Driving device of pipeline detection crawling robot

Abstract

The utility model relates to the technical field of pipeline detection equipment, in particular to a driving device of a pipeline detection crawling robot, which comprises a hollow carriage, accommodating cavities are respectively arranged on the inner walls of two sides of the carriage, and a plurality of wheel shafts are symmetrically distributed on the inner walls of the two sides of the carriage. The two ends of each wheel shaft rotationally extend out of the compartment and are connected with walking wheels, and a first transmission component enabling the wheel shafts on the same side to rotate is arranged in each containing cavity. The other ends of any two symmetrical wheel shafts are coaxially connected with extension shafts respectively, two driving motors arranged side by side are arranged in the carriage, and an output shaft of each driving motor is connected with the corresponding extension shaft through a second transmission part and drives the extension shaft to rotate. The second transmission part comprises worm wheels arranged on the extension shafts and worms meshed with the worm wheels, and an output shaft of the driving motor is connected with the worms. The robot has the advantages of being simple in structure, saving space and facilitating flexible movement of the robot.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline detection, in particular to a driving device of a pipeline detection crawling robot. Background Art

[0002] As an important material transportation method, pipelines are widely used in the fields of long-distance transportation of oil, natural gas, city gas, nuclear industry, etc. In order to improve the service life and safety of pipelines, pipelines need to be regularly inspected and maintained. As an efficient and accurate fault diagnosis, defect detection, and pipeline maintenance carrier, pipeline robots are being widely used in pipeline cleaning, weld inspection, and patching in the early stage of pipeline operation, as well as defect detection, maintenance, and pipe cleaning during operation. At present, images of the inside of the pipeline are usually captured by mounting a camera on a mobile carrier, but when the existing crawling robot suddenly loses power during the inspection in the pipeline, it will affect the progress of pipeline inspection. Utility Model Content

[0003] In order to solve the above technical problems, the utility model specifically adopts the following technical solutions.

[0004] A driving device of a pipeline inspection crawling robot is designed, comprising a hollow carriage, with accommodating cavities respectively opened on the inner walls on both sides of the carriage, with multiple wheel axles symmetrically distributed respectively on the inner walls on both sides of the carriage, and both ends of each wheel axle are respectively rotated to extend out of the carriage and connected with running wheels, and a transmission component for rotating the wheel axle on the same side is respectively provided in each accommodating cavity;

[0005] An extension shaft is coaxially connected to the other end of any two symmetrical wheel axles, and the extension shaft extends into the carriage. Two drive motors are arranged side by side in the carriage. The output shaft of each drive motor is connected to the extension shaft through a transmission component 2, and drives the extension shaft to rotate. The transmission component 2 includes a worm wheel arranged on each extension shaft and a worm meshing with the worm wheel. The output shaft of the drive motor is connected to the worm.

[0006] Preferably, the worm is a multi-start worm.

[0007] Preferably, the ends of the two extension shafts that are close to each other are fixed in the carriage through mounting blocks, and one end of each extension shaft is rotatably connected to the mounting blocks.

[0008] Preferably, the driving motor is connected to the wheel axle at the end through a second transmission component.

[0009] Preferably, the transmission component 1 includes a plurality of transmission shafts rotatably arranged in each accommodating cavity, a gear 2 arranged on the transmission shaft, and a gear 1 arranged on the axle, and the gear 1 and the gear 2 are meshed with each other.

[0010] The beneficial effects of the utility model are:

[0011] 1. The utility model utilizes two driving motors to drive two different wheel axles respectively, and multiple gears 1 and 2 are meshed with each other to achieve stable transmission of multiple wheel axles on the same side, thereby driving the walking wheel to rotate, so that the robot can walk, and multiple gears 1 and 2 are integrated in the accommodating cavity. The entire driving structure can reduce the volume of the driving device, thereby saving the internal space of the carriage and reducing the volume of the entire pipeline inspection robot.

[0012] 2. The utility model adopts a multi-head worm and worm wheel driving method, and takes advantage of the fact that the multi-head worm is not self-locking. When the crawler is powered off, the crawler robot can be freely moved forward or backward by dragging it. Even in the power-off state, the inside of the pipeline can be temporarily inspected, thereby improving the internal inspection process of the pipeline. The utility model has a simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0014] Figure 2 It is a main structural schematic diagram of the utility model;

[0015] Figure 3 yes Figure 2 AA structural diagram in FIG.

