CN208153953U - A kind of pipe robot driving device - Google Patents

Abstract

The utility model discloses a kind of pipe robot driving devices, are divided into three sections along its length：Including driving roller and the driving idler wheel that driving roller both ends are arranged in, the driving idler wheel that driving roller one end is arranged in is Mecanum wheel, and the other end is Mecanum wheel or wheel；The lower edge of helical blade is higher than the lower edge of Mecanum wheel and wheel.The lower edge and Mecanum wheel of helical blade, the difference in height of the lower edge of wheel are 2-10mm.Above-mentioned wheel-helical blade roller-Mecanum wheel or Mecanum wheel-helical blade roller-Mecanum wheel combination are used as driving wheel, cope with different situations in pipeline, adaptable, high-efficient.

Description

A kind of pipe robot driving device

Technical field

The utility model relates to a kind of pipe robot driving devices.

Background technique

Municipal pipeline environment very severe is easy to happen corrosion and fatigue and destroys or make latent inside pipeline after long-time service Cause leakage accident etc., especially water class pipeline at breakage in development of defects, is also easy to the accidents such as blocking.Therefore the pipe of pipeline Interior detection, dredging are a highly important practical engineerings, and detection in pipe at present is removed contamination mostly also using manually being operated, It is limited by factors such as line size, bad environments, causes great work intensity, working efficiency low, be based on the problem, occur at present Pipe robot.

Existing patent discloses a kind of driving roller, application number 201710896483.1, using magneto and permanent magnetism Shaft coupling carries out power transmitting, one kind that permanent magnet clutch is linked up motor and the first rotating member by the magnetic force of permanent magnet Novel coupler, it is without direct mechanical attachment, and sealing effect is good, but power transmission efficiency is too low；In addition, existing skill The all shells for being provided with helical blade of roller shell are driven in art, helical blade connects with pipeline in pipe robot work Contacting surface is big, and frictional force is too big, causes pipe robot movement velocity slow, low efficiency.

Summary of the invention

The purpose of this utility model is to provide a kind of pipe robot driving device, solution drives roller in the prior art Power transmitting is carried out using magneto and permanent magnet clutch, power transmission efficiency is too low, and the helical blade in roller shell The technical issues of big with tube contacts face, frictional force is too big, causes pipe robot movement velocity slow, low efficiency.

In order to solve the above-mentioned technical problem the utility model, adopts the following technical scheme that：

A kind of pipe robot driving device, is divided into three sections along its length：It is being driven including driving roller and setting The driving idler wheel at roller both ends, the driving idler wheel that driving roller one end is arranged in is Mecanum wheel, and the other end is Mike Na Mu wheel or wheel；

The driving roller includes the outer cylinder of inner cylinder, turning set setting portion outer tube, and is fixed at outside outer cylinder The outer peripheral surface of the shell in portion, shell is fixedly installed helical blade along its length；Motor is fixedly installed in inner cylinder；It is described At the lower end of driving device, the lower edge of helical blade is higher than the lower edge of Mecanum wheel and wheel.The lower edge of helical blade and wheat Ke Namu takes turns, the difference in height of the lower edge of wheel is 2-10mm.The height of helical blade is 1-5cm.

When pipe robot moves on hard medium, the wheel and Mecanum wheel and ground face contact at both ends are intermediate Helical blade it is hanging, motor driven roller and Mecanum wheel rotate synchronously, since the roller of interlude is hanging, driving device Smaller with the contact area on ground, pipe robot movement velocity is fast, high-efficient；Again because hanging Mecanum wheel may be implemented The multi-direction movement of pipe robot then can be achieved in the motion modes such as forward, traversing, diagonal, rotation and combinations thereof, easy to control. When pipe robot moves on soft medium, pipe robot can sink because of gravity, then wheel, Mecanum wheel It is rotated synchronously with ground face contact, motor driven roller and Mecanum wheel with intermediate helical blade, helical blade rotation will Mud etc. is discharged backward, moves forward pipe robot, although pipe robot movement velocity is slow at this time, because of contact surface Product is big, will not skid；When pipe robot suspends in water, helical blade is equivalent to propeller, and helical blade rotates backward Draining driving pipe robot advances.

