A mobile chassis for a pipe robot

Abstract

The utility model discloses a kind of mobile chassis for pipeline robot, including chassis mechanism, power mechanism and moving wheel, the moving wheel is located in the corner of chassis mechanism, the power mechanism is located in chassis mechanism, and is connected with moving wheel;The moving wheel is set in group, and the moving wheel in the same side of chassis mechanism is a group, the power mechanism is set in pair, and two the power mechanism is respectively connected with two groups of moving wheel, and two groups of moving wheel are respectively driven.The utility model uses the width and height of two groups of power mechanism of coaxial can effectively reduce chassis, so that the size of chassis is relatively compact, so that it can be applied to smaller pipeline, and two groups of power mechanism respectively control the moving wheel on two sides to realize steering, realize accurate control to movement;Power transmission is realized using gear set, more accurate in control, while also increase the dead weight of chassis, improve the structural stability when working.

Description

Technical Field

[0001] This utility model relates to the field of mobile chassis technology, specifically to a mobile chassis for pipeline robots. Background Technology

[0002] Currently, pipeline robots are commonly used to clean underground pipe networks, achieving excavation-free and high-efficiency construction. Existing pipeline robots mostly use electrically driven and controlled chassis as their locomotion mechanism. Conventional locomotion mechanisms include wheeled, tracked, and propeller-driven types. When driven by motors, these mechanisms generally cannot balance power, functionality, and small size, especially when using high-torque motors in a parallel direct-drive layout, which occupies even more space and cannot be applied to the confined space of pipelines. Furthermore, pipeline robots often use long working arms, and conventional electrically driven and controlled chassis are prone to instability and overturning due to center of gravity shift, posing a safety hazard. Moreover, because pipelines are often damp or contain water, water ingress can easily cause equipment malfunctions, severely impacting operational efficiency. This invention provides a mobile chassis for pipeline robots to solve the above problems. Utility Model Content

[0003] This invention provides a mobile chassis for pipeline robots, which has the advantages of compact size, stable center of gravity and good sealing performance, and solves the defects of existing chassis when applied to pipeline cleaning.

[0004] The technical solution adopted by this utility model to solve the above-mentioned technical problems is: A mobile chassis for a pipeline robot includes a chassis mechanism, a power mechanism, and mobile wheels. The mobile wheels are located at the corners of the chassis mechanism, and the power mechanism is located in the chassis mechanism and connected to the mobile wheels. The moving wheels are arranged in groups, with the moving wheels located on the same side of the chassis mechanism forming a group. The power mechanisms are arranged in pairs, with the two power mechanisms respectively connected to the two groups of moving wheels and driving the two groups of moving wheels respectively.

[0005] Furthermore, the chassis mechanism includes a chassis compartment, an upper cover plate, and side cover plates. The chassis compartment is provided with a power compartment and a transmission compartment. The upper cover plate is disposed on the top surface of the chassis compartment and covers the opening of the power compartment. The side cover plates are disposed on the side of the chassis compartment and cover the opening of the transmission compartment.

[0006] Furthermore, the power mechanism includes a power unit, a first transmission structure, and a second transmission structure. The power unit and the first transmission structure are disposed in the power chamber, and the second transmission structure is disposed in the transmission chamber. The moving wheel is connected to the second transmission structure.

[0007] Furthermore, the power unit is provided with a fixed frame, the power unit is fixedly mounted on the fixed frame, and the fixed frame is fixedly mounted in the power room.

[0008] Furthermore, the second transmission structure is a gear set, in which adjacent gears mesh with each other, and the moving wheels of the same set are respectively connected to the gears at both ends of the gear set.

[0009] Furthermore, the power device is an electric motor, and the first transmission structure is a bevel gear set.

[0010] Furthermore, the chassis compartment is provided with a sealing groove, which is located on the end face of the power compartment and the transmission compartment, and a sealing strip is provided in the sealing groove.

[0011] Furthermore, the power units of the two power mechanisms are arranged coaxially front and rear.

