Transmission tensioning mechanism of pipe gallery inspection robot

Abstract

The transmission tensioning mechanism of the pipe gallery inspection robot comprises two plate frames, and connecting shafts are symmetrically connected between the two plate frames in a penetrating and rotating mode. The driven wheel is fixedly connected with any connecting shaft; one side of the tensioning component is fixedly connected with any plate frame, the tensioning component is in transmission connection with the driven wheel, the tensioning component comprises a tensioning support, one side of the tensioning support is fixedly connected with the plate frame, the other side of the tensioning support is fixedly connected with a driving motor, the output end of the driving motor is fixedly connected with a driving wheel, and the outer side of the driving wheel is meshed with a movable gear; the side, away from the driving motor, of the movable gear is rotationally connected with an adjusting disc, the other side of the adjusting disc is rotationally connected with a fixed disc, the fixed disc is fixedly connected with the plate frame, and the movable gear is in transmission connection with the driven wheel through a transmission belt. According to the utility model, the tension adjusting device is arranged in the movable gear, so that the occupied space of the movable gear is reduced, the robot can still stably operate at different speeds through gear meshing, the vibration problem is avoided, and the stability of the inspection robot under the normal operation condition is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of inspection robots, and in particular relates to a transmission tensioning mechanism of a pipeline corridor inspection robot. Background Art

[0002] Inspection robots are usually equipped with a power drive device as standard. The power generated by the motor is generally transmitted to the drive wheel through two transmission methods. One is a combination of several gears to transmit power to the drive wheel, and the other is a combination of several gears and several transmission belts to transmit power to the drive wheel.

[0003] In the process of transmission through the transmission belt, the tensioner will be involved. The tensioner is mainly used to make the transmission belt fit tightly with the wheel inside the transmission belt at all times to avoid slipping. There are three common types of tensioners, namely parallel tensioners, outer tensioners and inner tensioners. These three tensioners will increase the internal space occupied and are not suitable for the inspection robot with relatively limited space. At the same time, they also have some other disadvantages. For example, the outer tensioner is not suitable for high-speed and high acceleration and deceleration conditions, and it also causes greater wear on the conveyor belt. There will be tooth surfaces on the inner tensioning surface, which will cause certain vibrations during operation, thereby affecting the safe operation of the inspection robot. Utility Model Content

[0004] The utility model aims to provide a transmission tensioning mechanism of a pipeline corridor inspection robot to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above purpose, the utility model provides the following solution: The utility model provides a transmission tensioning mechanism of a pipeline corridor inspection robot, comprising:

[0006] Two plate racks, with a connecting shaft symmetrically passing through and rotatably connected between the two plate racks;

[0007] A driven wheel, the driven wheel is fixedly connected to any one of the connecting shafts;

[0008] A tensioning component, one side of the tensioning component is fixedly connected to any one of the plate frames, the tensioning component is transmission-connected to the driven wheel, the tensioning component includes a tensioning bracket, one side of the tensioning bracket is fixedly connected to the plate frame, the other side of the tensioning bracket is fixedly connected to a driving motor, the output end of the driving motor is fixedly connected to a driving wheel, the outer side of the driving wheel is meshedly connected to a movable gear, the side of the movable gear away from the driving motor is rotatably connected to an adjusting disk, the side of the adjusting disk away from the movable gear is rotatably connected to a fixed disk, the fixed disk is fixed to the plate frame, and the movable gear is transmission-connected to the driven wheel through a transmission belt.

[0009] Preferably, the adjusting disk includes an adjusting plate, one side of the adjusting plate is rotatably connected to the movable gear, the other side of the adjusting plate is rotatably connected to a fixed shaft, the fixed shaft is rotatably connected to the fixed disk, a sliding shaft is provided next to the fixed shaft, the sliding shaft is fixedly connected to the adjusting plate, and the sliding shaft is slidably connected to the fixed disk.

