CN109969276A - A multipurpose self-contained crawler drive unit - Google Patents

Abstract

The application belongs to a driving unit, and particularly relates to a multipurpose independent crawler driving unit. A multipurpose independent crawler driving unit comprises a driving module, a swinging module and a crawler, wherein the driving module and the swinging module are hinged at the end parts, the crawler covers the driving module and the swinging module along the moving direction, an outer surface pressing roller is arranged at a position close to the joint of the driving module and the swinging module, and the crawler penetrates through the lower part of the outer surface pressing roller. The application has the remarkable effects that: the independent crawler driving unit has the characteristics of compact structure size, auxiliary joints, deformation and combination, can be suitable for a nuclear island annular gallery area with grid plates, small steps, small holes and even stairs, can also be suitable for narrow space areas such as small pipelines and pipeline elbows, and can also be suitable for similar environments of other occasions.

Description

A multipurpose self-contained crawler drive unit

technical field

The present application belongs to a drive unit, and in particular relates to a multi-purpose independent crawler drive unit.

Background technique

After the nuclear power plant is put into use, the interior of the nuclear island is always in a radioactive environment. With the increase of the operating time of the nuclear power plant, many key parts need to be inspected and repaired; when the nuclear power plant encounters an accident, it is also necessary to detect areas that cannot be reached by personnel. With the development of special robotics technology, more and more of these jobs are done by robots.

The crawler robot is one of the mobile robots. It has the characteristics of sufficient power, longer performance, and strong terrain adaptability. It can be used as a basic platform to stay in various detection instruments, sensors or cameras entering the nuclear power plant. Parts are inspected, repaired, and probed. For example, for the nuclear island corridor area with grid plates, small steps, small holes and even stairs, the crawler robot needs to have auxiliary joints to achieve the function of surmounting obstacles; Body deformable is required to accommodate pipe bends.

However, the existing crawler-type robot has a relatively single function of the crawler drive structure; the crawler drive structure with auxiliary joints has a good obstacle surmounting function, but the motor of this kind of crawler drive structure is often parallel to the crawler rotation axis. Layout, the width is large and cannot be adapted to small areas such as small pipes; although the crawler drive structure with small structural size has auxiliary joints, the crawler will straighten and protrude when the joints swing, which is not conducive to passing through pipe elbows, and the robot itself is also Unable to regroup.

SUMMARY OF THE INVENTION

Aiming at the defects of the prior art, the present application provides a multi-purpose independent crawler drive unit.

The application is realized as follows: a multi-purpose independent track drive unit, including a drive module, a swing module and a track, wherein the drive module and the swing module are hinged at the ends, and the track covers the drive module and the swing module in the direction of movement, and is close to the drive module and the swing module. An outer surface pressing roller is arranged at the position where the drive module and the swinging module are connected, and the crawler belt passes through the lower part of the outer surface pressing roller.

A multi-purpose independent crawler drive unit as described above, wherein the drive module includes a motor A as the power core, the motor A is fixed on the side plate through the motor mounting seat, and the output shaft of the motor A is connected to the bevel gear A. Tooth connection, bevel gear A is in tooth connection with spur gear A and spur gear B in turn, spur gear A is fixed on the side plate through the bevel gear shaft, spur gear B and spur gear C are coaxial gears, spur gear C is in turn with spur gear D and the spur gear E are geared, the spur gear E and the drive track wheel are coaxial gears, the drive track wheel is toothed with the track track, and the drive track wheel can drive the track track, and the drive module also includes support track wheels arranged at both ends of the side plate respectively A and supporting track wheel B, the supporting track wheel A and supporting track wheel B are used to support the track, leaving space for the internal gear assembly, and a fixed gear is provided at the end of the side plate, which is used for connecting with the swing module , the fixed gear is fixed on the side plate through the hinged rotating shaft, and the outer surface pressing roller is arranged near the fixed gear.

A multi-purpose independent crawler drive unit as described above, wherein the swing module includes a motor B as the power core, the motor B is arranged in a swing housing composed of two swing side plates, and the output of the motor B is The shaft is geared to the bevel gear C, the bevel gear C is geared to the bevel gear D, the bevel gear D and the spur gear F are coaxial gears, the common shaft is the rotating shaft, the spur gear F meshes with the fixed gear, because the fixed gear is not fixed. Therefore, the spur gear F drives the entire swing module to rotate around the hinged rotation axis. A chute is set at the end of the swing module away from the spur gear F, and a tension block is set in the chute, and the tension block can slide in the chute. A top tensioning spring and a supporting track wheel module C are arranged under the tensioning block.

The above-mentioned multi-purpose independent crawler drive unit further includes several connecting plates of different sizes.

A multipurpose independent crawler drive unit as described above, wherein the connecting plate is a wide flat plate.

A multi-purpose independent crawler drive unit as described above, wherein, the connecting plate is a narrow strip connecting plate, and the connecting plate forms a certain angle when connecting with the two drive units, and the final product cross-section is a "V" shape type.