[0012] The beneficial effects of this utility model are as follows: The use of two coaxial power mechanisms can effectively reduce the width and height of the chassis, making the chassis more compact and suitable for use in smaller pipes. Furthermore, the two power mechanisms control the moving wheels on both sides to achieve steering, enabling precise control of movement. Using gear sets to transmit power allows for more precise control, while also increasing the chassis's weight and improving structural stability during operation. The power unit is installed in the chassis compartment and sealed with a cover plate, which not only avoids malfunctions caused by water ingress, but also has the advantage of convenient maintenance. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the internal structure of the present invention; Figure 3 A schematic diagram showing the configuration of the power mechanism of this utility model; Figure 4 This is a schematic diagram of the power mechanism of this utility model; Figure 5 This is a schematic diagram of the chassis compartment of this utility model.

[0014] Reference numerals: 1. Chassis mechanism; 11. Chassis compartment; 110. Power compartment; 111. Transmission compartment; 12. Top cover plate; 13. Side cover plate; 2. Power mechanism; 21. Power unit; 22. First transmission structure; 23. Second transmission structure; 24. Fixed frame; 3. Casters. Detailed Implementation

[0015] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0016] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0017] like Figure 1 , 2 As shown, a mobile chassis for a pipeline robot includes a chassis mechanism 1, a power mechanism 2, and mobile wheels 3. The mobile wheels 3 are located at the corners of the chassis mechanism 1, and the power mechanism 2 is located in the chassis mechanism 1 and connected to the mobile wheels 3.

[0018] like Figure 1 , 2 As shown, the movable wheels 3 are arranged in groups of two, for a total of four movable wheels 3, and are respectively located at the four corners of the chassis mechanism 1. The two movable wheels 3 located on the same side of the chassis mechanism 1 form a group. The power mechanisms 2 are arranged in pairs, with two in total. The two power mechanisms 2 are respectively connected to the two groups of movable wheels 3, and each power mechanism 2 drives one group of movable wheels 3. When moving, the four movable wheels 3 move together to achieve forward and backward movement by controlling the power mechanism 2. When turning is required, the two power mechanisms 2 respectively control the two groups of movable wheels 3, creating a differential speed between the two groups of movable wheels 3 to achieve turning.

[0019] like Figure 1 , 2As shown in Figures 3, 4, and 5, the chassis mechanism 1 further includes a chassis compartment 11, an upper cover plate 12, and a side cover plate 13. The power mechanism 2 includes a power unit 21, a first transmission structure 22, and a second transmission structure 23. The chassis compartment 11 is provided with a power chamber 110 and a transmission chamber 111. The power chamber 110 is located in the middle of the chassis compartment 11 and its opening faces upward. The transmission chamber 111 is located on the side of the chassis compartment 11 and its opening faces left and right. The power unit 21 and the first transmission structure 22 are located in the power chamber 110. The power units 21 of the two power mechanisms 2 are coaxially arranged in the power chamber 110. The upper cover plate 12 is located on the top surface of the chassis compartment 11 and covers the opening of the power chamber 110. The second transmission structure 23 is located in the transmission chamber 111. The side cover plate 12 is located on the side of the chassis compartment 11 and covers the opening of the transmission chamber 111. The moving wheel 3 is connected to the second transmission structure 23.

[0020] A power compartment 110 and a transmission compartment 111 are provided in the chassis compartment 11 to house the power unit 21 and the second transmission structure 23, respectively. Utilizing the space within the chassis compartment 11 itself to house the power mechanism 2 results in a compact chassis compartment 11. Furthermore, by coaxially arranging the two power units 21, the width of the chassis compartment 11 is further reduced, thus lowering its overall size and enabling its application to smaller diameter pipes. Simultaneously, the coaxial arrangement of the power units 21 along the longitudinal direction results in a longer chassis compartment 11, enhancing chassis stability and preventing instability and overturning during operation. Moreover, the inclusion of two power units 2 increases the structural weight while also allowing for independent control of two sets of wheels 3 for steering maneuvers.

