CN109404658B

CN109404658B - Bevel gear transmission pipeline robot

Info

Publication number: CN109404658B
Application number: CN201811569423.XA
Authority: CN
Inventors: 娄保东
Original assignee: Nanjing Guanke Intelligent Technology Co ltd
Current assignee: Nanjing Guanke Intelligent Technology Co ltd
Priority date: 2018-12-20
Filing date: 2018-12-20
Publication date: 2023-08-15
Anticipated expiration: 2038-12-20
Also published as: CN109404658A

Abstract

The invention discloses a bevel gear transmission pipeline robot, which comprises an industrial personal computer and a main body structure. The main body structure comprises a supporting plate, two driving devices rotatably arranged on the supporting plate and a first controller fixedly arranged on the supporting plate; each driving device comprises a driving roller and two driving rollers arranged at two ends of the driving roller; each driving roller comprises a first bevel gear, a second bevel gear, a first connecting piece and a roller; the industrial personal computer comprises a first bracket, wherein a second controller, a display screen, a control button, a cable winding mechanism and a battery are arranged on the first bracket; the winding mechanism comprises a second motor, a winding drum, a cable wound on the winding drum and a meter counter. The pipeline robot is used for pipeline detection, is convenient to operate, high in intelligent degree and high in detection precision, is efficient, and solves the problem that the detection is difficult for the manual work.

Description

Bevel gear transmission pipeline robot

Technical Field

The invention relates to a bevel gear transmission pipeline robot.

Background

Municipal pipeline environment is very severe, corrosion and fatigue damage are easy to occur after long-term use, or potential defects in the pipeline are developed into damages to cause leakage accidents and the like, in particular to water pipelines, and accidents such as blockage and the like are easy to occur. Therefore, the detection and dredging in the pipe of the pipeline are very important practical engineering, and at present, the detection and the dredging in the pipe are mostly operated manually, and are limited by factors such as the size of the pipeline, severe environment and the like, so that the working strength is high, the working efficiency is low, and based on the problem, the pipeline robot is currently arranged.

The prior patent discloses a pipeline robot driving device, application number: 201810153336X adopts wheel-helical blade cylinder-Mecanum wheel, or Mecanum wheel-helical blade cylinder-Mecanum wheel group to cooperate as driving wheel, can deal with different conditions in the pipeline, and has strong adaptability. However, the first motor is used for driving the Mecanum wheel to rotate, so that the pipeline robot is driven to advance slowly and has low efficiency. In addition, in the mass of the pipeline robot, the buoyancy is small when the pipeline robot moves in water. In addition, the existing pipeline robot control system is arranged in the main body structure of the robot, and an independent industrial personal computer is not arranged, so that the operation is inconvenient, and the sealing risk of the main body structure of the robot is high.

Disclosure of Invention

The invention aims to provide a bevel gear transmission pipeline robot, which solves the technical problems that in the prior art, the forward speed of a pipeline robot is slow, the efficiency is low, in addition, in the mass of the pipeline robot, when moving in water, the buoyancy is small, the pipeline robot does not have an independent industrial control computer, the operation is inconvenient, and the risk of sealing a main body structure of the robot is high.

The invention adopts the following technical scheme to solve the technical problems:

A bevel gear transmission pipeline robot comprises an industrial personal computer and a main body structure.

The main body structure comprises a supporting plate, two driving devices rotatably arranged on the supporting plate and a first controller fixedly arranged on the supporting plate; each driving device comprises a driving roller and two driving rollers arranged at two ends of the driving roller; each driving roller comprises a first bevel gear, a second bevel gear, a first connecting piece and rollers, one end of the first bevel gear protrudes outwards along the axial direction to form a boss, and a first through hole penetrating through the first bevel gear is formed in the center of the boss along the axial direction; the first connecting piece is fixedly connected with the first rotating shaft, the first rotating shaft is rotatably sleeved with a second bevel gear and a roller, the first bevel gear is meshed with the second bevel gear, the second bevel gear is coaxially and fixedly connected with the roller, and the radius of the second bevel gear is smaller than that of the roller; the driving roller comprises an inner cylinder, an outer cylinder, a first shell and a second shell, wherein the outer cylinder is arranged outside the inner cylinder through a rotating sleeve, the first shell is fixedly arranged outside the outer cylinder, and spiral blades are fixedly arranged on the outer peripheral surface of the first shell along the length direction of the first shell; a first motor is fixedly arranged in the inner cylinder; when the driving roller is horizontally placed, the lower edge of the spiral blade is higher than the lower edge of the roller; the first motor is electrically connected with the first controller; the support plate is provided with a second shell, the first controller is arranged in the second shell, the second shell is fixedly connected with the support plate through a screw, and a sealing ring is arranged between the second shell and the support plate; the front end of the second shell is provided with a front baffle made of transparent materials; the edge of the front baffle is fixedly connected with the second shell and the supporting plate in a sealing way; the bottom of backup pad is provided with flow sensor, and flow sensor is connected with the electricity between the first controller. And the front baffle is provided with an illuminating lamp in a sealing way.

The industrial personal computer comprises a first bracket, wherein a second controller, a display screen, a control button, a cable winding mechanism and a battery are arranged on the first bracket; the winding mechanism comprises a second motor, a winding drum, a cable wound on the winding drum and a meter, the second motor drives a winding shaft of the winding drum to rotate, and the second motor, the display screen, the control button and the battery are all electrically connected with a second controller; one end of the cable is connected with the first controller in the main structure, the other end of the cable is connected with the second controller after being fixed with the reel of the reel, the industrial personal computer and the main structure communicate through the cable, the battery supplies power for the main structure through the cable, and the cable plays a role in traction of the main structure.

In the moving process, the main body structure of the pipeline robot is contained in the cavity of the first bracket; when municipal or industrial pipelines need to be detected, the pipeline robot main body structure is placed in the pipeline to be detected, the pipeline robot main body structure is connected with the industrial computer bracket through a cable, the second controller is communicated with the first controller of the pipeline robot main body structure through the cable, and the battery supplies power for the second controller and the pipeline robot main body structure. The camera shoots the scene in the pipeline in real time, and the scene is transmitted to the display screen of the industrial personal computer on the ground through the cable for display, so that a detector can intuitively know the actual situation in the pipeline, and meanwhile, the shot picture is stored in the second controller and is compared with the picture stored in the database of the second controller to obtain the pipeline detection result, and a detection report is formed. Meanwhile, the picture shot by the detection is added into the database of the second controller, and is updated continuously, so that the detection accuracy is improved.

The pipeline robot is used for pipeline detection, is convenient to operate, high in intelligent degree and high in detection precision, is efficient, and solves the problem that the detection is difficult for the manual work.

Because of the specificity of the working environment of the main body structure of the pipeline robot, the waterproof is a key point of the whole robot, the second shell is not exceptional, and once water enters the second shell, the first controller is damaged. The second housing plays a role in protecting and supporting the first controller.

In the process that the pipeline robot main body structure advances along the pipeline, the second controller controls the second motor to work, the winding drum is driven to rotate for unreeling, and after detection, the second motor reversely rotates to drive the winding drum to rotate for winding the cable; the handle can also be arranged on the winding drum, the winding drum is driven to rotate by rotating the handle, and the manual unreeling or reeling of the cable is performed, so that the operation is convenient.