[0010] Preferably, a second slide groove is provided on the fixed plate, the slide shaft is slidably connected to the second slide groove, a through opening is provided in the middle of the fixed plate, the fixed shaft is rotatably connected to the through opening, the fixed shaft is transmission-connected with a plurality of positioning components, the positioning components extend into the second slide groove and are contact-connected with the slide shaft.

[0011] Preferably, the positioning assembly includes a movable block, a rotating shaft is rotatably connected to the middle part of the movable block, the rotating shaft is fixedly connected to the fixed disk, a tensioning rope is fixedly connected to the end of the movable block, the end of the tensioning rope away from the movable block is fixedly connected to the fixed shaft and wound around the fixed shaft, the end of the movable block close to the tensioning rope extends into the second sliding groove, and the movable block is in contact with the sliding shaft.

[0012] Preferably, one end of the movable block away from the tensioning rope is fixedly connected to a spring, and the spring is fixedly connected to the fixed disk.

[0013] Preferably, a fixed axis groove is formed at one end of the fixed axis away from the adjusting piece.

[0014] Preferably, a sliding shaft groove is formed at one end of the sliding shaft away from the adjusting plate.

[0015] Preferably, wheels are fixedly connected to both ends of the connecting shaft, the wheels are located outside the frame, the wheels are rotatably connected to tracks, and the tracks are installed on the wall.

[0016] The utility model discloses the following technical effects:

[0017] By setting up a tensioning adjustment device inside the movable gear range, the space occupied by the inspection robot is reduced. Through the meshing between the gears, the robot can adapt to the working conditions of high speed and high acceleration and deceleration and still be able to drive stably. At the same time, there will be no vibration problems between the transmissions, thereby improving the stability of the inspection robot under normal operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 This is a schematic diagram of visual angle 1 of the utility model;

[0020] Figure 2 This is a schematic diagram of visual angle 2 of the utility model;

[0021] Figure 3 For this utility model Figure 2 A partial enlarged schematic diagram of part A;

[0022] Figure 4 This is a schematic diagram of the transmission tensioning structure of the utility model;

[0023] Figure 5 It is a schematic diagram of the structural layout of the driving wheel, movable gear, transmission belt and driven wheel in the utility model;

[0024] Figure 6 This is a schematic diagram of the structure of the adjustment disk of the utility model;

[0025] Figure 7 This is a schematic diagram of the cross-sectional structure of the fixed disk of the utility model;

[0026] Figure 8 This is a schematic diagram of the structure of the positioning component of the utility model.

[0027] In the figure: 1. track; 2. wheel; 3. plate frame; 4. connecting shaft; 5. driven wheel; 6. tensioning component; 600. tensioning bracket; 601. movable gear; 610. fixed plate; 611. second slide groove; 612. movable block; 613. rotating shaft; 614. spring; 615. tensioning rope; 7. driving motor; 701. driving wheel; 8. transmission belt; 9. adjusting plate; 901. fixed shaft; 902. fixed shaft groove; 903. sliding shaft; 904. sliding shaft groove. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in 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.

[0029] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0030] Reference Figure 1-Figure 8 As shown, this embodiment provides a transmission tensioning mechanism of a pipe gallery inspection robot, comprising:

[0031] Two plate frames 3, a connecting shaft 4 symmetrically penetrates and rotates between the two plate frames 3;

[0032] A driven wheel 5, the driven wheel 5 is fixedly connected to any connecting shaft 4;

[0033] The tensioning component 6 has one side fixedly connected to any plate frame 3, and the tensioning component 6 is connected to the driven wheel 5 in transmission. The tensioning component 6 includes a tensioning bracket 600, one side of the tensioning bracket 600 is fixedly connected to the plate frame 3, and the other side of the tensioning bracket 600 is fixedly connected to the driving motor 7, and the output end of the driving motor 7 is fixedly connected to a driving wheel 701, and the outer side of the driving wheel 701 is meshedly connected to a movable gear 601, and the side of the movable gear 601 away from the driving motor 7 is rotatably connected to an adjusting disk 9, and the side of the adjusting disk 9 away from the movable gear 601 is rotatably connected to a fixed disk 610, and the fixed disk 610 is fixedly connected to the plate frame 3, and the movable gear 601 is connected to the driven wheel 5 in transmission through a transmission belt 8.

