with the axial displacement of the fixed bevel gear set to switch the meshing with the first fixed bevel gear to the meshing with the second fixed bevel gear to achieve switching between different reduction ratios, thereby improving the applicability of the device and the applicability of the pipeline robot; the first level of deceleration is achieved through the meshing revolution between the planetary gear and the sun gear, and the deceleration effect is achieved by utilizing the first fixed bevel gear, the second fixed bevel gear and the output bevel gear with different numbers of teeth, in conjunction with the driving gear and the driven gear that revolve between the fixed bevel gear set and the output bevel gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an isometric structural diagram of an embodiment of the invention.

[0018] Figure 2 It is a schematic diagram of the side structure of the fixed gear of an embodiment of the invention.

[0019] Figure 3 2. It is a front view structural diagram of an internal gear set according to an embodiment of the invention.

[0020] Figure 4 It is an isometric structural diagram of an internal gear set according to an embodiment of the invention.

[0021] Explanation of the accompanying drawings: 1. Roller; 2. Rubber ring; 3. Bracket; 4. Fixed bevel gear set; 401. First fixed bevel gear; 402. Second fixed bevel gear; 6. Driving motor; 7. Rotating shaft mechanism; 701. Ball screw; 702. Rotating shaft; 8. Driving gear; 10. Output bevel gear; 11. Fixed shaft; 12. First bearing; 13. First hydraulic cylinder; 14. Driven gear; 15. Second bearing; 16. Second hydraulic cylinder; 17. Rotating frame; 18. Sun gear; 19. Planetary gear; 20. Servo motor; 21. Driving gear; 22. Adjusting gear; 23. Nut seat; 24. Electromagnetic mechanism; 25. Gear ring; 26. Mounting frame; 27. Limiting groove. DETAILED DESCRIPTION

[0022] The following is combined with Figure 1-4 The present invention is described in further detail.

[0023] The embodiment of the present invention discloses a pipeline robot reducer. Figure 1-4, a pipeline robot reducer, including a roller 1 with an opening on one side, a groove is opened on the outer wall of the roller 1, and a rubber ring 2 is embedded in the groove of the roller 1, the open side of the roller 1 is provided with a fixed bevel gear group 4 that can be displaced in the axial direction, and the inner wall of the closed end of the roller 1 is fixedly connected with the output bevel gear 10, a rotating shaft mechanism 7 is provided between the fixed bevel gear group 4 and the output bevel gear 10, and the two ends of the rotating shaft mechanism 7 are respectively connected by a driving gear 8, a driven gear 14 and the fixed bevel gear group 4, and the output bevel gear 10 through meshing transmission connection, one side of the fixed bevel gear group 4 is fixedly connected with a sun gear 18 arranged coaxially therewith, and one side of the sun gear 18 is provided with a driving motor 6, a rotating frame 17 that rotates around the fixed bevel gear group 4 is provided on the outside of the rotating shaft mechanism 7, the rotating shaft mechanism 7 is rotatably connected to the rotating frame 17, the output shaft of the driving motor 6 is meshed with the sun gear 18 through the planetary gear 19 and the sun gear 18, and the driving motor 6 drives the rotating frame 17 to rotate around the sun gear 18, and the outside of the roller 1 is provided with The bracket 3 has one side that is rotatably connected to the center position of the closed end of the roller 1, and the other side is fixedly connected to a fixed shaft 11. One end of the fixed shaft 11 located inside the roller 1 is fixedly connected to the sun gear 18. A first bearing 12 is provided on the side of the first fixed bevel gear 401 close to the bracket 3. The inner wall of the first bearing 12 is fixedly connected to the first fixed bevel gear 401. A first hydraulic cylinder 13 is provided on the outer side of the outer wall of the first bearing 12. The output end of the first hydraulic cylinder 13 is fixedly connected to the outer wall of the first bearing 12, and the fixed end is fixedly connected to the bracket 3. When the hydraulic cylinder drives the first bearing 12 to move along its axial direction, the transmission fixed bevel gear set 4 moves axially on the fixed shaft 11, thereby realizing the switching of the meshing conditions of the first fixed bevel gear 401 and the second fixed bevel gear 402. When the fixed bevel gear set 4 is located on the outside, the first fixed bevel gear 401 is meshed and transmission-connected with the driving gear 8. When the fixed bevel gear set 4 is located on the inside, the second fixed bevel gear 402 is meshed and transmission-connected with the gear ring 25.