When the pipeline robot main body structure moves on a hard medium, the idler wheels are in contact with the ground, the middle spiral blade is suspended, the first motor drives the first bevel gear to rotate and drives the second bevel gear and the idler wheels to rotate, the number of teeth of the first bevel gear is smaller than that of the second bevel gear, so that the torque is large, the bevel gear is driven to twist greatly, the idler wheels rotate faster, slipping is not easy, and the driving effect is good. When the main body structure of the pipeline robot moves on the soft medium, the pipeline robot sags under the action of gravity, the roller and the middle helical blade are in contact with the ground, the first motor drives the roller and the roller to rotate together, the helical blade rotates to discharge sludge and the like backwards, so that the pipeline robot moves forwards, and the pipeline robot has low movement speed at the moment but cannot skid due to large contact area; when the pipeline robot is suspended in water, the spiral blades are equivalent to propellers, and the spiral blades rotate to drain water backwards to drive the pipeline robot to advance.

Further improved, be provided with in the backup pad and increase buoyancy third casing, plastic foam material in the packing in the third casing increases buoyancy, and when the pipeline reclaimed water was darker, robot major structure can realize the suspension, impels fast.

The bottom of backup pad is fixed and is provided with the helping hand board, and the middle part that the helping hand board includes forms the isolation component of V font along length direction undercut, and two drive arrangement are located the both sides of isolation component respectively. By arranging the isolation components on the power-assisted plates, the two driving devices are respectively positioned at two sides of the isolation components, so that when the robot main body advances in the pipeline, the spiral blades of the driving devices at two sides are separated by the isolation components due to the fact that the spiral blades are excited by rotation, and energy consumption is reduced; in addition, the V-shaped isolation assembly is similar to the bottom of a ship, and plays roles in water diversion and navigation.

Further improved, the supporting plate, the second shell, the third shell and the power assisting plate are made of carbon fiber materials, so that the weight is light, and the strength is high.

The combination of the second bevel gears of the two driving rollers and the rollers of each driving device is positioned at two sides of the axis of the first motor, so that the structure is balanced, and the overall stability is improved.

In each driving device, an output shaft of the first motor extends out of the inner cylinder and is positioned in the outer cylinder, a first flange, a first motor cover and a second connecting piece are coaxially arranged in sequence along the direction of the output shaft of the first motor, the first flange, the first motor cover and the second connecting piece are all rotating bodies, the first flange is connected with a first end face of the inner cylinder through screws, a gap exists between the inner wall of the first flange and the output shaft of the first motor, and a gap exists between the outer peripheral surface of the first flange and the inner wall of the outer cylinder; the first motor cover is circular, the first motor cover is fixedly connected with the first flange through screws, a gap exists between the inner wall of the first motor cover and the first motor output shaft, and a gap exists between the outer peripheral surface of the first motor cover and the inner wall of the outer cylinder.

The second connecting piece is arranged on the first motor cover through a first thrust bearing, the outer peripheral surface of the second connecting piece is fixedly connected with the inner wall of the outer cylinder, and a sealing ring is arranged between the outer peripheral surface of the second connecting piece and the inner wall of the outer cylinder; the center of the end face, close to one side of the first motor, of the second connecting piece protrudes outwards along the axis and extends to form a first columnar body, a first hole is formed in the first columnar body along the axis, an output shaft of the first motor is inserted into the first hole, and the output shaft of the first motor is fixedly connected with the second connecting piece through a key; the end face of the second connecting piece, which is far away from one side of the first motor, is outwards protruded and extends to form a second cylindrical body, the second cylindrical body is inwards recessed along the axis to form a second hole, the second hole is a stepped hole, a first deep groove ball bearing and a first limiting piece are arranged in the second air, the first limiting piece is embedded in the first deep groove ball bearing and fixedly connected with the inner ring of the first deep groove ball bearing, the first deep groove ball bearing abuts against the stepped surface of the stepped hole, and the outer ring of the first deep groove ball bearing is fixedly connected with the inner wall of the stepped hole; the first limiting piece is fixedly connected with one end of the second rotating shaft.

The first bevel gear of one of them driving roller passes through first through-hole sealed rotation cover and establishes in the second pivot, and the tip of second column body is provided with the second end cover through the fix with screw, and the second through-hole has been seted up at the center of second end cover, and the boss inserts in the second through-hole, and the second end cover seals fixedly with first bevel gear.

Through setting up first locating part and second pivot fixed connection, and the second end cover supports and leans on the first locating part of outer end of first deep groove ball bearing and rotate along with the second pivot together, prevents second pivot drunkenness, improves stability, and is convenient for assemble.

The other end of the second rotating shaft is fixedly connected with the first connecting piece after penetrating through the first through hole; the second rotating shaft is perpendicular to the first rotating shaft, and the first bevel gear is meshed with the second bevel gear.

The one end that first motor output shaft was kept away from to the inner tube is connected with the third end cover, and the terminal surface seal of third end cover and inner tube links firmly, and the outside terminal surface central part of third end cover outwards protrudes and extends and form the hollow shaft, and the electric wire of first motor wears out from the hollow shaft, and the electric wire passes through sealed glue sealing connection with the hollow shaft, rotates the cover on the hollow shaft and is equipped with the third connecting piece, and the third connecting piece is the rotator, and the outer peripheral surface of third connecting piece seals to link firmly with the inner wall of urceolus.

Based on the application number: 201710896483.1, name: a patent application for driving a roller, and the application number: 201810153336X, name: the utility model provides a pipeline robot drive arrangement, applicant has continued research, trial and error, has improved, through passing through key and second connecting piece lug connection with first motor output shaft, the outer peripheral face and the urceolus of second connecting piece link firmly, and first motor links firmly with the inner tube, then first motor drive second connecting piece rotates, drives the urceolus and rotates, and power transmission efficiency is high, and energy loss is little, guarantees that the urceolus can normally rotate.

Meanwhile, sealing elements are arranged on the outer peripheral surfaces of the second connecting piece and the third connecting piece, a plurality of waterproof assemblies are arranged, waterproof sealing performance is improved, and the first motor can work normally.

Through setting up first thrust bearing, improve axial load bearing capacity, increase overall structure stability, improve life.

Further improved, a second thrust bearing, a spacer ring, a second deep groove ball bearing, a sealing framework and a wool felt sealing ring are sequentially sleeved on the hollow shaft along the axial direction outwards.

Through setting up second thrust bearing, improve axial load bearing capacity, increase overall structure stability, improve life.

Through setting up sealed skeleton and wool felt sealing ring, improve waterproof sealing performance, guarantee that first motor can normally work.

The third connecting piece is in a cylinder shape, the cavity of the third connecting piece comprises a large-diameter part and a small-diameter part, the inner wall of the small-diameter part is radially protruded to form a first interval part, the second thrust bearing, the spacer ring and the second deep groove ball bearing are embedded in the large-diameter part of the third connecting piece, and the sealing framework and the wool felt sealing ring are embedded in the small-diameter part of the third connecting piece and are respectively positioned on two sides of the first interval part.