[0034] The two plate frames 3 are provided with a certain space through the penetrating connecting shaft 4, and a driving device, a detection device, a mounting device, etc. can be arranged in the space; the driven wheel 5 is fixedly connected to any one of the connecting shafts 4, and serves as a driving connecting shaft 4 to provide power for the inspection robot to walk; the driving motor 7 is fixed inside the plate frame 3 through a tensioning bracket 600, and the driving motor 7 drives the driving wheel 701, and the driving wheel 701 drives the movable gear 601, and a transmission belt 8 is provided on the movable gear 601, and the movable gear 601 drives the transmission belt 8, and the transmission belt 8 transmits power to the driven wheel 5, so as to realize the driving function of the inspection robot. When the transmission belt 8 between the movable gear 601 and the driven wheel 5 becomes loose, When the distance between the movable gear 601 and the driven wheel 5 is adjusted by adjusting the adjusting disk 9 connected to the movable gear 601, the effect of tightening the transmission belt 8 is achieved; the driving wheel 701 and the movable gear 601 are non-concentrically arranged, and the outer ring teeth of the movable gear 601 mesh with the inner ring teeth of the driving wheel 701. The driving wheel 701 can transmit the rotational power to the movable gear 601 and provide the tensioning function of the transmission belt 8 by displacement inside the movable gear 601; when adjusting the tension, the adjusting disk 9 is rotated to a certain angle, and the fixed disk 610 fixes the angle of the adjusting disk 9, so as to achieve the function of stable transmission of the transmission belt 8. The utility model reduces the space occupied by the inspection robot space by arranging the tensioning adjustment device inside the movable gear 601. Through the meshing between the gears, the robot can adapt to the working condition of stable driving under high speed and high acceleration and deceleration, and there will be no vibration problem between the transmissions, thereby improving the stability of the inspection robot under normal operation.

[0035] A further optimized solution is that the adjusting disk 9 includes an adjusting plate, one side of the adjusting plate is rotatably connected to the movable gear 601, the other side of the adjusting disk 9 is rotatably connected to a fixed shaft 901, the fixed shaft 901 is rotatably connected to the fixed disk 610, a sliding shaft 903 is provided next to the fixed shaft 901, the sliding shaft 903 is fixedly connected to the adjusting plate, and the sliding shaft 903 is slidably connected to the fixed disk 610.

[0036] The rotation of the adjusting plate takes the fixed axis 901 as the rotation center, and the rotation center of the adjusting plate, the center of the driving wheel 701 and the center of the output end of the driving motor 7 are connected to form a straight line. The relative displacement between the movable gear 601 and the driving wheel 701 is achieved by rotating the sliding shaft 903, so as to adjust the tightness of the transmission belt 8. The sliding shaft 903 extends into the fixed disk 610, and the fixed disk 610 is embedded in the plate frame 3. The thickness of the fixed disk 610 is consistent with the thickness of the plate frame 3. The end of the sliding shaft 903 away from the adjusting plate is flush with the side of the fixed disk 610 away from the adjusting plate, thereby achieving the flatness of the outer side of the inspection robot and reducing the situation where the outer side of the inspection robot wants to be connected with other objects. At the same time, the flatness of the outer side of the inspection robot also has a certain aesthetic feeling relative to the whole.

[0037] A further optimized solution is that a second slide groove 611 is opened on the fixed disk 610, the sliding shaft 903 is slidingly connected to the second slide groove 611, a through opening is opened in the middle of the fixed disk 610, the fixed shaft 901 is rotationally connected to the through opening, the fixed shaft 901 is transmission-connected with a plurality of positioning components, the positioning components extend into the second slide groove 611 and are in contact and connection with the sliding shaft 903.

