Robot driving device capable of changing height of track supporting arm

Abstract

The invention discloses a robot driving device capable of changing the height of a crawler belt supporting arm, and belongs to the technical field of pipeline detection equipment. The device comprises a walking device body, a variable-diameter driving motor, a planetary gear system, a lead screw, a lead screw nut mechanism, a crawler belt supporting arm, a crawler belt and a crawler belt driving motor. According to the working principle, the variable-diameter driving motor drives the multiple lead screws to rotate synchronously through the planetary gear system, the lead screw nut mechanism converts rotational motion into axial movement, the front supporting arm of the crawler belt is pushed, the middle supporting arm and the rear supporting arm are in linkage to swing around a hinge point of the walking device body, and height adjustment of the supporting arms is achieved; therefore, the supporting diameter of the crawler belt is changed to adapt to a pipeline with the pipe diameter of 70-90 mm. Through the linkage structure of the lead screw nut and the supporting arm, the reducing synchronism and stability are improved, the problem that a traditional device is poor in adaptability is solved, and the device is suitable for efficient operation of the pipeline robot in the complex pipe diameter environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline detection equipment, in particular to a robot driving device capable of changing the height of track support arms, which is especially suitable for a detection robot working in a 70-90mm variable-diameter pipeline, and realizes self-adaptive change of the track support diameter by precisely adjusting the height of the track support arms, thereby solving the problems of poor adaptability and insufficient transmission precision of the traditional driving device. BACKGROUND

[0002] The driving device of the existing pipeline detection robot has two technical bottlenecks: first, the track support structure is fixed and cannot adjust the support height according to the pipeline diameter (such as 70-90mm), which leads to easy jamming or slipping in the variable-diameter pipeline; second, some variable-diameter devices use a single driving source to drive multiple support arms, which causes poor variable-diameter synchronization due to transmission delay, affecting the walking stability. The traditional screw driving variable-diameter mechanism only pushes the support arm through a single screw, which is easy to produce yaw due to uneven stress; the gear and rack type variable-diameter structure has the problems of large gap and low precision. In addition, the transmission components lack sealing protection and are easily worn out in a dusty and humid environment, shortening the service life of the equipment.

[0003] In view of the above defects, the present application proposes a composite driving structure based on "planetary gear shunt + screw nut transmission", which realizes precise synchronous adjustment of the height of the track support arm through modular design, and significantly improves the adaptability of the robot to complex pipeline environments. SUMMARY

[0004] The present application aims to overcome the defects of the existing driving device, such as low variable-diameter synchronization, narrow adaptation range, and easy wear of transmission components, and provides a driving device capable of precisely adjusting the height of the track support arm through a planetary gear-screw linkage mechanism, which realizes stable adaptation to 70-90mm diameter pipelines and improves the durability of the transmission system.

[0005] A robot driving device capable of changing the height of track support arms, comprising a driving device gear cover (1), a driving device motor base (3), a driving device main body (9), a variable-diameter driving motor (7), a planetary gear system, a screw (12), a screw front support frame (8), a screw rear support frame (18), a screw nut mechanism, a track support arm, a track (19), and a track driving motor (20). The core innovation point lies in the integrated design of "power shunt-precise transmission-multi-arm linkage".

[0006] The gear cover (1) of the driving device is sealed and connected with the motor base (3) of the driving device through gear cover fixing screws (2) to form a closed cavity. The cavity not only provides a protective space for the planetary gear system, but also realizes the lubrication and dust prevention of the transmission components by filling the gear lubricating liquid, solving the problem of fast wear of the traditional device in the harsh environment of the pipeline. The motor base (3) of the driving device is rigidly connected to the driving device main body (9) through the motor base fixing bolts (4) and the front support frame (8) of the lead screw, ensuring the overall stability of the transmission system.

[0007] The planetary gear system is composed of a sun gear (5) and three planetary gears (6). The sun gear (5) is connected with the output shaft of the variable-diameter driving motor (7), the three planetary gears (6) are distributed at an interval of 120° around the sun gear (5) and are engaged, and each planetary gear (6) is connected with the front end of a lead screw (12). The modulus of the sun gear (5) and the planetary gear (6) is 1, wherein the number of teeth of the sun gear (5) is 40 and the number of teeth of the planetary gear (6) is 19, and power distribution and speed reduction and torque increase are realized through gear engagement.

[0008] The lead screw (12) is respectively provided at the front end and the rear end of the lead screw front support frame (8) and the lead screw rear support frame (18), and is supported on the driving device main body (9) through the two support frames. The length of the lead screw (12) is 104 mm, the middle 71 mm section is processed with M7 threads, and the two ends are smooth shafts, ensuring the axial stability during rotation.

[0009] The lead screw nut mechanism is composed of a lead screw nut support frame (10) and a lead screw nut (11), and is threadedly connected with the three lead screws (12). The rotary motion is converted into axial linear motion through the rotation of the lead screw (12), driving the track support arm to swing to change the height.