One end of the second thrust bearing is propped against the second end cover, and the other end of the second thrust bearing is propped against one end face of the spacer ring; one end of the second deep groove ball bearing is abutted against the other end face of the spacer ring, and the other end is abutted against a step face between the large-diameter portion and the small-diameter portion. The center part of one end of the third connecting piece far away from the third end cover is outwards protruded and extends to form a fourth columnar body, a concave cavity is formed in the center of the fourth columnar body, a first bevel gear of the other driving roller is hermetically and rotatably sleeved on the hollow shaft through a first through hole, a boss is inserted into the concave cavity, and the fourth columnar body is hermetically and fixedly connected with the first bevel gear through a screw; the tail end of the hollow shaft is fixedly connected with the first connecting piece after penetrating through the first through hole; the second rotating shaft is perpendicular to the first rotating shaft, and the first bevel gear is meshed with the second bevel gear. Through setting up the structure, the assembly of being convenient for, waterproof performance is good, and structural stability is strong.

Further improved, the gear ratio of the first bevel gear to the second bevel gear is 1 (1.5-5), and the gear ratio has larger torque, enhances the driving force and ensures that the pipeline robot can stably move.

Further improved, be provided with annular second interval portion in the second pivot, second interval portion divide into first section and second section with the second pivot, and wherein first bevel gear rotates the cover and establishes on first section, and the boss supports and lean on the second interval portion, is provided with the external screw thread on the second section, and first locating part center has seted up the screw hole, second section and first locating part threaded connection, the dismouting of being convenient for. One end of the first limiting piece, which is far away from the second spacing part, protrudes along the outer peripheral surface to form a third spacing part, and the first deep groove ball bearing is clamped between the second spacing part and the third spacing part, so that the first deep groove ball bearing is prevented from moving along the axial direction, and the structural stability is improved.

Further improved, the gyro wheel includes gyro wheel body and fourth end cover, the third through-hole has been seted up in the gyro wheel body, the inner wall of third through-hole outwards protrudes and forms fourth spacer, second bevel gear rotates the cover through the copper sheathing and establishes in first pivot, first pivot is kept away from the one end integral type of first connecting piece and is provided with the second locating part, the gyro wheel body rotates through the third bearing and is connected with first pivot, the third bearing card is established between second locating part and fourth spacer, fourth end cover passes through screw fastening with the gyro wheel body, the fourth end cover supports and leans on fourth spacer outer lane, and there is the clearance between fourth end cover and the second locating part, prevent that the third bearing from following axial float, improve structural stability, and be convenient for assemble.

Further improved, the outer peripheral surface of the roller body is provided with grooves, so that a plurality of anti-slip third protrusions are formed on the outer peripheral surface of the roller body, the height of each third protrusion is 2-10 mm, friction is increased, and slipping is prevented.

Further improved, the roller body is provided with a plurality of lightening holes, so that the weight is reduced.

Further improved, two ends of each driving device are fixedly connected with the supporting plate through a first steel pipe respectively; the first connecting piece is provided with a fourth through hole, a fifth through hole and a sixth through hole, the axes of the fourth through hole, the fifth through hole and the sixth through hole are mutually perpendicular, and the second rotating shaft or the hollow shaft is inserted into the fourth through hole and is fastened with the first connecting piece through a bolt; the first rotating shaft is inserted into the fifth through hole and connected with the first connecting piece through a key; the sixth hole is the screw hole, and the both ends of first steel pipe all are provided with the external screw thread, and wherein one end inserts in the sixth hole of first connecting piece to threaded connection with it, and the other end of first steel pipe passes the backup pad, and fastens with the backup pad through two nuts, and behind the wire of first motor passed the hollow shaft, in the cavity of corresponding first steel pipe was got into through the sixth hole of first connecting piece, then was connected with waterproof joint on the second casing after wearing out first steel pipe, waterproof joint's the other end was connected through the electricity between wire and the first controller. Through set up two mutually perpendicular fourth through-hole, fifth through-hole and sixth hole on first connecting piece, satisfy the demand of the firm connection with it of three different orientation parts simultaneously, simple structure, the assembly of being convenient for, and stability is good.

Further improvement, the roller is made of magnesium alloy material, has small density, and is convenient for the pipeline robot to suspend when moving in water; the first bevel gear and the second bevel gear are made of nylon materials and are wear-resistant.

Further improved, the whole cube frame that is of first support adopts the aluminium alloy ex-trusions to make, and the quality is strong, and intensity is high, and is not fragile. The first support is divided into three layers, namely an upper layer structure, a middle layer structure and a lower layer structure, wherein the lower layer structure is used for setting a battery and accommodating a main body structure of the pipeline robot, the middle layer structure is used for setting a cable winding mechanism, and the second controller, the display screen and the control button are arranged on the upper layer structure of the first support. The layering design is convenient for install different parts, reasonable in design, overall in layout, pleasing to the eye.

Further improved, the upper layer structure of the first bracket is hinged with the middle layer structure, the upper layer structure can rotate around the hinge to be opened or closed, a hydraulic rod is arranged between the upper layer structure and the middle layer structure, one end of the hydraulic rod is hinged with the side wall of the upper layer structure, and the other end of the hydraulic rod is hinged with the side wall of the corresponding side of the middle layer structure; the second controller is arranged in the upper layer structure, and the display screen and the control buttons are embedded in the inner side surface of the upper layer structure. The upper layer structure and the middle layer structure are hinged, when the hydraulic rod is arranged, the upper layer structure is opened by upward rotation, the upper layer structure is supported, and the upper layer structure is prevented from being accidentally rotated downwards to influence normal use; and after the use is finished, the upper layer structure is downwards rotated to cover the upper end of the middle layer structure, so that the screen is protected.

The upper surface of middle level structure is operating platform, has placed keyboard and mouse as the input piece of second controller on the operating platform, convenient operation.

Further improvements include a steering handle that may be connected to the second controller by wired or wireless communication. The pipe robot body structure may be controlled to operate in the pipe by operating the manipulating handle.

Further improved, the rotating shaft of the winding drum is rotatably arranged on the first support through a bearing, a first synchronous wheel is fixedly sleeved on the winding shaft, a second synchronous wheel is arranged on the output shaft of the second motor, and the first synchronous wheel and the second synchronous wheel are connected through a synchronous belt and are connected through the synchronous belt, so that slipping is prevented. The bearing seat of the mounting bearing is detachably mounted in the clamping groove of the aluminum alloy section bar, the distance between the second motor and the winding drum can be adjusted, and the dismounting is convenient.

The device is characterized by further comprising a rope guiding mechanism, wherein the rope guiding mechanism comprises a third motor, a screw rod and a sliding block, the third motor is fixed on the first bracket, an output shaft of the third motor is fixedly connected with one end of the screw rod through a coupler, two ends of the screw rod are rotatably connected with the first bracket through bearings, and the screw rod is arranged in parallel with a rotating shaft of the winding drum; the sliding block is sleeved on the screw rod and is in threaded connection with the screw rod.