[0016] Figure 4 It is a schematic diagram of the top view structure of the utility model;

[0017] Figure 5 yes Figure 4 Schematic diagram of the BB structure;

[0018] The numbers in the figure are: 1 carriage, 2 walking wheel, 3 worm gear, 4 mounting block, 5 wheel axle, 6 gear one, 7 gear two, 8 accommodating chamber, 9 driving motor, 10 transmission shaft, 11 worm, 12 extension shaft. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0020] Example 1

[0021] A driving device for a pipeline inspection crawling robot, such as Figures 1 to 5As shown, it includes a hollow carriage 1. For the convenience of maintenance, a removable upper cover can be provided on the top of the carriage 1. Accommodation chambers 8 are respectively provided on the inner walls on both sides of the carriage 1. A plurality of wheel axles 5 are respectively provided on the inner walls on both sides of the carriage 1 and are symmetrically distributed. The two ends of each wheel axle 5 are respectively rotated and extended out of the outside of the carriage 1 and are connected to a running wheel 2. A transmission component 1 for rotating the wheel axle 5 on the same side is respectively provided in each accommodating chamber 8. The transmission component 1 includes a plurality of transmission shafts 10 rotatably provided in each accommodating chamber 8, a gear 2 7 provided on the transmission shaft 8, and a gear 1 6 provided on the wheel axle 5, and the gear 1 6 and the gear 2 7 are meshed with each other. The meshing between the plurality of gears 1 6 and the plurality of gears 7 can realize the transmission between the wheel axles 5 on the same side, thereby driving the running wheel 2 to rotate and realize the walking of the crawling robot.

[0022] An extension shaft 12 is coaxially connected to the other end of any two symmetrical wheel axles 5, and the extension shaft 12 extends into the carriage 1. Two drive motors 9 are arranged side by side in the carriage 1. The output shaft of each drive motor 9 is connected to the extension shaft 12 through a transmission component 2, and drives the extension shaft 12 to rotate. The transmission component 2 includes a worm wheel 3 arranged on each extension shaft 12 and a worm 11 meshing with the worm wheel 3. The output shaft of the drive motor 9 is connected to the worm 11, and the worm 11 adopts a multi-start worm so that the multi-start worm cannot self-lock when the crawling robot is powered off. At this time, the crawler can be freely moved forward or backward by towing the crawler. Specifically, a towing component can be connected to the vehicle body.

[0023] The ends of the two extension shafts 12 that are close to each other are fixed in the carriage 1 through the mounting blocks 4 , and one end of each extension shaft 12 is rotatably connected to the mounting blocks 4 .

[0024] Different extension shafts 12 are driven to rotate by two driving motors 9, thereby driving the wheel axle 5 to rotate. Then, multiple gears 1 6 and multiple gears 2 7 are meshed with each other to realize the rotation of the wheel axle 5 on the same side. Gears 1 6 and gears 7 are integrated in the accommodating cavity 8, which can reduce the volume of the entire driving device, thereby making the entire vehicle body more compact and flexible. Moreover, through the above transmission method, the entire vehicle body is more stable when walking.

[0025] Example 2

[0026] A driving device for a pipeline inspection crawling robot is different from Example 1 in that a driving motor 9 is connected to a wheel axle 5 at the end through a transmission component 2, wherein the end refers to the rearmost end in the walking direction of the robot. In this embodiment, the pipeline inspection robot is driven in a rear-wheel drive manner.

[0027] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A driving device for a pipeline inspection crawling robot, characterized in that: The invention comprises a hollow carriage (1), wherein accommodating cavities (8) are respectively provided on the inner walls on both sides of the carriage (1), and a plurality of wheel axles (5) are respectively provided on the inner walls on both sides of the carriage (1) and are symmetrically distributed, and the two ends of each wheel axle (5) are respectively rotated to extend out of the outside of the carriage (1) and are connected to running wheels (2), and a transmission component for rotating the wheel axle (5) on the same side is respectively provided in each accommodating cavity (8); An extension shaft (12) is coaxially connected to the other end of any two symmetrical wheel axles (5), and the extension shaft (12) extends into the carriage (1). Two drive motors (9) are arranged side by side in the carriage (1). The output shaft of each drive motor (9) is connected to the extension shaft (12) through a transmission component 2, and drives the extension shaft (12) to rotate. The transmission component 2 includes a worm wheel (3) arranged on each extension shaft (12) and a worm (11) meshing with the worm wheel (3). The output shaft of the drive motor (9) is connected to the worm (11).

2. The driving device of the pipeline inspection crawling robot according to claim 1, characterized in that: The worm (11) is a multi-start worm.

3. The driving device of the pipeline inspection crawling robot according to claim 1, characterized in that: The ends of the two extension shafts (12) that are close to each other are fixed in the carriage (1) via mounting blocks (4), and one end of each extension shaft (12) is rotatably connected to the mounting blocks (4).

4. The driving device of the pipeline inspection crawling robot according to claim 1, characterized in that: The driving motor (9) is connected to the wheel shaft (5) at the end through a second transmission component.

5. The driving device of the pipeline inspection crawling robot according to claim 1, characterized in that: The transmission component 1 comprises a plurality of transmission shafts (10) rotatably arranged in each accommodating cavity (8), a gear 2 (7) arranged on the transmission shaft (10), and a gear 1 (6) arranged on the wheel shaft (5), and the gear 1 (6) and the gear 2 (7) are meshed with each other.

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