[0010] The track support arm includes a track front support arm lower arm (13), a track front support arm spring (14), a track front support arm upper arm (15), a track middle support arm (16), and a track rear support arm (17). The track front support arm lower arm (13) is fixed with the lead screw nut mechanism, and is connected with the track front support arm upper arm (15) through the track front support arm spring (14) and a pin. The lower ends of the track middle support arm (16) and the track rear support arm (17) are hingedly connected with the driving device main body (9), and the upper ends are connected with the track (19).

[0011] The track driving motor (20) is a horizontal stepping motor. The track (19) is provided with a mounting groove corresponding to the shape of the motor. A limiting boss is arranged in the groove. The motor is fixed through interference fit or adhesive. The output shaft is connected with the track (19) transmission component to provide power for the track (19) to walk. BRIEF DESCRIPTION OF DRAWINGS

[0012] For more clearly illustrating the technical solutions in the embodiments of the present application, the required drawings in the embodiment description are briefly introduced as follows. Obviously, the following drawings are only some of the embodiments of the present application, and the ordinary skilled in the art can obtain other related drawings according to these drawings without any creative effort.

[0013] The drawings constituting the present application are used for further understanding the technical solutions, the schematic embodiments of the present application and their descriptions are only used for explaining the present application, and do not constitute improper limitation on the present application. In the drawings:

[0014] Figure 1 is a schematic diagram of the overall structure of the present application;

[0015] Figure 2 is a half-sectional view of Figure 1 ;

[0016] Figure 3 is a front view and a side sectional view of the gear cover of the driving device of the present application;

[0017] Figure 4 is a front view and a side sectional view of the motor base of the driving device of the present application;

[0018] Figure 5 is a schematic diagram of the gear cover and the planetary gear system of the driving device of the present application;

[0019] Figure 6 is an assembly schematic diagram of the gear cover, the motor base, the variable-diameter driving motor and the planetary gear system of the driving device of the present application;

[0020] Figure 7 is a front view and a side sectional view of the screw nut mechanism of the present application;

[0021] Figure 8 is a front view and a side sectional view of the front support arm of the driving device of the present application;

[0022] Figure 9 is a front view and a side sectional view of the middle support arm of the driving device of the present application;

[0023] Figure 10 is a front view and a side sectional view of the rear support arm of the driving device of the present application;

[0024] Figure 11 is a schematic diagram of the track in the unfolded state of the present application.

[0025] Labeling Explanation: 1-Drive unit gear cover, 2-Gear cover fixing screw, 3-Drive unit motor base, 4-Drive unit motor base fixing bolt, 5-Sun gear, 6-Planet gear, 7-Variable diameter drive motor, 8-Lead screw front support frame, 9-Drive unit body, 10-Lead screw nut support frame, 11-Lead screw nut, 12-Lead screw, 13-Lower arm of front track support arm, 14-Spring of front track support arm, 15-Upper arm of front track support arm, 16-Middle track support arm, 17-Rear track support arm, 18-Rear support frame of lead screw, 19-Track, 20-Track drive motor. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0027] It should be noted that in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0028] The following describes in further detail the embodiments of the present invention with reference to the accompanying drawings.

[0029] Implementation Case 1, such as Figures 1-2 As shown, the robot drive device with adjustable track support arm height disclosed in this invention mainly consists of a drive device gear cover 1, a drive device motor base 3, a walking device body 9, a variable diameter drive motor 7, a planetary gear system, a lead screw 12, a lead screw nut mechanism, a track support arm, a track 19, and a track drive motor 20. The various devices work together through mechanical connection and are suitable for robot walking drive of pipes with a diameter of 70-90mm.

[0030] like Figures 3-6As shown, the drive gear cover 1 is made of aluminum alloy material, connected with the drive motor base 3 through 4 gear cover fixing screws 2, forming a closed cavity, the cavity is injected with lubricating grease, used for lubricating the planetary gear system and isolating dust and moisture in the pipeline. The drive motor base 3 is rigidly connected with the screw front support frame 8 through 4 drive motor base fixing bolts, and is fixed on the walking device main body 9 together, ensuring the overall stability of the transmission system.

[0031] As shown in Figures 5-6 , the planetary gear system is the power split core: the variable diameter drive motor 7 selects a 57 type stepping motor, which is fixed on the motor mounting surface of the drive motor base 3 through bolts, and its output shaft passes through the center hole of the base and is connected with the sun gear 5 through a key; three planetary gears 6 are installed on the planetary gear shaft of the drive motor base 3 through deep groove ball bearings, which are arranged around the sun gear 5 at an interval of 120° circumference and meshed to realize speed reduction and torque increase; the axle end of each planetary gear 6 is in interference fit with the square hole at the front end of the lead screw 12, so as to split the power to three lead screws 12.

[0032] As shown in Figure 7 , the screw nut mechanism is composed of a screw nut support frame 10 and three screw nuts 11, and the screw nuts 11 are fixed on the screw nut support frame 10 through interference fit, forming an integral structure.