The meter rice ware is fixed to be set up on the slider, meter rice ware includes second support, the encoder, and rotate first gyro wheel, the second gyro wheel of setting on the second support, the pivot of encoder links firmly with the pivot of second gyro wheel, set up flutedly on the outer peripheral face of first gyro wheel, the cladding has the rubber layer on the outer peripheral face of second gyro wheel, the cable passes from between first gyro wheel, the second gyro wheel, the cable card is established in the recess, and the surface of cable and the outer peripheral face contact of first gyro wheel, second gyro wheel, through setting up recess and rubber layer, prevent that the cable from taking place the phenomenon of skidding between first gyro wheel, the second gyro wheel, improve meter rice ware's precision.

Two limit switches are arranged on the first support, the two limit switches are located at two ends of the screw rod, and the two limit switches correspond to two ends of the winding drum. And the third motor and the limit switch are electrically connected with the second controller.

At the rolling process, the third motor drives the lead screw to rotate, drive slider and meter along the in-process that the lead screw removed, the cable twines the other end to the one end of reel along with the removal of meter, after the slider bumps the limit switch of corresponding side, the second controller control third motor reverse rotation drives slider and meter along the lead screw removal to the opposite side, twine the cable from the one end of reel to the other end of one end of reel, guarantee that the cable is even, the layer by layer twines on the reel, prevent that the rope disorder from influencing the unreeling next.

Further improved, the first support is provided with a guide rod, the sliding block is rotatably provided with a guide wheel, the guide wheel is slidably clamped on the guide rod, and the guide rod is arranged in parallel with the screw rod. The third motor drives the lead screw to rotate, drives the slider and removes along the in-process that the lead screw removed, and the leading wheel removes along the guide bar, through setting up guide bar and leading wheel, improves structural stability, prevents that the slider from rocking at the removal in-process.

Further improved, be provided with the wire sliding ring on the first support, be connected with the second controller after the one end of cable passes through the wire sliding ring, solved cable winding, twist off scheduling problem even.

Further improvement, the universal wheels are arranged at the bottom of the first bracket, so that the carrying is convenient; the whole aluminium alloy ex-trusions that adopts of first support is made, is convenient for processing, assembly.

Compared with the prior art, the invention has the beneficial effects that:

1) The second controller and the cable winding mechanism are integrated on the first bracket, so that the device is compact in structure and convenient to carry; by arranging the control system on the first support, the risk of sealing of the control system in the robot body structure is reduced. The operator can operate through the button of the second controller, so that the pipeline is very convenient to shoot the middle image of the pipeline and then display the middle image on the display screen, and meanwhile, related parameters of the pipeline robot can also be displayed on the display screen, so that the pipeline robot is visual.

2) The gear ratio of the first bevel gear to the second bevel gear is 1 (1.5-5), the gear ratio has larger torque, the driving force is enhanced, and the stable motion of the pipeline robot is ensured.

3) Through setting up in the backup pad and increasing buoyancy third casing, plastic foam material in the packing in the third casing increases buoyancy, when the pipeline reclaimed water is darker, robot major structure can realize the suspension, impels fast.

4) The two driving devices are respectively positioned at two sides of the isolation assembly through the isolation assembly arranged on the power assisting plate, so that when the robot main body advances in the pipeline, the spiral blades of the driving devices at two sides are separated by the isolation assembly due to the fact that the spiral blades are excited by rotation, and energy consumption is reduced; in addition, the V-shaped isolation assembly is similar to the bottom of a ship, and plays roles in water diversion and navigation.

5) And the combination of the second bevel gears of the two driving rollers of each driving device and the rollers is positioned at two sides of the axis of the first motor, so that the structure is balanced, and the overall stability is improved.

6) The roller is made of magnesium alloy material, so that the density is low, and the pipeline robot can suspend conveniently when moving in water; the first bevel gear and the second bevel gear are made of nylon materials and are wear-resistant.

Drawings

Fig. 1 is a block diagram of a bevel gear transmission pipeline robot according to the present invention.

Fig. 2 is a perspective view of a main structure of the bevel gear transmission pipeline robot.

Fig. 3 is a right side view of fig. 2.

Fig. 4 is a structural view of the second housing.

Fig. 5 is a structural view of the power assisting plate.

Fig. 6 is a structural diagram of the camera.

Fig. 7 is a perspective view of the driving device according to the present invention.

Fig. 8 is a front view of fig. 7.

Fig. 9 is a cross-sectional view A-A of fig. 8.

Fig. 10 is a perspective view of the second connector.

Fig. 11 is a cross-sectional view of the second connector along the axis.

Fig. 12 is a structural view of the third connector.

Fig. 13 is a structural view of the first connector.

Fig. 14 is a structural view of the second bevel gear, the first link and the roller.

Fig. 15 is a structural view of the roller body.

Fig. 16 is a sectional view of the roller body in the axial direction.

Fig. 17 is a structural view of the first bevel gear.

Fig. 18 is a structural view of the second rotating shaft.

Fig. 19 is a front view of a pipe robot controller according to the present invention.

Fig. 20 is a left side view of fig. 19.

Fig. 21 is a perspective view of the rope guide mechanism and the meter.

Fig. 22 is a top view of fig. 21.

Detailed Description

In order to make the objects and technical solutions of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in connection with the embodiments of the present invention.

As shown in fig. 1-22, a bevel gear drive pipeline robot includes an industrial personal computer 3000 and a main body structure 1000.

The main structure includes a support plate 40, two driving devices rotatably provided on the support plate, and a first controller fixedly provided on the support plate 40. Each driving device comprises a driving roller and two driving rollers arranged at two ends of the driving roller; each driving roller comprises a first bevel gear 10, a second bevel gear 16, a first connecting piece 14 and rollers, one end of the first bevel gear 10 protrudes outwards along the axial direction to form a boss 1001, and a first through hole 1002 penetrating through the first bevel gear is formed in the center of the boss 1001 along the axial direction; the first connecting piece 14 is fixedly connected with the first rotating shaft 15, the first rotating shaft 15 is rotatably sleeved with the second bevel gear 16 and the idler wheel, the first bevel gear 10 is meshed with the second bevel gear 16, the second bevel gear 16 is fixedly connected with the idler wheel coaxially, and the radius of the second bevel gear 16 is smaller than that of the idler wheel.

The driving roller comprises an inner cylinder 3, an outer cylinder 2, a first shell 1 and a spiral blade 101, wherein the outer cylinder 2 is sleeved outside the inner cylinder 3 in a rotating mode, the first shell 1 is fixedly arranged outside the outer cylinder 2, and the spiral blade 101 is fixedly arranged on the outer peripheral surface of the first shell 1 along the length direction of the first shell; a first motor 4 is fixedly arranged in the inner cylinder; when the driving roller is horizontally placed, the lower edge of the helical blade 101 is higher than the lower edge of the roller. The height difference between the lower edge of the helical blade and the lower edge of the roller is 2-10mm. The height of the spiral blade is 1-5cm. The first motor is electrically connected with the first controller. The second shell 30 is arranged on the supporting plate, the first controller is arranged in the second shell 30, the second shell 30 is fixedly connected with the supporting plate through a screw, and a sealing ring is arranged between the second shell and the supporting plate; the front end of the second housing is provided with a front baffle 32 made of transparent material; the edge of the front baffle 32 is fixedly sealed with the surface of the second shell 30 and the supporting plate 40; the bottom of the support plate 40 is provided with a flow sensor, which is electrically connected to the first controller. And the front baffle is provided with an illuminating lamp 31 in a sealing manner.