[0024] The fixed bevel gear set 4 includes a first fixed bevel gear 401 and a second fixed bevel gear 402. The tooth ratios of the first fixed bevel gear 401, the second fixed bevel gear 402 and the output bevel gear 10 are different, and the tooth ratio of the first fixed bevel gear 401 to the output bevel gear 10 is smaller than the tooth ratio of the second fixed bevel gear 402 to the output bevel gear 10.

[0025] The rotating shaft mechanism 7 includes a coaxially arranged ball screw 701 and a rotating shaft 702. The ball screw 701 is connected to the driving gear 8 through a nut seat 23. A gear ring 25 that moves independently is provided on the outside of the ball screw 701. When the first fixed bevel gear 401 and the driving gear 8 are meshed, the gear ring 25 has a clearance fit with the second fixed bevel gear 402. When the driving gear 8 rotates independently between the ball screw 701 and the rotating shaft 702, it is displaced axially along the ball screw 701 to the inside of the gear ring 25. At the same time, the fixed bevel gear set 4 is displaced axially along its own axis, and the second fixed bevel gear 402 and the gear ring 25 are meshed and connected. A mounting bracket 26 is provided on the side of the gear ring 25 close to the rotating frame 17, and the bottom end of the mounting bracket 26 is provided with an outer wall that is engaged with it. The fixedly connected bearing, the inner wall of the bearing and the mounting bracket 26 are fixedly connected, an electromagnetic mechanism 24 is provided on the nut seat 23, and the output section of the electromagnetic mechanism 24 extends to the inside of the nut seat 23, and the electromagnetic mechanism 24 is used to transport its extended section to the inside of the nut seat 23 to limit the ball inside the nut seat 23. When the ball inside the nut seat 23 is limited, the nut seat 23 cannot be axially positioned along the ball screw 701 when the ball screw 701 rotates, so that the driving gear 8 and the ball screw 701 rotate radially synchronously to realize the revolution outside the first fixed bevel gear 401. The outer sliding sleeve at the connection position of the ball screw 701 and the rotating shaft 702 is provided with a second bearing 15, and the inner wall of the second bearing 15 is sleeved on the ball screw 70 1 and the rotating shaft 702 are fitted and connected at the connection position, so that the two can rotate radially synchronously. A second hydraulic cylinder 16 is provided on the outside of the second bearing 15. The fixed end of the second hydraulic cylinder 16 is fixedly connected to the rotating frame 17. The output end of the second hydraulic cylinder 16 is fixedly connected to the outer wall of the second bearing 15. The second hydraulic cylinder 16 drives the second bearing 15 to perform axial displacement, switching the synchronous and independent rotation of the ball screw 701 and the rotating shaft 702. The ball screw 701 and the rotating shaft 702 are respectively provided with a limiting groove 27 at one end thereof. The limiting groove 27 is used to prevent the second bearing 15 from relative slipping when the ball screw 701 and the rotating shaft 702 are docked, thereby ensuring the stability of the docking. When the second hydraulic cylinder 16 is extended, the second bearing 15 slides on the ball screw 701 and the rotating shaft 702. The outer sides of the ball screw 701 and the rotating shaft 702 limit the radial positions of the two to prevent them from rotating radially. When the second hydraulic cylinder 16 is shortened, the second bearing 15 slides to one side of the rotating shaft 702. At this time, the ball screw 701 and the rotating shaft 702 rotate relative to each other, so that the rotation of the ball screw 701 will not affect the rotating shaft 702. The top bolt of the rotating frame 17 is fixedly connected to the servo motor 20, and the output shaft of the servo motor 20 is equipped with a driving gear 21. The ball screw 701 is located on the inner side of the rotating frame 17. An adjusting gear 22 is sleeved on one end, and the adjusting gear 22 and the driving gear 21 are meshed and connected. When the servo motor 20 drives the adjusting gear 22 to rotate, the ball screw 701 and the rotating shaft 702 rotate independently.