Above-mentioned wheel-helical blade roller-Mecanum wheel or Mecanum wheel-helical blade roller-Mike Na Mu wheel combination is used as driving wheel, copes with different situations in pipeline, adaptable, high-efficient.

It is further improved, the output shaft of the motor stretches out inner cylinder, and is located in outer cylinder, extends along motor output shaft direction Sequentially coaxially it is provided with first flange, motor cover, the first connector and the second connector, first flange, motor cover, the first connection Part and the second connector are rotary body, and first flange is connected by the first end face of screw and inner cylinder, the inner wall of first flange There are gaps between motor output shaft, and there are gaps between the outer peripheral surface and outer tube inner wall of first flange；The motor cover packet Disc and setting are included in disc center, and with integrally formed first column of disc, the first column is directed away from The direction of motor, the center of the first column are provided in the axial direction with first through hole, disc and first flange and are connected by screw, There are gaps between the outer peripheral surface of disc and the inner wall of outer cylinder；

First connector is mounted in motor cover by the first thrust bearing, the outer peripheral surface and outer cylinder of the first connector Inner wall be connected, and be provided with sealing ring between the outer peripheral surface of the first connector and the inner wall of outer cylinder；First connector is close to electricity The end face center of machine side extends to form the second column along axis outwardly convex, and the second column is rotatably freely inserted into first In through-hole, and the first sealing ring is provided between the second column and first through hole；First connector is provided in the axial direction with second Through-hole and third through-hole, the second through-hole are provided in the second column, and the second through-hole is connected to third through-hole, and motor output shaft is inserted Enter in the second through-hole, motor output shaft is connected by key and the first connector；Second connector is located in third through-hole, and with A connection piece rotation connection；Gasket is provided in third through-hole to open the second connector and motor output shaft sealed spacer；

The inner cylinder is connected with first end cover far from one end of motor output shaft, and the end face seal of first end cover and inner cylinder is solid Even, the outer end face central part outwardly convex of first end cover simultaneously extends to form hollow shaft, and the electric wire of motor is pierced by from hollow shaft, electricity Line and hollow shaft are tightly connected by sealant, and turning set is equipped with third connector in hollow shaft, and third connector is rotary body, The inner wall sealing of the outer peripheral surface and outer cylinder of third connector is connected.

Based on application number：201710896483.1 title：It is a kind of drive roller patent application, applicant continue research, Repetition test is improved, by the way that motor output shaft to be directly connected to by key and the first connector, outside the first connector Circumferential surface and outer cylinder are connected, and motor and inner cylinder are connected, then the first connector of motor driven rotates, and drive outer cylinder rotation, power transmitting High-efficient, energy loss is small, guarantees that outer cylinder being capable of normal rotation.

Meanwhile sealing element is set by the way that the first sealing ring, gasket is arranged, and in the outer peripheral surface of the first connector, if Multi layer waterproof component is set, good sealing performance is improved, guarantees that motor can work normally.

By the way that the first thrust bearing is arranged, axial load bearing capacity is improved, overall structure stability is increased, improves and uses Service life.

It is further improved, the outer wall of second connector is circumferentially arranged the first spacer portion, and the first connector passes through First ball bearing and the rotation connection of the second thrust bearing and the second connector, the first ball bearing, the second thrust bearing are by between first It is separated every portion, wherein the second thrust bearing is close to gasket；The outer end face sealing of second connector, which is connected, is provided with second End cap limits the first ball bearing, and second end cover center offers through-hole, and the second connector stretches out through-hole, the end of the second connector Portion's detachable connection has wheel, and the wheel shaft of wheel and the axis of inner cylinder are vertical.

By the first ball bearing of setting and the second thrust bearing, axial load bearing capacity had not only been improved, but also has guaranteed second Connector and the first connector can be stable relatively rotate.It is the first ball bearing and second by the first spacer portion of setting Thrust bearing provides mounting surface, guarantees that its mounting structure is stablized, runs smoothly.By the way that second end cover is arranged, to the first ball bearing Positioning action is played, prevents from falling off at work.Wheel is driven wheel, booster action.