A camera 90 is arranged in the cavity of the second shell 30, and the camera 90 is electrically connected with the first controller; when the robot advances in the pipeline, the camera shoots the scene in the pipeline in real time and transmits the scene to the industrial personal computer on the ground for display, so that the actual condition in the pipeline can be conveniently and intuitively known, and the environment in the pipeline is complex. Because of the special nature of the work environment of the pipe robot, waterproofing is a key to the overall robot, and the second housing is not exceptional, in which the first controller is damaged once water is entered. The second housing plays a role in protecting and supporting the first controller.

The industrial personal computer comprises a first bracket 300, wherein a second controller, a display screen 303, a control button, a cable winding mechanism and a battery are arranged on the first bracket 300. The winding mechanism comprises a second motor, a winding drum 306, a cable 200 wound on the winding drum and a meter 307, wherein the second motor drives the winding shaft of the winding drum 305 to rotate, and the second motor, the display screen, the control button and the battery are all electrically connected with a second controller; one end of the cable is connected with the first controller in the main structure, the other end of the cable is connected with the second controller after being fixed with the reel of the reel, the industrial personal computer and the main structure communicate through the cable, the battery supplies power for the main structure through the cable, and the cable 200 plays a role in traction of the main structure.

In the process that the pipeline robot main body structure advances along the pipeline, the second controller controls the second motor to work, the winding drum is driven to rotate for unreeling, and after detection, the second motor reversely rotates to drive the winding drum to rotate for winding the cable; the handle can also be arranged on the winding drum, and the winding drum is driven to rotate by rotating the handle to manually unreel or wind.

In this embodiment, the third casing 50 with increased buoyancy is disposed on the support plate 30, and the third casing 50 is filled with a medium plastic foam material to increase buoyancy, so that when the water in the pipeline is deeper, the main structure of the robot can realize suspension and rapid propulsion.

The bottom of backup pad is fixed to be provided with helping hand board 60, and helping hand board includes middle part along the downward recess of length direction and forms V font's isolation component 61, and two drive arrangement are located the both sides of isolation component 61 respectively. By arranging the isolation components on the power-assisted plates, the two driving devices are respectively positioned at two sides of the isolation components, so that when the robot main body advances in the pipeline, the spiral blades of the driving devices at two sides are separated by the isolation components due to the fact that the spiral blades are excited by rotation, and energy consumption is reduced; in addition, the V-shaped isolation assembly is similar to the bottom of a ship, and plays roles in water diversion and navigation.

In this embodiment, the support plate 30, the second housing 30, the third housing 50 and the power assisting plate 60 are all made of carbon fiber, and have light weight and high strength.

The combination of the second bevel gears 16 of the two driving rollers of each driving device and the rollers is positioned at two sides of the axis of the first motor, so that the structure is balanced, and the overall stability is improved. In other embodiments, the second bevel of the two drive rollers and the roller combination may be on the same side of the first motor axis.

In this embodiment, in each driving device, the output shaft of the first motor 4 extends out of the inner cylinder and is located in the outer cylinder, and a first flange 5, a first motor cover 6 and a second connecting piece 8 are coaxially arranged in sequence along the direction of the output shaft of the first motor, the first flange 5, the first motor cover 6 and the second connecting piece 8 are all rotating bodies, the first flange 5 is connected with the first end surface of the inner cylinder through screws, a gap exists between the inner wall of the first flange and the output shaft of the first motor, and a gap exists between the outer peripheral surface of the first flange and the inner wall of the outer cylinder; the first motor cover 6 is annular, the first motor cover is fixedly connected with the first flange through screws, a gap exists between the inner wall of the first motor cover and the first motor output shaft, and a gap exists between the outer peripheral surface of the first motor cover and the inner wall of the outer cylinder.

The second connecting piece 8 is arranged on the first motor cover 6 through the first thrust bearing 7, the outer peripheral surface of the second connecting piece 8 is fixedly connected with the inner wall of the outer cylinder 2, and the outer peripheral surface of the second connecting piece is provided with an annular groove 83 for sealing a ring; the center of the end face, close to one side of the first motor 4, of the second connecting piece 8 is outwards protruded along the axis and extends to form a first columnar body 81, a first hole 82 is formed in the first columnar body 81 along the axis, an output shaft of the first motor is inserted into the first hole 82, and the output shaft of the first motor is fixedly connected with the second connecting piece 8 through a key; the end face of the second connecting piece 8, which is far away from one side of the first motor, is outwards protruded and extends to form a second cylindrical body 84, the second cylindrical body 84 is inwards recessed along the axis to form a second hole 85, the second hole is a stepped hole, a first deep groove ball bearing 11 and a first limiting piece 12 are arranged in the second air, the first limiting piece 12 is embedded in the first deep groove ball bearing 11 and fixedly connected with the inner ring of the first deep groove ball bearing 11, the first deep groove ball bearing 11 abuts against the stepped surface of the stepped hole, and the outer ring of the second deep groove ball bearing is fixedly connected with the inner wall of the stepped hole; the first limiting piece 12 is fixedly connected with one end of the second rotating shaft 9.

The first bevel gear 10 of one driving roller is arranged on the second rotating shaft 9 in a sealing and rotating mode through a first through hole 1002, a second end cover 13 is fixedly arranged at the end portion of the second cylindrical body 84 through a screw, a second through hole is formed in the center of the second end cover, a boss 1001 is inserted into the second through hole, and the second end cover is fixedly connected with the first bevel gear 10 in a sealing mode.

The other end of the second rotating shaft 9 is fixedly connected with the first connecting piece 14 after passing through the first through hole; the second rotating shaft 9 is arranged perpendicular to the first rotating shaft 15, and the first bevel gear 9 and the second bevel gear 16 are meshed.

The one end that first motor output shaft was kept away from to the inner tube is connected with third end cover 19, and third end cover 19 seals with the terminal surface of inner tube and links firmly, and the outside terminal surface central part of third end cover outwards protrudes and extends and form hollow shaft 20, and the electric wire of first motor wears out from the hollow shaft, and the electric wire passes through sealed glue sealing connection with the hollow shaft, rotates the cover on the hollow shaft 20 and is equipped with third connecting piece 25, and third connecting piece 25 is the rotator, and the outer peripheral surface of third connecting piece 25 seals firmly with the inner wall of urceolus.

In this embodiment, the hollow shaft 20 is sleeved with a second thrust bearing 21, a spacer ring, a second deep groove ball bearing 22, a sealing skeleton 23 and a wool felt sealing ring 24 sequentially along the axial direction outwards.

The third connecting member 25 is cylindrical, the cavity of the third connecting member includes a large diameter portion 252 and a small diameter portion 253, the inner wall of the small diameter portion radially protrudes to form a first spacing portion 251, the second thrust bearing 21, the spacer ring and the second deep groove ball bearing 22 are embedded in the large diameter portion of the third connecting member, and the sealing skeleton and the wool felt sealing ring are embedded in the small diameter portion of the third connecting member and are respectively located at two sides of the first spacing portion 251.