[0033] As shown in Figures 8-10 , the track support arm is a variable diameter actuator: the track front support arm lower arm 13 is fixed with the screw nut device through bolt set, and its top end is connected with the track front support arm upper arm 15 through the track front support arm spring 14 and cylindrical pin, and the spring can buffer the instantaneous impact force during variable diameter; the track middle support arm 16 and the rear support arm 17 are both 45 steel stamping parts, the lower end is hinged with the connecting lug plate of the walking device main body 9 through the fish eye bearing, and the upper end is connected with the track 19 through bolts.

[0034] As shown in Figure 11 , the variable diameter process is as follows: when the pipeline diameter increases from 70mm to 90mm, the ground terminal sends a variable diameter command, the variable diameter drive motor 7 rotates forward, drives the three planetary gears 6 to rotate synchronously through the sun gear 5, and the planetary gears drive the lead screws 12 to rotate clockwise; the screw nut mechanism moves forward along the screw shaft, pushes the track front support arm lower arm 13, forces the upper arm 15 to swing outward, and simultaneously drives the middle support arm 16 and the rear support arm 17 to unfold around the hinge point, the support height of the track 19 increases from 35mm to 45mm, and the support diameter adapts to the 90mm pipe diameter; when the pipe diameter decreases to 70mm, the motor reverses, the screw nut mechanism moves backward, and the support arms are folded under the reset force of the spring 14 and the reaction force of the pipeline inner wall, and the support height decreases to 35mm.

[0035] The foregoing detailed description has set forth various embodiments of the application via the use of specific terminology. However, embodiments can be implemented with other technologies. Accordingly, the terms "application" and "application(s)" as used herein encompass all such embodiments.

Claims

1. A robot drive arrangement in which the height of a track support arm is variable, characterised in that: The drive device gear cover (1), the drive device motor base (3), the walking device main body (9), the variable diameter drive motor (7), the planetary gear system, the lead screw (12), the lead screw front support frame (8), the lead screw rear support frame (18), the lead screw nut mechanism, the track support arm, the track (19) and the track drive motor (20) are included.

2. The robot drive apparatus with changeable track support arm height according to claim 1, characterized in that: The drive device gear cover (1) and the drive device motor base (3) are connected through the gear cover fixing screw (2); an enclosed cavity is formed inside, the cavity is filled with gear lubricating liquid to reduce the wear of the planetary gear system when meshing transmission, and dustproof protection is achieved. The drive device motor base (3) is fixed to the lead screw front support frame (8) and the walking device main body (9) through the drive device motor base fixing bolt (4).

3. The robot drive apparatus with changeable track support arm height according to claim 1, characterized in that: The planetary gear system is composed of a sun gear (5) and three planetary gears (6), the modulus of the sun gear (5) and the planetary gear (6) is 1, wherein the number of teeth of the sun gear (5) is 40, and the number of teeth of the planetary gear (6) is 19; the sun gear (5) is connected with the output shaft of the variable diameter drive motor (7), the three planetary gears (6) are distributed at intervals of 120° around the sun gear (5) and meshed, and each planetary gear (6) is connected with the front end of a lead screw (12); the two ends of the lead screw (12) are respectively provided in the lead screw front support frame (8) and the lead screw rear support frame (18), and are supported on the walking device main body (9) through the two.

4. The robot drive apparatus with changeable track support arm height according to claim 1, characterized in that: The length of the lead screw (12) is 104mm, the middle 71mm section is processed with M7 thread, and the two ends are smooth shafts; the lead screw front support frame (8) and the lead screw rear support frame (18) are fixed to the walking device main body (9) with a spacing of 70mm.

5. The robot drive apparatus with height changeable track support arm according to claim 1, characterized in that: The lead screw nut mechanism is composed of a lead screw nut support frame (10) and a lead screw nut (11), and is threadedly connected with the three lead screws (12); when the diameter is changed, the lead screw nut mechanism moves along the lead screw (12) in the axial direction, drives the track support arm to swing to change the height.

6. The robot drive apparatus with height changeable track support arm according to claim 1, characterized in that: The track support arm includes a track front support arm lower arm (13), a track front support arm spring (14), a track front support arm upper arm (15), a track middle support arm (16) and a track rear support arm (17); the track front support arm lower arm (13) is fixed with the lead screw nut mechanism, and is connected with the track front support arm upper arm (15) through the track front support arm spring (14) and a pin, and the track front support arm upper arm (15) is connected with the track (19); the lower ends of the track middle support arm (16) and the track rear support arm (17) are hinged with the walking device main body (9), and the upper ends are connected with the track (19).

7. The apparatus of claim 1, wherein: The track drive motor (20) is a horizontal stepping motor, the track (19) is provided with a mounting groove corresponding to the shape of the motor, a limiting boss is arranged in the groove, the motor is fixed through interference fit or adhesive, and the output shaft is connected with the track (19) transmission part.

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