Amphibious exploration mobile robot transmission system

Abstract

The utility model discloses an amphibious exploration mobile robot transmission system which comprises installation grooves formed in the two sides of a lower vehicle body of a robot, a third straight gear, a second straight gear and a first straight gear are installed in the installation grooves in the two sides, and the third straight gear, the second straight gear and the first straight gear are horizontally arranged and are sequentially in meshing transmission. The first straight gear is driven by a driving assembly in the robot lower vehicle body, and the driving assembly is horizontally perpendicular to the axis of the robot lower vehicle body. The spur gear III, the spur gear II and the spur gear I are mounted on the two sides of the mounting groove, the spur gears are horizontally arranged and sequentially engaged and in transmission connection, meanwhile, the motor is horizontally perpendicular to the axis of the robot, and then power output is completed through gear direct transmission; the robot adopts motor horizontal and vertical robot axis arrangement and gear direct transmission arrangement, so that the structure of the robot can be more compact, and application parameter indexes are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline robots, in particular to a transmission system of an amphibious exploration mobile robot. Background Art

[0002] At present, the pipeline inspection robots on the market are mainly CCTV carts and all-terrain double-helix robots. CCTV cart inspection is only suitable for new pipeline acceptance or clean waterless pipeline inspection, while all-terrain robots are mostly used for low water level inspection or box culvert inspection of large-diameter pipelines. Amphibious exploration mobile robots can realize multiple working conditions such as clean pipelines, obstacles, siltation, half water, and full water. However, the motor output of conventional CCTV pipeline inspection robots generally adopts couplings and bevel gear transmissions, etc. The structural layout is not compact, which makes the robot larger in size and cannot be compressed to the ideal size. Therefore, when the robot walks into a narrow pipeline, it will be inconvenient. For this reason, this application proposes an amphibious exploration mobile robot transmission system to solve the above shortcomings. Utility Model Content

[0003] The technical problem to be solved by the utility model is: how to provide a robot transmission system with a more compact structure.

[0004] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0005] A transmission system of an amphibious exploration mobile robot, comprising mounting grooves installed on both sides of a lower body of the robot, wherein spur gear 3, spur gear 2 and spur gear 1 are installed in the mounting grooves on both sides, the spur gear 3, spur gear 2 and spur gear 1 are arranged horizontally and meshed in sequence for transmission, the spur gear 1 is driven by a driving assembly in the lower body of the robot, and the driving assembly is arranged horizontally and perpendicular to the axis of the lower body of the robot;

[0006] A transmission axle is arranged at the center of the spur gear three facing away from the robot, wherein the transmission axle is connected to the wheel hub of the robot.

[0007] The present application installs spur gear three, spur gear two and spur gear one on both sides of the installation groove, arranges several spur gears horizontally, and meshes and transmits them in sequence. At the same time, the motor is arranged horizontally and vertically to the robot axis, and then the power output is completed through gear direct transmission. The robot of the present application adopts the horizontal and vertical arrangement of the motor and the gear direct transmission layout, which can make the robot structure more compact and improve the application parameter indicators.

[0008] As a further solution of the utility model: the gears of the spur gear three, the spur gear two and the spur gear one are all made of 440C stainless steel.

[0009] As a further solution of the utility model: the driving assembly includes two motors installed inside the lower body of the robot, wherein the output ends of the two motors are respectively connected to the spur gears on both sides of the lower body of the robot.

[0010] As a further solution of the utility model: three spur gears three are respectively arranged on both sides of the lower body of the robot, wherein the three spur gears three rotate in the same direction.

[0011] As a further solution of the utility model: the outside of the mounting grooves on both sides of the lower body of the robot are detachably connected with a transmission structure cover, and the transmission axle on the spur gear three can pass through the transmission structure cover and be connected to the wheel hub of the robot.