In the embodiment, the gear ratio of the first bevel gear to the second bevel gear is 1:3, and the gear ratio has larger torque, enhances the driving force and ensures that the pipeline robot can stably move.

In other embodiments, the first and second bevel gears may have a gear ratio of 1:1.5, 1:2, 1:2.5, 1:3.5, 1:4.5, or 1:5, etc., or any number thereof.

In this embodiment, an annular second spacing portion 903 is disposed on the second rotating shaft 9, the second spacing portion 903 divides the second rotating shaft into a first section 901 and a second section 902, wherein the first bevel gear 10 is rotatably sleeved on the first section, the boss 1001 abuts against the second spacing portion 903, an external thread is disposed on the second section 902, a threaded hole is formed in the center of the first limiting member 12, and the second section 902 is in threaded connection with the first limiting member 12, so as to facilitate disassembly and assembly. One end of the first limiting piece, which is far away from the second spacing part, protrudes along the outer peripheral surface to form a third spacing part, and the first deep groove ball bearing is clamped between the second spacing part and the third spacing part, so that the first deep groove ball bearing is prevented from moving along the axial direction, and the structural stability is improved.

In this embodiment, the roller includes a roller body 17 and a fourth end cap 18, a third through hole 172 is formed in the roller body 17, an inner wall of the third through hole protrudes outwards to form a fourth spacing part 173, the second bevel gear 16 is rotatably sleeved on the first rotating shaft 15 through a copper sleeve, one end of the first rotating shaft 15, which is far away from the first connecting piece 14, is integrally provided with a second limiting piece, the roller body 17 is rotatably connected with the first rotating shaft through a third bearing, the third bearing is clamped between the second limiting piece and the fourth spacing part, the fourth end cap 18 is fastened with the roller body 17 through a screw, the fourth end cap abuts against an outer ring of the fourth spacing part, a gap exists between the fourth end cap and the second limiting piece, the third bearing is prevented from moving axially, the structural stability is improved, and the assembly is convenient.

In this embodiment, the outer peripheral surface of the roller body 17 is provided with grooves, so that a plurality of anti-slip third protrusions 171 are formed on the outer peripheral surface of the roller body, the height of the third protrusions is 2-10 mm, friction is increased, and slipping is prevented.

In this embodiment, the roller body 17 is provided with a plurality of lightening holes, so as to reduce weight.

In this embodiment, two ends of each driving device are fixedly connected with the supporting plate 40 through a first steel pipe 80 respectively; the first connecting piece 14 is provided with a fourth through hole 141, a fifth through hole 142 and a sixth through hole 143, the axes of the fourth through hole, the fifth through hole and the sixth through hole are mutually perpendicular, and the second rotating shaft 9 or the hollow shaft 20 is inserted into the fourth through hole 141 and is fastened with the first connecting piece 14 through bolts; the first rotary shaft 15 is inserted into the fifth through hole 142 and connected with the first connection member by a key; the sixth hole 143 is a threaded hole, external threads are disposed at two ends of the first steel pipe 80, one end of the first steel pipe 80 is inserted into the sixth hole 143 of the first connecting piece 14 and is in threaded connection with the sixth hole 143, the other end of the first steel pipe 80 passes through the supporting plate 40 and is fastened with the supporting plate 40 through two nuts, a wire of the first motor 4 passes through the hollow shaft 20, then enters a corresponding cavity of the first steel pipe 80 through the sixth hole 143 of the first connecting piece 14, then passes through the first steel pipe 80 and is connected with a waterproof joint on the second shell 30, and the other end of the waterproof joint is electrically connected with the first controller through the wire. Through set up two mutually perpendicular fourth through-hole, fifth through-hole and sixth hole on first connecting piece, satisfy the demand of the firm connection with it of three different orientation parts simultaneously, simple structure, the assembly of being convenient for, and stability is good.

In the embodiment, the roller is made of magnesium alloy material, so that the density is low, and the pipeline robot can suspend conveniently when moving in water; the first bevel gear and the second bevel gear are made of nylon materials and are wear-resistant.

In this embodiment, the first bracket 300 is a cubic frame, and is made of an aluminum alloy section, so that the quality is high, the strength is high, and the first bracket is not easy to damage. The first support is divided into three layers, namely an upper layer structure 301, a middle layer structure and a lower layer structure, wherein the lower layer structure is used for setting a battery and accommodating a main body structure of the pipeline robot, the middle layer structure is used for setting a cable winding mechanism, and the second controller, the display screen and the control buttons are arranged on the upper layer structure of the first support. The layering design is convenient for install different parts, reasonable in design, overall in layout, pleasing to the eye.

In this embodiment, the upper structure of the first bracket is hinged to the middle structure, the upper structure can rotate around the hinge to open or close, a hydraulic rod 302 is disposed between the upper structure and the middle structure, one end of the hydraulic rod 302 is hinged to a side wall of the upper structure, and the other end is hinged to a side wall of the middle structure corresponding to the side; the second controller is disposed in the upper structure, and the display screen 303 and the control buttons are embedded in the inner side surface of the upper structure. The upper layer structure and the middle layer structure are hinged, when the hydraulic rod is arranged, the upper layer structure is opened by upward rotation, the upper layer structure is supported, and the upper layer structure is prevented from being accidentally rotated downwards to influence normal use; and after the use is finished, the upper layer structure is downwards rotated to cover the upper end of the middle layer structure, so that the screen is protected.

In this embodiment, the control handle 304 is further included, and the control handle 304 may be connected to the second controller through wired or wireless communication. The pipe robot body structure may be controlled to operate in the pipe by operating the manipulating handle.

In this embodiment, the rotation shaft of the spool 305 is rotatably disposed on the first support 300 through a bearing, a first synchronizing wheel is fixedly sleeved on the spool, a second synchronizing wheel is disposed on the output shaft of the second motor, and the first synchronizing wheel and the second synchronizing wheel are connected through a synchronous belt, and are connected through the synchronous belt, so as to prevent slipping. The bearing seat of the mounting bearing is detachably mounted in the clamping groove of the aluminum alloy section bar, the distance between the second motor and the winding drum can be adjusted, and the dismounting is convenient.

In this embodiment, the device further includes a rope guiding mechanism 308, where the rope guiding mechanism 308 includes a third motor 3081, a lead screw 3082, and a slider 3083, the third motor 3081 is fixed on the first bracket 300, an output shaft of the third motor 3081 is fixedly connected with one end of the lead screw 3082 through a coupling, two ends of the lead screw 3082 are rotatably connected with the first bracket 300 through bearings, and the lead screw 3082 is parallel to a rotating shaft of the spool 305; the slide block 3083 is sleeved on the screw rod and is in threaded connection with the screw rod.

The meter counter 307 is fixedly arranged on the sliding block, the meter counter comprises a second bracket 3071, an encoder 3074 and a first roller 3072 and a second roller 3072 which are rotatably arranged on the second bracket, a rotating shaft of the encoder is fixedly connected with a rotating shaft of the second roller, a groove is formed in the outer peripheral surface of the first roller, a rubber layer is coated on the outer peripheral surface of the second roller, a cable passes through the first roller and the second roller, the cable is clamped in the groove, the surface of the cable is contacted with the outer peripheral surfaces of the first roller and the second roller, and slipping phenomenon between the cable and the first roller and between the cable and the second roller is prevented by arranging the groove and the rubber layer, so that the precision of the meter counter is improved.