[0021] like Figure 3 , 4 As shown, the power unit 21 is further provided with a fixing frame 24, and the power unit 21 is fixedly mounted on the fixing frame 24, which is fixedly mounted in the power chamber 110. Using the fixing frame 24 for the installation and fixing of the power unit 21 ensures the stability of the power unit 21 and also has the advantage of convenient assembly and disassembly.

[0022] Furthermore, the second transmission structure 23 is a gear set, in which adjacent gears mesh with each other, and two moving wheels 3 of the same set are respectively connected to the gears at both ends of the gear set. By adjusting the transmission ratio between the gears, synchronous and coordinated driving of the two moving wheels 3 can be achieved. Using a gear set as the transmission structure makes the transmission more precise, easier to achieve accurate control, and can achieve stable self-locking, ensuring the accuracy and stability of the operation process. At the same time, using a gear set can increase the structural weight.

[0023] Furthermore, the power device 21 is an electric motor, and the first transmission structure 22 is a bevel gear set. One bevel gear of the first transmission structure 22 is mounted on the output shaft of the power device 21, and the other bevel gear is mounted on the rotating shaft. The outer end of the rotating shaft is connected to a gear in the second transmission structure 23. When the power device 21 operates, it transmits power to the gear set of the second transmission structure 23 through the bevel gear set. The gear set drives the two moving wheels 3 to rotate.

[0024] Furthermore, the chassis compartment 11 is provided with a sealing groove, which is located on the end face of the power compartment 110 and the transmission compartment 111. A sealing strip is provided in the sealing groove. After the upper cover plate 12 and the side cover plate 13 are closed, the sealing strip is squeezed to achieve the sealing of the power compartment 110 and the transmission compartment 111 and prevent water from entering.

[0025] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A mobile chassis for a pipeline robot, characterized in that: Including chassis The chassis mechanism (1), the power mechanism (2), and the moving wheel (3) are located at the corner of the chassis mechanism (1), and the power mechanism (2) is located in the chassis mechanism (1) and connected to the moving wheel (3). The moving wheels (3) are arranged in groups, and the moving wheels (3) located on the same side of the chassis mechanism (1) are a group. The power mechanisms (2) are arranged in pairs, and the two power mechanisms (2) are respectively connected to the two groups of moving wheels (3) to drive the two groups of moving wheels (3).

2. The mobile chassis for a pipeline robot according to claim 1, characterized in that: The chassis mechanism (1) includes a chassis compartment (11), an upper cover plate (12) and a side cover plate (13). The chassis compartment (11) is provided with a power chamber (110) and a transmission chamber (111). The upper cover plate (12) is located on the top surface of the chassis compartment (11) and covers the opening of the power chamber (110). The side cover plate (13) is located on the side of the chassis compartment (11) and covers the opening of the transmission chamber (111).

3. A mobile chassis for a pipeline robot according to claim 2, characterized in that: The power mechanism (2) includes a power unit (21), a first transmission structure (22) and a second transmission structure (23). The power unit (21) and the first transmission structure (22) are located in the power chamber (110), and the second transmission structure (23) is located in the transmission chamber (111). The moving wheel (3) is connected to the second transmission structure (23).

4. A mobile chassis for a pipeline robot according to claim 3, characterized in that: The power unit (21) is provided with a fixed frame (24), the power unit (21) is fixedly mounted on the fixed frame (24), and the fixed frame (24) is fixedly mounted in the power room (110).

5. A mobile chassis for a pipeline robot according to claim 3, characterized in that: The second transmission structure (23) is a gear set, in which adjacent gears mesh with each other, and the moving wheels (3) of the same set are connected to the gears at both ends of the gear set respectively.

6. A mobile chassis for a pipeline robot according to claim 3, characterized in that: The power unit (21) is an electric motor, and the first transmission structure (22) is a bevel gear set.

7. A mobile chassis for a pipeline robot according to claim 2, characterized in that: The chassis compartment (11) is provided with a sealing groove, which is located on the end face of the power compartment (110) and the transmission compartment (111), and a sealing strip is provided in the sealing groove.

8. A mobile chassis for a pipeline robot according to claim 3, characterized in that: The power units (21) of the two power mechanisms (2) are arranged coaxially in front and behind.

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