[0038] The fixed shaft 901 extends into the opening of the fixed disk 610. The length of the fixed shaft 901 is consistent with the sliding shaft 903. The fixed shaft 901 can provide support for the adjusting disk 9. The sliding shaft 903 can slide in the second slide groove 611. The positioning component can fix the sliding shaft 903 at a certain position in the second slide groove 611. The positioning component can be set in several groups according to the adjustment degree requirements. This embodiment is set to four groups, which means that four-level tension adjustment can be achieved for the tensioning of the transmission belt 8.

[0039] A further optimized solution is that the positioning assembly includes a movable block 612, a rotating shaft 613 is rotatably connected to the middle part of the movable block 612, the rotating shaft 613 is fixedly connected to the fixed disk 610, a tensioning rope 615 is fixedly connected to the end of the movable block 612, the end of the tensioning rope 615 away from the movable block 612 is fixedly connected to the fixed shaft 901 and is wound around the fixed shaft 901, the end of the movable block 612 close to the tensioning rope 615 extends into the second sliding groove 611, and the movable block 612 is in contact and connected with the sliding shaft 903.

[0040] Under normal working conditions, a portion of the movable block 612 extends into the second slide groove 611. When the rotating shaft 613 rotates to a certain angle, it contacts the movable block 612 extending into the second slide groove 611. The movable block 612 restricts the rotating shaft 613, so that the transmission belt 8 is in a taut state, thereby achieving stable transmission of power; when it is necessary to release the restriction of the movable block 612 on the sliding shaft 903, the fixed shaft 901 is rotated, the tensioning rope 615 is wound around the fixed shaft 901, and the other end of the tensioning rope 615 begins to pull the movable block 612. The movable block 612 is supported and rotated by the rotating shaft 613, and the portion of the movable block 612 extending into the second slide groove 611 is retracted into the fixed disk 610, thereby releasing the restriction of the movable block 612 on the sliding shaft 903, and the transmission belt 8 can be loosened, which is convenient for maintenance of the transmission device.

[0041] According to a further optimized solution, a spring 614 is fixedly connected to one end of the movable block 612 away from the tension rope 615 , and the spring 614 is fixedly connected to the fixed plate 610 .

[0042] When the sliding shaft 903 slides in the second sliding groove 611 onto the movable block 612, the portion of the movable block 612 extending into the second sliding groove 611 is squeezed by the sliding shaft 903, and the portion of the movable block 612 extending into the second sliding groove 611 will be squeezed into the fixed plate 610. When the sliding shaft 903 slides over the movable block 612, the spring 614 on the movable block 612 pushes it to rotate around the rotating shaft 613, so that a portion of the movable block 612 extends into the second sliding groove 611, thereby realizing that the movable block 612 can automatically limit the sliding shaft 903 multiple times.

[0043] According to a further optimized solution, a fixed axis groove 902 is provided at one end of the fixed axis 901 away from the adjusting piece.

[0044] A hexagonal wrench can be inserted into the fixed shaft groove 902 to adjust the fixed shaft 901. The fixed shaft groove 902 can be rotated by inserting the hexagonal wrench into the fixed shaft groove 902 and then rotating the hexagonal wrench. The setting of the fixed shaft groove 902 can achieve that the fixed shaft 901 can still be adjusted when it is flush with the outer side surface of the plate frame 3.

[0045] According to a further optimized solution, a sliding shaft groove 904 is provided at one end of the sliding shaft 903 away from the adjusting plate.

[0046] A hexagonal wrench can be inserted into the slide shaft groove 904 to adjust the slide shaft 903. By inserting the hexagonal wrench into the slide shaft groove 904 and then rotating the hexagonal wrench, the slide shaft 903 can slide in the second slide groove 611. The setting of the slide shaft groove 904 can achieve that the fixed axis 901 can still be adjusted when it is flush with the outer side surface of the plate frame 3.

[0047] According to a further optimized solution, wheels 2 are fixedly connected to both ends of the connecting shaft 4, the wheels 2 are located outside the plate frame 3, the wheels 2 are rotatably connected to the track 1, and the track 1 is installed on the wall.