Two limit switches 3086 are arranged on the first support, the two limit switches are located at two ends of the screw rod, and the two limit switches correspond to two ends of the winding drum. And the third motor and the limit switch are electrically connected with the second controller.

In this embodiment, the first bracket 300 is provided with a guide rod 3085, the slider is rotatably provided with a guide wheel 3084, the guide wheel 3084 is slidably clamped on the guide rod 3085, and the guide rod is parallel to the screw rod. The third motor drives the lead screw to rotate, drives the slider and removes along the in-process that the lead screw removed, and the leading wheel removes along the guide bar, through setting up guide bar and leading wheel, improves structural stability, prevents that the slider from rocking at the removal in-process.

In this embodiment, the first support 300 is provided with a wire slip ring, and one end of the cable is connected to the second controller after passing through the wire slip ring, so as to solve the problems of winding, even twisting and breaking of the cable.

In this embodiment, the bottom of the first bracket 300 is provided with a universal wheel 309, which is convenient for carrying; the whole aluminium alloy ex-trusions that adopts of first support is made, is convenient for processing, assembly.

The present invention is not specifically described in the prior art or may be implemented by the prior art, and the specific embodiments described in the present invention are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Equivalent changes and modifications of the invention are intended to be within the scope of the present invention.

Claims

1. The bevel gear transmission pipeline robot is characterized by comprising an industrial personal computer and a main body structure;

the main body structure comprises a supporting plate, two driving devices rotatably arranged on the supporting plate and a first controller fixedly arranged on the supporting plate; each driving device comprises a driving roller and two driving rollers arranged at two ends of the driving roller; each driving roller comprises a first bevel gear, a second bevel gear, a first connecting piece and rollers, one end of the first bevel gear protrudes outwards along the axial direction to form a boss, and a first through hole penetrating through the first bevel gear is formed in the center of the boss along the axial direction; the first connecting piece is fixedly connected with the first rotating shaft, the first rotating shaft is rotatably sleeved with a second bevel gear and a roller, the first bevel gear is meshed with the second bevel gear, the second bevel gear is coaxially and fixedly connected with the roller, and the radius of the second bevel gear is smaller than that of the roller; the driving roller comprises an inner cylinder, an outer cylinder, a first shell and a second shell, wherein the outer cylinder is arranged outside the inner cylinder through a rotating sleeve, the first shell is fixedly arranged outside the outer cylinder, and spiral blades are fixedly arranged on the outer peripheral surface of the first shell along the length direction of the first shell; a first motor is fixedly arranged in the inner cylinder; when the driving roller is horizontally placed, the lower edge of the spiral blade is higher than the lower edge of the roller; the first motor is electrically connected with the first controller;

The industrial personal computer comprises a first bracket, wherein a second controller, a display screen, a control button, a cable winding mechanism and a battery are arranged on the first bracket; the winding mechanism comprises a second motor, a winding drum, a cable wound on the winding drum and a meter, the second motor drives a winding shaft of the winding drum to rotate, and the second motor, the display screen, the control button and the battery are all electrically connected with a second controller; one end of the cable is connected with a first controller in the main body structure, the other end of the cable is connected with a second controller after being fixed with a reel of the winding drum, the industrial personal computer and the main body structure communicate through the cable, and the battery supplies power for the main body structure through the cable;

the main body structure further comprises a second shell, the first controller is arranged in the second shell, the second shell is fixedly connected with the supporting plate through a screw, and a sealing ring is arranged between the second shell and the supporting plate; the front end of the second shell is provided with a front baffle made of transparent materials; the edge of the front baffle is fixedly connected with the second shell and the supporting plate in a sealing way; the bottom of the supporting plate is provided with a flow sensor, and the flow sensor is electrically connected with the first controller;

a camera is arranged in the cavity of the second shell, and the camera is electrically connected with the first controller;

A third shell for increasing buoyancy is arranged on the supporting plate, and medium plastic foam materials are filled in the third shell;

the bottom of the supporting plate is fixedly provided with a booster plate, the middle part of the booster plate comprises a V-shaped isolation assembly formed by downward grooves along the length direction, and the two driving devices are respectively positioned at two sides of the isolation assembly;

the supporting plate, the second shell, the third shell and the power assisting plate are all made of carbon fiber materials;

the roller is made of magnesium alloy materials, and the first bevel gear and the second bevel gear are made of nylon materials;

the second bevel gear of the two driving rollers of each driving device and the combination of the rollers are positioned at two sides of the axis of the first motor;

the gear ratio of the first bevel gear to the second bevel gear is 1 (1.5-5);

in each driving device, an output shaft of the first motor extends out of the inner cylinder and is positioned in the outer cylinder, a first flange, a first motor cover and a second connecting piece are sequentially and coaxially arranged along the direction of the output shaft of the first motor in an extending manner, the first flange, the first motor cover and the second connecting piece are all rotating bodies, the first flange is connected with a first end face of the inner cylinder through screws, a gap exists between the inner wall of the first flange and the output shaft of the first motor, and a gap exists between the outer peripheral surface of the first flange and the inner wall of the outer cylinder; the first motor cover is in a ring shape, the first motor cover is fixedly connected with the first flange through a screw, a gap exists between the inner wall of the first motor cover and the output shaft of the first motor, and a gap exists between the outer peripheral surface of the first motor cover and the inner wall of the outer cylinder;

The second connecting piece is arranged on the first motor cover through a first thrust bearing, the outer peripheral surface of the second connecting piece is fixedly connected with the inner wall of the outer cylinder, and a sealing ring is arranged between the outer peripheral surface of the second connecting piece and the inner wall of the outer cylinder; the center of the end face, close to one side of the first motor, of the second connecting piece protrudes outwards along the axis and extends to form a first columnar body, a first hole is formed in the first columnar body along the axis, an output shaft of the first motor is inserted into the first hole, and the output shaft of the first motor is fixedly connected with the second connecting piece through a key; the end face of the second connecting piece, which is far away from one side of the first motor, is outwards protruded and extends to form a second cylindrical body, the second cylindrical body is inwards recessed along the axis to form a second hole, the second hole is a stepped hole, a first deep groove ball bearing and a first limiting piece are arranged in the second air, the first limiting piece is embedded in the first deep groove ball bearing and fixedly connected with the inner ring of the first deep groove ball bearing, the first deep groove ball bearing abuts against the stepped surface of the stepped hole, and the outer ring of the first deep groove ball bearing is fixedly connected with the inner wall of the stepped hole; the first limiting piece is fixedly connected with one end of the second rotating shaft;

the first bevel gear of one driving roller is sleeved on the second rotating shaft in a sealing and rotating way through a first through hole, a second end cover is fixedly arranged at the end part of the second cylindrical body through a screw, a second through hole is formed in the center of the second end cover, a boss is inserted into the second through hole, and the second end cover is fixedly connected with the first bevel gear in a sealing way;