The significant effect of the present application is: to provide an independent crawler drive unit with multiple uses, which has the characteristics of compact structure and size, auxiliary joints, deformability and combination, which can be adapted to the existence of grid plates, small Steps, small holes and even the nuclear island corridor area of the stairs can also be adapted to small space areas such as small pipes and pipe elbows, and can also be applied to similar environments in other occasions.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the transmission structure schematic diagram of the drive module;

Fig. 3 is the structural representation of the swing module;

4 is a schematic view of the present invention in a deformed state;

Fig. 5 is an embodiment of the present invention when overcoming obstacles;

Figure 6 is an embodiment of the present invention for small pipes;

Figure 7 is an embodiment of the present invention when passing through a pipe elbow.

In the picture: 1. Drive module, 2. Swing module, 3. Crawler, 4. Connecting plate A, 5. Connecting plate B, 6. Connecting plate C, 7. Step, 8. Small pipe, 9. Pipe elbow, 1001. Side plate, 1002. Motor A, 1003. Motor mount, 1004. Bevel gear A, 1005. Bevel gear B, 1006. Bevel gear shaft, 1007. Spur gear A, 1008. Spur gear B, 1009. Spur gear C, 1010. Spur Gear D, 1011. Drive Track Wheel, 1012. Spur Gear E, 1013. Support Track Wheel A, 1014. Support Track Wheel B, 1015. Outer Surface Press Roller, 1016. Hinged Rotary Shaft, 1017. Fixed gear, 2001. Swing housing, 2002. Swing side plate, 2003. Motor B, 2004. Bevel gear C, 2005. Bevel gear D, 2006. Rotating shaft, 2007. Spur gear F, 2008. Tension block, 2009 . Chute, 2010. Jacking Spring, 2011. Supporting Track Wheel Module C.

Detailed ways

In FIG. 1 , the drive module 1 and the swing module 2 are in a hinged relationship. The swing module 2 can rotate around the hinge point within a certain angle range. The crawler belt 3 covers the drive module 1 and the swing module 2 as a whole. The crawler belt 3 in the middle of the whole structure.

In the picture 1. Drive module, 2. Swing module, 3. Crawler, 4. Connecting plate A, 5. Connecting plate B, 6. Connecting plate C, 7. Step, 8. Small pipe, 9. Pipe elbow, 1001 .side plate, 1002. drive motor, 1003. motor mount, 1004. bevel gear A, 1005. bevel gear B, 1006. bevel gear shaft, 1007. spur gear A, 1008. spur gear B, 1009. spur gear C , 1010. Spur Gear D, 1011. Drive Track Wheel, 1012. Spur Gear E, 1013. Support Track Wheel Module A, 1014. Support Track Wheel Module B, 1015. Outer Surface Press Roller, 1016. Hinged Rotary Shaft, 1017 . Fixed gear.

Figure 2 shows the transmission structure of the drive module. The motor A1002 is installed on the side plate 1001 through the motor mounting seat 1003, and the bevel gear A1004 is directly installed on the motor A1002. Driven by the motor A, the bevel gear A1004 transmits power to the bevel gear B1005, bevel gear B1005 transmits power to spur gear A1007 through rotating shaft 1006, spur gear A1007 transmits power to spur gear B1008, spur gear C1009 is coaxially arranged with spur gear B1008, and can rotate synchronously, and the driving force is transmitted through spur gear C1009 It is transmitted to the spur gear D1010, and the spur gear D1010 transmits the power to the spur gear E1012. The spur gear 1012 is located in the middle of the two drive track wheels 1011. The two drive track wheels 1011 and the spur gear E1012 are arranged coaxially and can rotate synchronously to drive the track wheels. 1011 can drive the crawler 3 to move; the supporting crawler wheel module A1013 and the supporting crawler wheel module B1014 are used to support the movement of the crawler 3, follow the movement of the crawler 3 to follow the movement, and the outer surface pressing roller 1015 is used to press the outer surface of the crawler 3 , the hinged rotating shaft 1016 and the fixed gear 1017 are fixed relative to the side plate 1001;

Through the above series of power transmission, the rotational motion of the motor A1002 can be converted into the power of the crawler 3, and then drive the entire unit to move.

Figure 3 is a schematic diagram of the structure of the swing module. In the figure, the swing housing 2001 is the foundation of the swing module 2, the swing side plate 2002 is positioned and connected to the swing housing 2001, the motor B2003 is installed in the swing housing 2001, and the bevel gear C2004 is directly fixed on the On the motor B2003, the spur gear C2004 transmits the power of the motor B2003 to the bevel gear D2005, and the bevel gear D2005 transmits the power to the spur gear F2007 through the rotating shaft 2006, and the spur gear F2007 meshes with the fixed gear 1017. Because the fixed gear 1017 is fixed, Therefore, the spur gear F2007 drives the entire swinging module 2 to rotate around the hinged rotating shaft 1016. By controlling the rotation angle of the motor B2003, the swinging range of the swinging module 2 can be controlled; the tensioning block 2008 can slide back and forth in the chute 2009, and the tensioning block 2008 Two supporting track wheel modules A1013 are installed on it. At the same time, the tension block 2008 is held up by two pressing springs 2010. The supporting track wheel module C2011 and the supporting track wheel module A1013 jointly support the track 3. When the swing module 2 swings, The top tensioning spring 2010 supports the tensioning block 2008 to ensure that the crawler belt 3 is always in a tensioned state.