[0048] The driven wheel 5 rotates to drive the connecting shaft 4, and the connecting shaft 4 drives the wheels 2 at both ends, thereby realizing the rotation of the inspection robot on the track 1. The track 1 is generally set and fixed on the wall to provide a stable running path for the inspection robot.

[0049] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0050] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. A transmission tensioning mechanism of a pipe gallery inspection robot, characterized in that: include: Two plate racks (3), a connecting shaft (4) symmetrically passing through and rotatably connected between the two plate racks (3); A driven wheel (5), wherein the driven wheel (5) is fixedly connected to any one of the connecting shafts (4); A tensioning component (6), one side of which is fixedly connected to any one of the plate frames (3), the tensioning component (6) is transmission-connected to the driven wheel (5), the tensioning component (6) comprises a tensioning bracket (600), one side of which is fixedly connected to the plate frame (3), the other side of which is fixedly connected to a driving motor (7), the output end of the driving motor (7) is fixedly connected to a driving wheel (701), the outer side of the driving wheel (701) is meshingly connected to a movable gear (601), the side of the movable gear (601) away from the driving motor (7) is rotationally connected to an adjusting disk (9), the side of the adjusting disk (9) away from the movable gear (601) is rotationally connected to a fixed disk (610), the fixed disk (610) is fixedly connected to the plate frame (3), and the movable gear (601) is transmission-connected to the driven wheel (5) via a transmission belt (8).

2. The transmission tensioning mechanism of the pipe gallery inspection robot according to claim 1 is characterized in that: The adjusting disk (9) comprises an adjusting plate, one side of which is rotatably connected to the movable gear (601), and the other side of which is rotatably connected to a fixed shaft (901), the fixed shaft (901) being rotatably connected to the fixed disk (610), a sliding shaft (903) being provided on one side of the fixed shaft (901), the sliding shaft (903) being fixedly connected to the adjusting plate, and the sliding shaft (903) being slidably connected to the fixed disk (610).

3. The transmission tensioning mechanism of the pipe gallery inspection robot according to claim 2 is characterized in that: The fixed disk (610) is provided with a second slide groove (611), the slide shaft (903) is slidably connected to the second slide groove (611), a through opening is provided in the middle of the fixed disk (610), the fixed shaft (901) is rotatably connected to the through opening, the fixed shaft (901) is transmission-connected with a plurality of positioning components, the positioning components extend into the second slide groove (611) and are contact-connected with the slide shaft (903).

4. The transmission tensioning mechanism of the pipe gallery inspection robot according to claim 3 is characterized in that: The positioning assembly comprises a movable block (612), a middle part of the movable block (612) being rotatably connected to a rotating shaft (613), the rotating shaft (613) being fixedly connected to a fixed disk (610), an end of the movable block (612) being fixedly connected to a tensioning rope (615), an end of the tensioning rope (615) away from the movable block (612) being fixedly connected to the fixed shaft (901) and wound around the fixed shaft (901), an end of the movable block (612) close to the tensioning rope (615) extending into the second sliding groove (611), and the movable block (612) being in contact and connected with the sliding shaft (903).

5. The transmission tensioning mechanism of the pipe gallery inspection robot according to claim 4 is characterized in that: One end of the movable block (612) away from the tension rope (615) is fixedly connected to a spring (614), and the spring (614) is fixedly connected to the fixed disk (610).

6. The transmission tensioning mechanism of the pipe gallery inspection robot according to claim 2 is characterized in that: A fixed axis groove (902) is formed at one end of the fixed axis (901) away from the adjusting plate.

7. The transmission tensioning mechanism of the pipe gallery inspection robot according to claim 2 is characterized in that: A sliding shaft groove (904) is formed at one end of the sliding shaft (903) away from the adjusting plate.

8. The transmission tensioning mechanism of the pipe gallery inspection robot according to claim 1 is characterized in that: Wheels (2) are fixedly connected to both ends of the connecting shaft (4), and the wheels (2) are located outside the plate frame (3). The wheels (2) are rotatably connected to a track (1), and the track (1) is installed on the wall.

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