The invention discloses an upward-floating and downward-diving driving mechanism of an all-water pipeline robot. The mechanism comprises a steering engine and a shell, wherein the steering engine is fixed in the shell in a sealed mode, an output shaft of the steering engine extends out of the shell and is connected with a pipeline robot body through a first connecting piece, and the end, away fromthe output shaft of the steering engine, of the shell is rotationally connected with the pipeline robot body through a second connecting piece. According to the mechanism, the steering engine is arranged, the pipeline robot body is rotationally connected with the steering engine, the steering engine is arranged in the pipeline robot body, and the pipeline robot body is driven to rotate within a set range through rotation of the steering engine, so that the motion posture of the all-water pipeline robot is changed, and the robot can perform upward floating and downward diving in an all-water pipeline so as to carry out omnibearing detection on the pipeline; besides, the steering engine is fixedly connected with other components, so that the weight of the driving mechanism is increased, andit is guaranteed that the pipeline robot body deflects on the premise that the posture of the driving mechanism cannot be changed; and the driving mechanism is simple in structure, easy to machine and assemble, easy to control and high in control precision.
本发明公开了一种全水管道机器人的上浮下潜驱动机构,包括舵机和壳体,舵机密封固定于壳体中,舵机的输出轴伸出壳体通过第一连接件与管道机器人本体连接,壳体远离舵机输出轴的一端通过第二连接件与管道机器人本体转动连接。通过设置舵机,将管道机器人本体与舵机转动连接,舵机设置在管道机器人本体中,则通过舵机的转动来驱动管道机器人本体在设定范围内转动,从而改变全水管道机器人的运动姿态,实现机器人在全水管道中上浮或下潜对管道进行全方位检测。另外,舵机与其他部件固定连接,增加了驱动机构的重量,保证驱动机构的姿态不会改变,而使管道机器人本体发生偏转。该驱动机构机构简单,容易加工、装配,且易控制,控制精度高。
Upward-floating and downward-diving driving mechanism of all-water pipeline robot
一种全水管道机器人的上浮下潜驱动机构
2020-04-14
Patent
Elektronische Ressource
Chinesisch
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