[0026] The implementation principle of a pipeline robot reducer according to an embodiment of the present invention is as follows: the driving motor 6 rotates, and the planetary gear 19 revolves around the outside of the sun gear 18, thereby driving the rotating frame 17 to revolve around the sun gear 18. When a diameter difference is set between the sun gear 18 and the planetary gear 19, the first level of deceleration is performed between the two. When the rotating frame 17 rotates, the rotating shaft mechanism 7 revolves around the first fixed bevel gear 401. When the driving gear 8 rotates outside the first fixed bevel gear 401, the driven gear 14 rotates synchronously with it at the same speed. When the driving gear 8 rotates one circle, since there is a difference in the number of teeth between the first fixed bevel gear 401 and the output bevel gear 10, when the driving gear 8 and the driven gear 14 rotate the same number of teeth, the output bevel gear 10 will rotate in the opposite direction to the difference in the number of teeth between the first fixed bevel gear 401, thereby achieving a deceleration effect. When the reduction ratio needs to be adjusted, the second hydraulic cylinder 16 first drives the second bearing 15 to move along the axis, so that the ball bearing The screw 701 and the rotating shaft 702 rotate independently. At this time, the servo motor 20 rotates, and the drive gear 21 transmits the connection adjustment gear 22 to rotate. At the same time as the adjustment gear 22, the electromagnetic mechanism 24 releases the lock of the ball inside the nut seat 23, thereby ensuring that the ball screw 701 can drive the nut seat 23 to move in its axial direction, and finally transmits it to the inner side of the gear ring 25 to achieve docking between the two. After docking is completed, the electromagnetic mechanism 24 locks the nut seat 23 again, and the second bearing 15 is reset. When the above operation is completed, the second fixed bevel gear 402 below and the gear ring 25 are clearance-fitted. At this time, the first hydraulic cylinder 13 drives the fixed bevel gear group 4 to axially displace, so that the second fixed bevel gear 402 and the gear ring 25 are meshed and transmitted. Since the second fixed bevel gear 402 and the first fixed bevel gear 401 have different numbers of teeth, the reduction ratio of the device can be adjusted, achieving a multi-stage reduction effect, and improving the applicability of the pipeline robot roller 1.

[0027] It should be noted that, in this document, terms such as "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements that are inherent to such process, method, article or apparatus.

[0028] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline robot reducer, characterized by: The invention comprises a roller (1) with an opening on one side, wherein the open side of the roller (1) is provided with a fixed bevel gear set (4) capable of axial displacement, and an output bevel gear (10) is fixedly connected to the inner wall of the closed end of the roller (1), a rotating shaft mechanism (7) is provided between the fixed bevel gear set (4) and the output bevel gear (10), and the two ends of the rotating shaft mechanism (7) are respectively connected through meshing transmission between a driving gear (8), a driven gear (14), the fixed bevel gear set (4), and the output bevel gear (10), and the fixed bevel gear set (4) is connected to the output bevel gear (10). (4) A sun gear (18) is fixedly connected to one side and arranged coaxially therewith, and a driving motor (6) is arranged on one side of the sun gear (18), a rotating frame (17) rotating around the fixed bevel gear set (4) is arranged on the outer side of the rotating shaft mechanism (7), the rotating shaft mechanism (7) is rotatably connected to the rotating frame (17), the output shaft of the driving motor (6) is connected to the sun gear (18) through meshing transmission between the planetary gear (19), and the driving motor (6) drives the rotating frame (17) to rotate around the sun gear (18); The fixed bevel gear set (4) comprises a first fixed bevel gear (401) and a second fixed bevel gear (402), the first fixed bevel gear (401), the second fixed bevel gear (402) and the output bevel gear (10) having different tooth ratios, and the tooth ratio of the first fixed bevel gear (401) to the output bevel gear (10) is smaller than the tooth ratio of the second fixed bevel gear (402) to the output bevel gear (10); The rotating shaft mechanism (7) comprises a coaxially arranged ball screw (701) and a rotating shaft (702), wherein the ball screw (701) is connected to the driving gear (8) through a nut seat (23), and an independently movable gear ring (25) is provided on the outer side of the ball screw (701). When the first fixed bevel gear (401) and the driving gear (8) are meshed, the gear ring (25) is clearance-matched with the second fixed bevel gear (402). When the driving gear (8) rotates independently between the ball screw (701) and the rotating shaft (702), it is displaced axially along the ball screw (701) to the inner side of the gear ring (25). At the same time, the fixed bevel gear set (4) is displaced axially along its own axis, and the second fixed bevel gear (402) and the gear ring (25) are meshed and connected.