In Fig. 4, the swinging module 2 is oscillating, forming an angle with the driving module 1. By adjusting the sliding of the tension block 2008 in the chute 2009, the crawler belt 3 can be ensured to be tensioned. Under the pressing action, the crawler belt 3 is still wrapped around the periphery of the drive module 1 and the swing module 2 without being stretched or protruding.

In FIG. 5, the connecting plate A4 connects the two drive modules 1 in parallel, the swing module 2 forms an angle with the drive module 1, and the lower part of the swing module 2 is supported on the step 7. With the synchronous swing of the swing module 2 and the drive module The advancement of 1 can realize the overall climbing step.

In Figure 6, the connecting plate B5 connects the two drive modules 1 at a certain inclination angle into a whole, the swing module 2 and the drive module 1 are connected in a straight line, the outer surface of the crawler 3 is in contact with the inner wall of the small pipe 8, and the whole is formed. support.

In FIG. 7 , the connecting plate C6 connects the two driving modules 1 in parallel and side by side, and an angle is formed between the swing module 2 and the driving module 1 to adapt to the trend of the pipe elbow 9 . The inner surface of the pipe contacts, which drives the whole to move in the pipe elbow 9 . As can be seen in this figure, if there is no outer surface pressing roller 1015, the crawler 3 is taut and may not be able to pass the turning position.

Claims (6)

1. a kind of multiduty independent track drive unit, it is characterised in that: including drive module (1), swing module (2) and carry out Band (3), wherein drive module (1) and swing module (2) are hinged in end, and crawler belt (3) covers drive module (1) along the direction of motion With swing module (2), outer surface pinch rollers are being set close to the position of drive module (1) and swing module (2) junction (1015), crawler belt (3) is passed through from the lower section of outer surface pinch rollers (1015).

2. a kind of multiduty independent track drive unit as described in claim 1, it is characterised in that: the drive module It (1) include motor A (1002) as power core, motor A (1002) is fixed on side plate by motor mount (1003) (1001) on, the output shaft of motor A (1002) and bevel gear A (1004) toe joint, bevel gear A (1004) successively with spur gear A (1007), spur gear B (1008) toe joint, spur gear A (1007) are fixed on side plate (1001) by bevel gear shaft (1006), directly Gear B (1008) and spur gear C (1009) are in-line gears, spur gear C (1009) successively with spur gear D (1010) and spur gear E (1012) toe joint, spur gear E (1012) and driving Athey wheel (1011) are in-line gears, drive Athey wheel (1011) and crawler belt (3) toe joint, and drive Athey wheel (1011) that can drive crawler belt (3), drive module (1) further includes being separately positioned on side plate (1001) the support Athey wheel A (1013) at both ends and support Athey wheel B (1014), support Athey wheel A (1013) and support are carried out Belt wheel B (1014) is used to support crawler belt (3), and for internal gear assembly slot milling, in the end of side plate (1001), setting is fixed Gear (1017), the fixed gear (1017) are used to connect with swing module (2), and fixed gear (1017) passes through hinging rotary axis (1016) it is fixed on side plate (1001), outer surface pinch rollers (1015) is set in the position close to fixed gear (1017).

3. a kind of multiduty independent track drive unit as claimed in claim 1 or 2, it is characterised in that: the swing Module (2) includes the motor B (2003) as power core, and motor B (2003) is arranged by two swing side plate (2002) groups At swing shell (2001) in, the output shaft of motor B (2003) and bevel gear C (2004) toe joint, bevel gear C (2004) and cone Gear D (2005) toe joint, bevel gear D (2005) and spur gear F (2007) are in-line gears, and common axis is rotary shaft (2006), spur gear F (2007) is engaged with fixed gear (1017), because fixed gear (1017) is fixed, so spur gear F (2007) it drives entire swing module (2) to rotate around hinging rotary axis (1016), is swinging module (2) far from spur gear F (2007) sliding slot (2009) are arranged in one end, and tensioning block (2008) are arranged in the sliding slot (2009), and tensioning block (2008) can be with The sliding in sliding slot (2009), setting holds out against spring (2010) and support Athey wheel module C below tensioning block (2008) (2011)。

4. a kind of multiduty independent track drive unit as described in claim 1, it is characterised in that: further include several sizes Not equal connecting plate.

5. multiduty independent track drive unit as claimed in claim 4 a kind of, it is characterised in that: the connecting plate is Wide plate.

6. multiduty independent track drive unit as claimed in claim 4 a kind of, it is characterised in that: the connecting plate is Fillet connecting plate, and when connecting plate is connect with two driving units, is angled, final product cross section is V-shaped.