The other end of the second rotating shaft is fixedly connected with the first connecting piece after penetrating through the first through hole; the second rotating shaft is perpendicular to the first rotating shaft, and the first bevel gear is meshed with the second bevel gear;

the electric wire of the first motor penetrates out of the hollow shaft and is in sealing connection with the hollow shaft through sealing glue, a third connecting piece is sleeved on the hollow shaft in a rotating way, the third connecting piece is a rotating body, and the outer peripheral surface of the third connecting piece is in sealing connection with the inner wall of the outer cylinder;

a second thrust bearing, a spacer ring, a second deep groove ball bearing, a sealing framework and a wool felt sealing ring are sequentially sleeved on the hollow shaft along the axial direction outwards;

the third connecting piece is cylindrical, the cavity of the third connecting piece comprises a large-diameter part and a small-diameter part, the inner wall of the small-diameter part is radially protruded to form a first interval part, the second thrust bearing, the spacer ring and the second deep groove ball bearing are embedded in the large-diameter part of the third connecting piece, the sealing framework and the wool felt sealing ring are embedded in the small-diameter part of the third connecting piece and are respectively positioned at two sides of the first interval part;

One end of the second thrust bearing is propped against the second end cover, and the other end of the second thrust bearing is propped against one end face of the spacer ring; one end of the second deep groove ball bearing is abutted against the other end face of the spacer ring, and the other end of the second deep groove ball bearing is abutted against a step surface between the large-diameter part and the small-diameter part;

the center part of one end of the third connecting piece far away from the third end cover is outwards protruded and extends to form a fourth columnar body, a concave cavity is formed in the center of the fourth columnar body, a first bevel gear of the other driving roller is hermetically and rotatably sleeved on the hollow shaft through a first through hole, a boss is inserted into the concave cavity, and the fourth columnar body is hermetically and fixedly connected with the first bevel gear through a screw; the tail end of the hollow shaft is fixedly connected with the first connecting piece after penetrating through the first through hole; the second rotating shaft is perpendicular to the first rotating shaft, and the first bevel gear is meshed with the second bevel gear;

the second rotating shaft is provided with an annular second spacing part, the second spacing part divides the second rotating shaft into a first section and a second section, the first bevel gear is rotatably sleeved on the first section, the boss is abutted against the second spacing part, the second section is provided with external threads, the center of the first limiting part is provided with a threaded hole, and the second section is in threaded connection with the first limiting part; one end of the first limiting piece, which is far away from the second spacing part, protrudes along the outer peripheral surface to form a third spacing part, and the first deep groove ball bearing is clamped between the second spacing part and the third spacing part.

2. The bevel gear transmission pipeline robot according to claim 1, wherein the roller comprises a roller body and a fourth end cover, a third through hole is formed in the roller body, the inner wall of the third through hole protrudes outwards to form a fourth spacing part, the second bevel gear is rotatably sleeved on the first rotating shaft through a copper sleeve, one end of the first rotating shaft, which is far away from the first connecting piece, is integrally provided with a second limiting piece, the roller body is rotatably connected with the first rotating shaft through a third bearing, the third bearing is clamped between the second limiting piece and the fourth spacing part, the fourth end cover is fastened with the roller body through a screw, the fourth end cover abuts against the outer ring of the fourth spacing part, and a gap exists between the fourth end cover and the second limiting piece.

3. The bevel gear pipeline robot according to claim 2, wherein two ends of each driving device are fixedly connected with the supporting plate through a first steel pipe respectively; the first connecting piece is provided with a fourth through hole, a fifth through hole and a sixth through hole, the axes of the fourth through hole, the fifth through hole and the sixth through hole are mutually perpendicular, and the second rotating shaft or the hollow shaft is inserted into the fourth through hole and is fastened with the first connecting piece through a bolt; the first rotating shaft is inserted into the fifth through hole and connected with the first connecting piece through a key;

The sixth hole is the screw hole, and the both ends of first steel pipe all are provided with the external screw thread, and wherein one end inserts in the sixth hole of first connecting piece to threaded connection with it, and the other end of first steel pipe passes the backup pad, and fastens with the backup pad through two nuts, and behind the wire of first motor passed the hollow shaft, in the cavity of corresponding first steel pipe was got into through the sixth hole of first connecting piece, then was connected with waterproof joint on the second casing after wearing out first steel pipe, waterproof joint's the other end was connected through the electricity between wire and the first controller.

4. The bevel gear transmission pipeline robot according to claim 3, wherein the first support is integrally a cubic frame and is made of aluminum alloy sections, the first support is divided into three layers, namely an upper layer structure, a middle layer structure and a lower layer structure, the lower layer structure is used for arranging a battery and accommodating a main body structure of the pipeline robot, the middle layer structure is used for arranging a cable winding mechanism, and the second controller, the display screen and the control buttons are arranged on the upper layer structure of the first support;

the upper layer structure of the first bracket is hinged with the middle layer structure, the upper layer structure can rotate around the hinge to be opened or covered, a hydraulic rod is arranged between the upper layer structure and the middle layer structure, one end of the hydraulic rod is hinged with the side wall of the upper layer structure, and the other end of the hydraulic rod is hinged with the side wall of the side corresponding to the middle layer structure; the second controller is arranged in the upper structure, and the display screen and the control buttons are embedded in the inner side surface of the upper structure;

The upper surface of the middle layer structure is an operation platform, and a keyboard and a mouse are placed on the operation platform and serve as input pieces of the second controller.

5. The bevel gear transmission pipeline robot according to claim 4, wherein the industrial personal computer further comprises a rope guiding mechanism, the rope guiding mechanism comprises a third motor, a screw and a sliding block, the third motor is fixed on the first bracket, an output shaft of the third motor is fixedly connected with one end of the screw through a coupler, two ends of the screw are rotatably connected with the first bracket through bearings, and the screw is arranged in parallel with a rotating shaft of the winding drum; the sliding block is sleeved on the screw rod and is in threaded connection with the screw rod;

the meter counter is fixedly arranged on the sliding block and comprises a second bracket, an encoder, a first roller and a second roller which are rotatably arranged on the second bracket, a rotating shaft of the encoder is fixedly connected with a rotating shaft of the second roller, a groove is formed in the outer peripheral surface of the first roller, a rubber layer is coated on the outer peripheral surface of the second roller, a cable passes through the first roller and the second roller, the cable is clamped in the groove, and the surface of the cable is in contact with the outer peripheral surfaces of the first roller and the second roller;

two limit switches are arranged on the first bracket and are positioned at two ends of the screw rod, and the two limit switches correspond to two ends of the winding drum;

And the third motor and the limit switch are electrically connected with the second controller.

6. The bevel transmission pipeline robot according to claim 5, wherein a guide rod is arranged on the first bracket, a guide wheel is rotatably arranged on the sliding block, the guide wheel is slidably clamped on the guide rod, and the guide rod is arranged in parallel with the screw rod; the first bracket is provided with a wire slip ring, and one end of the cable is connected with the second controller after passing through the wire slip ring; the bottom of the first bracket is provided with universal wheels; the first bracket is integrally made of an aluminum alloy section.