It is further improved, is successively arranged with third thrust bearing, second close in the hollow shaft axially outward along hollow shaft Seal ring, the second ball bearing and third end cap；The third connector is tubular, and cavity includes large diameter portion and small diameter portion, path The inner wall in portion is radially raised, forms the second spacer portion, it is small that third thrust bearing and the second sealing ring are embedded in third connector Diameter portion, and it is located at the two sides of the second spacer portion, wherein one end of third thrust bearing leans with second end cover, the other end and the One end face of two spacer portions against；Second ball bearing is embedded in third connector large-diameter portion；The third end cap includes the Two ring flanges and along the outwardly extending third column of hollow shaft axial direction, third column are located at second flange disk center, And it is integrally formed with second flange disk；Third end cap is connected by the end face seal of second flange disk and third connector, third End cap center is provided with through-hole along axis, and hollow shaft stretches out third end cap, circumferentially arranged in the cavity of third end cap to have third Spacer portion is arranged with third sealing ring and copper sheathing in hollow shaft, and third sealing ring and copper sheathing are located in the cavity of third end cap, and It is separated by third spacer portion, wherein third sealing ring is between third spacer portion and the second ball bearing；The hollow shaft is stretched out One end of third end cap is provided with external screw thread, for connecting other assemblies.

Multiple Mecanum wheel monomer composition Mecanum wheels are evenly arranged on the outer peripheral surface of the third column, often The axis of a Mecanum wheel monomer and the angle of hollow shaft axis are 45 degree.

At work, inner cylinder relatively rotates pipe robot with outer cylinder, so the power supply line of motor, control signal wire It can only keep being pierced by opposing stationary component from inner cylinder, while in view of sealing waterproof, therefore select the electric wire of motor It is pierced by from hollow shaft, and the structure is sealed, it is preferred to use the filling with sealant into the cavity of hollow shaft, in order to guarantee Sealing effect, then the length of hollow shaft is longer.Third thrust bearing, the second ball bearing are set, and separated by the second spacer portion, Effectively prevent third connector along axial float, third end cap is connect by screw with the end face seal of third connector, ball Bearing carries radial and axial pressure, guarantees that third connector can relatively rotate with hollow shaft, and be not easy along axial float； Meanwhile by the second sealing ring of setting and third sealing ring, it is sealed, there is good waterproof performance.By the way that wear-resisting copper is arranged Set, hardness is high, and wearability is fabulous, is not likely to produce and kills phenomenon, guarantees that hollow shaft and third end cap are realized and is rotatablely connected, stability It is good.

It is further improved, the center that second connector stretches out through-hole one end offers tapped blind hole, wheel stand One end is provided with external screw thread, and is inserted into tapped blind hole, is threadedly coupled with the second connector, the lower rotation setting of wheel stand There is wheel.It is threadedly coupled, easy disassembly.

It being further improved, the outer peripheral surface of the third column is uniformly provided with eight grooves, and the bottom surface of concave surface is plane, A locating rack is embedded in each groove, locating rack is U-shaped, and locating rack is connected by screw to third column, each Mike Na Mu takes turns monomer and passes through both ends of the shaft rotation connection corresponding with locating rack.Each Mecanum wheel monomer is positioned with corresponding one Frame connection, locating rack and third column detachable connection, convenient for disassembly and assembly, locating rack batch production are at low cost.

Be further improved, first connector, third connector outer peripheral surface on offer at least one annular groove, It is embedded with sealing ring in annular groove, prevents leak, improves sealing performance.

It being further improved, first spacer portion, the second spacer portion and third spacer portion are ring-type, and it is easy to process, and With the contact surface of thrust bearing is big, isolation effect is good.

It is further improved, the gasket is the aluminium flake of 2mm thickness, and aluminium flake is connect by gluing with the first connector, convenient Installation, and will not loose or dislocation, sealing effect is good.

Be further improved, the end face of the first end cover and inner cylinder is connected by screw to, the outer end face of the first connector with Second end cover is connected by screw to, and third end cap and the end face of third connector are connected by screw to, replacement easy to disassemble, and tight Gu effect is good.