[0012] As a further solution of the utility model: a skeleton oil seal is provided on the outer side of the spur gear three, and an O-ring is provided at the connection between the spur gear three and the mounting groove.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] First, the present application installs spur gear 3, spur gear 2 and spur gear 1 on both sides of the installation slot, arranges several spur gears horizontally, and meshes and drives them in sequence, and at the same time arranges the motor horizontally and vertically to the robot axis, and then transmits the power directly through the gears to complete the power output. The robot of the present application adopts the arrangement of the motor horizontally and vertically to the robot axis and the gear direct transmission layout, which can make the robot structure more compact and improve the application parameter index;

[0015] Secondly, this application uses a single-cabin layout for the transmission mechanism. The transmission mechanism cabin, which is composed of the machine body, transmission mechanism cover, gear shaft, etc., is sealed by a sealing ring and a skeleton oil seal to ensure the sealing life of the robot and the safety of construction;

[0016] Finally, the gear material of the robot in this application is 440C stainless steel. The tooth surface and the cylindrical surface of the gear shaft seal can be ground after quenching to achieve the calibration accuracy. At the same time, surface treatment is no longer required to achieve anti-rust and anti-corrosion effects in acid and alkali environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of a transmission system of an amphibious exploration mobile robot according to an embodiment of the utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the lower body of the robot according to an embodiment of the utility model;

[0019] Figure 3 This is a partial cross-sectional view of the lower body of the robot according to an embodiment of the utility model;

[0020] Figure 4 For the utility model embodiment Figure 3 A front view of

[0021] Figure 5 For the utility model embodiment Figure 4 BB section view in;

[0022] Explanation of the reference numerals: 1. lower body of robot; 2. spur gear three; 3. spur gear two; 4. spur gear one; 5. motor; 6. skeleton oil seal; 7. O-ring; 8. transmission structure cover; 9. mounting groove; 10. transmission axle. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] Reference Figure 1-5 A transmission system of an amphibious exploration mobile robot includes mounting grooves 9 installed on both sides of a lower body 1 of the robot. The mounting grooves 9 on both sides are used to install a transmission mechanism. The subsequent transmission mechanism is connected to the wheel tires of the robot to enable the robot to walk.

[0025] Reference Figure 1 , spur gear three 2, spur gear two 3 and spur gear one 4 are installed in the installation grooves 9 on both sides, wherein spur gear three 2, spur gear two 3 and spur gear one 4 are arranged horizontally and meshed in sequence for transmission, and spur gear one 4 is driven by the motor 5 in the lower body of the robot; it should be noted that a transmission axle 10 is set at the center of the spur gear three 2 facing away from the robot, wherein the transmission axle 10 is connected to the wheel hub of the robot.

[0026] Furthermore, the gears of spur gear three 2, spur gear two 3 and spur gear one 4 are all made of 440C stainless steel, and the tooth surface of the spur gear and the cylindrical surface of the gear shaft seal can be ground after quenching to achieve the calibration accuracy, and no surface treatment is required to achieve the anti-rust and anti-corrosion effect in acid and alkali environment.

[0027] Reference Figure 1 , Figure 3 and Figure 4 , three spur gears 3 2 are arranged on each side of the lower body of the robot, and the three spur gears 3 2 rotate in the same direction; and the number of spur gears 2 3 between two adjacent spur gears 3 2 is an odd number, so that the three spur gears 3 2 can rotate in the same direction, thereby ensuring that the wheel hub tires of the robot rotate in the same direction;

[0028] In the present application, three spur gears 2 3 are arranged between the spur gear 3 2 in the middle position and the adjacent spur gear 3 2 on the left, and the gears are meshed for transmission; and two spur gears 2 3 and one spur gear 1 4 are arranged between the spur gear 3 2 in the middle position and the adjacent spur gear 3 2 on the right, and the gears are meshed for transmission, and the spur gear 1 4 is connected to the motor inside the lower body of the robot, and the motor can drive the spur gear 1 4 to rotate, and the rotation of the spur gear 1 4 can drive all the spur gears 2 3 and spur gear 3 2 to rotate, and the three spur gears 3 2 can keep rotating in the same direction. Both sides of the lower body of the robot are driven in this way, and it is necessary to ensure that the spur gears 1 4 on both sides are synchronously driven, and the spur gears 3 2 on both sides also rotate in the same direction. For example, Figure 5 For reference, all spur gears 3 2 need to be rotated toward the left, or all toward the right, so that the normal walking of the robot can be guaranteed, and this process can be completed only through the control of the motor.