2. The pipeline robot reducer according to claim 1, characterized in that: An electromagnetic mechanism (24) is provided on the nut seat (23), and an output section of the electromagnetic mechanism (24) extends into the interior of the nut seat (23). The electromagnetic mechanism (24) is used to transport the extended section into the interior of the nut seat (23), thereby limiting the position of the ball inside the nut seat (23).

3. The pipeline robot reducer according to claim 1, characterized in that: A bracket (3) is provided on the outside of the roller (1), and one side of the bracket (3) is rotatably connected to the center position of the closed end of the roller (1), and the other side is fixedly connected to a fixed shaft (11), one end of the fixed shaft (11) located inside the roller (1) is fixedly connected to the sun gear (18), a first bearing (12) is provided on the side of the first fixed bevel gear (401) close to the bracket (3), the inner wall of the first bearing (12) is fixedly connected to the first fixed bevel gear (401), a first hydraulic cylinder (13) is provided on the outer side of the outer wall of the first bearing (12), the output end of the first hydraulic cylinder (13) is fixedly connected to the outer wall of the first bearing (12), and the fixed end is fixedly connected to the bracket (3).

4. The pipeline robot reducer according to claim 1, characterized in that: A second bearing (15) is provided on the outer sliding sleeve at the connection position between the ball screw (701) and the rotating shaft (702). The inner wall of the second bearing (15) is sleeved on the connection position between the ball screw (701) and the rotating shaft (702), so that the two can rotate radially synchronously. A second hydraulic cylinder (16) is provided on the outer side of the second bearing (15). The fixed end of the second hydraulic cylinder (16) is fixedly connected to the rotating frame (17). The output end of the second hydraulic cylinder (16) is fixedly connected to the outer wall of the second bearing (15). The second hydraulic cylinder (16) drives the second bearing (15) to perform axial displacement, so as to switch the synchronous and independent rotation of the ball screw (701) and the rotating shaft (702).

5. The pipeline robot reducer according to claim 1, characterized in that: The top end of the rotating frame (17) is fixedly connected to a servo motor (20) by bolts, and the output shaft of the servo motor (20) is equipped with a driving gear (21). The ball screw (701) is located on one end inside the rotating frame (17) and is sleeved with an adjusting gear (22). The adjusting gear (22) and the driving gear (21) are meshed and connected. When the servo motor (20) drives the adjusting gear (22) to rotate, the ball screw (701) and the rotating shaft (702) rotate independently.

6. The pipeline robot reducer according to claim 1, characterized in that: The outer wall of the roller (1) is provided with a groove, and a rubber ring (2) is embedded in the groove of the roller (1).

7. The pipeline robot reducer according to claim 5, characterized in that: A mounting frame (26) is provided on one side of the gear ring (25) close to the rotating frame (17), and a bearing with an outer wall fixedly connected thereto is provided at the bottom end of the mounting frame (26), and an inner wall of the bearing is fixedly connected to the mounting frame (26).

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