[0029] It should be noted that the spur gears 4 on both sides of the robot are controlled by corresponding motors 5, and two groups of motors 5 are arranged horizontally and vertically to the axis of the robot's lower body. The amphibious exploration mobile robot of this application adopts the arrangement of motors 5 horizontally and vertically to the robot axis and the direct transmission design of the gear group, which makes the robot structure more compact and improves the application parameter index.

[0030] Furthermore, a skeleton oil seal 6 is provided on the outer side of the spur gear 3 2, and an O-ring 7, i.e., an O-ring 7, is provided at the connection between the spur gear 3 2 and the mounting groove 9. The present application achieves the sealing of the transmission mechanism cabin through the sealing ring and the skeleton oil seal 6, ensuring the sealing life of the robot and the safety of the construction.

[0031] Reference Figure 2 The mounting grooves 9 on both sides of the lower body 1 of the robot are detachably connected with a transmission structure cover 8 by bolts or pins. The transmission wheel axle 10 on the spur gear three 2 can pass through the transmission structure cover 8 and be connected to the wheel hub of the robot. The transmission structure cover 8 can seal the mounting groove 9 to ensure the sealing performance of the internal gear set and the overall aesthetics of the robot.

[0032] The specific operating principles of this application are as follows:

[0033] When installing the present application, the motor 5 and other components are arranged as close to the geometric center of the vehicle body as possible to balance the center of mass of the entire robot, and ensure that the center of mass is at the geometric center of the robot as much as possible, which can satisfy the robot's stable floating and driving on the water surface. The motor 5 is arranged horizontally and vertically to the robot axis, and the two motors 5 simultaneously drive the spur gears 1 4 on both sides to rotate, and then the spur gears 1 4 are directly transmitted to the spur gears 2 3 of the transmission mechanism bins on both sides, and then the spur gears 2 3 and the spur gears 3 2 are alternately meshed and transmitted to realize the rotation of a total of six transmission axles 10 on both sides, and then the transmission axles 10 drive the wheel hub tires of the robot to rotate to realize the walking of the robot. This layout of the present application makes the robot structure more compact and improves the application parameter indicators.

[0034] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An amphibious exploration mobile robot transmission system, characterized in that: The robot comprises mounting grooves (9) mounted on both sides of the robot lower body, wherein the mounting grooves (9) on both sides are respectively mounted with spur gear three (2), spur gear two (3) and spur gear one (4), wherein the spur gear three (2), spur gear two (3) and spur gear one (4) are arranged horizontally and meshed in sequence for transmission, wherein the spur gear one (4) is driven by a driving assembly in the robot lower body, and the driving assembly is arranged horizontally and perpendicular to the axis of the robot lower body; A transmission axle (10) is arranged at the center of the spur gear three (2) facing away from the robot, wherein the transmission axle (10) is connected to the wheel hub of the robot.

2. The amphibious exploration mobile robot transmission system according to claim 1 is characterized in that: The gears of the spur gear three (2), spur gear two (3) and spur gear one (4) are all made of 440C stainless steel.

3. The amphibious exploration mobile robot transmission system according to claim 1 is characterized in that: The driving assembly comprises two motors (5) installed inside the lower body of the robot, wherein the output ends of the two motors (5) are respectively connected to spur gears (4) on both sides of the lower body of the robot.

4. The amphibious exploration mobile robot transmission system according to claim 1 is characterized in that: Three spur gears three (2) are respectively arranged on both sides of the lower body of the robot, wherein the three spur gears three (2) rotate in the same direction.

5. The amphibious exploration mobile robot transmission system according to claim 1 is characterized in that: The installation grooves (9) on both sides of the lower body of the robot are detachably connected to a transmission structure cover (8), and the transmission wheel shaft (10) on the spur gear three (2) can pass through the transmission structure cover (8) and be connected to the wheel hub of the robot.

6. The amphibious exploration mobile robot transmission system according to claim 1, characterized in that: A skeleton oil seal (6) is provided on the outer side of the spur gear three (2), and an O-ring (7) is provided at the connection between the spur gear three (2) and the mounting groove (9).

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