Compared with prior art, the utility model has the beneficial effects that：

1) it, is rolled by using wheel-helical blade roller-Mecanum wheel or Mecanum wheel-helical blade The combination of cylinder-Mecanum wheel is used as driving wheel, copes with different situations in pipeline, adaptable, high-efficient；Pass through setting The motion modes such as Mecanum wheel may be implemented to move ahead, traversing, diagonal, rotation and combinations thereof, then can be achieved pipe robot Multi-direction movement, it is easy to control

2) it, crosses and is directly connected to motor output shaft by key and the first connector, the outer peripheral surface and outer cylinder of the first connector It is connected, motor and inner cylinder are connected, then the first connector of motor driven rotates, and drive outer cylinder rotation, power transmission efficiency is high, energy Be lost it is small, guarantee outer cylinder being capable of normal rotation.

Detailed description of the invention

Fig. 1 is the structure chart of pipe robot driving device described in the utility model.

Fig. 2 is the A-A cross-sectional view of Fig. 1.

Fig. 3 is the structure chart of motor cover.

Fig. 4 is the cross-sectional view of Fig. 3.

Fig. 5 is the structure chart of the first connector.

Fig. 6 is the B-B cross-sectional view of Fig. 5.

Fig. 7 is the structure chart of the second connector.

Fig. 8 is the structure chart of first end cover, hollow shaft the.

Fig. 9 is the structure chart of third connector.

Figure 10 is the structure chart of third end cap.

Figure 11 is the cross-sectional view of Figure 10.

Figure 12 is the installation diagram of Mecanum wheel monomer.

Specific embodiment

To keep the purpose of this utility model and technical solution clearer, below in conjunction with the utility model embodiment to this The technical solution of utility model is clearly and completely described.

Embodiment one：

As shown in figs. 1-12, a kind of pipe robot driving device, is divided into three sections along its length：Including driving roller With the driving idler wheel that driving roller both ends are arranged in, the driving idler wheel that driving roller one end is arranged in is Mecanum wheel 22, the other end is person's wheel 23；

The driving roller includes the outer cylinder 1 of inner cylinder 2, turning set setting portion outer tube, and is fixed at outer cylinder External shell 100, the outer peripheral surface of shell 100 are fixedly installed helical blade 101 along its length；Fixation is set in inner cylinder 2 It is equipped with motor 3；At the lower end of the driving device, the lower edge of helical blade 101 is higher than under Mecanum wheel 22 and wheel 23 Edge.

In the present embodiment, the lower edge of helical blade and Mecanum wheel, wheel lower edge difference in height 5mm.Helical-blade The height of piece is 4cm.

When pipe robot moves on hard medium, the wheel and Mecanum wheel and ground face contact at both ends are intermediate Helical blade it is hanging, motor driven roller and Mecanum wheel rotate synchronously, since the roller of interlude is hanging, driving device Smaller with the contact area on ground, pipe robot movement velocity is fast, high-efficient；Again because hanging Mecanum wheel may be implemented The multi-direction movement of pipe robot then can be achieved in the motion modes such as forward, traversing, diagonal, rotation and combinations thereof, easy to control. When pipe robot moves on soft medium, pipe robot can sink because of gravity, then wheel, Mecanum wheel It is rotated synchronously with ground face contact, motor driven roller and Mecanum wheel with intermediate helical blade, helical blade rotation will Mud etc. is discharged backward, moves forward pipe robot, although pipe robot movement velocity is slow at this time, because of contact surface Product is big, will not skid；When pipe robot suspends in water, helical blade is equivalent to propeller, and helical blade rotates backward Draining driving pipe robot advances.

Above-mentioned wheel-helical blade roller-Mecanum wheel copes with different situations in pipeline as driving wheel, It is adaptable, it is high-efficient.

In the present embodiment, the output shaft of the motor 3 stretches out inner cylinder 2, and is located in outer cylinder 1, along motor output shaft side It is sequentially coaxially provided with first flange 4, motor cover 5, the first connector 8 and the second connector 12 to extending, first flange 4, electricity Cover 5, the first connector 8 and the second connector 12 are rotary body, and first flange 4 passes through the first end face of screw and inner cylinder 2 Connection, there are gap, the outer peripheral surfaces and outer cylinder of first flange 4 between the inner wall and motor output shaft of 4 center through hole of first flange There are gaps between inner wall 2；The motor cover 5 includes disc 51 and setting in disc center, and integrated with 51 body of disk Molding first column 52, the first column 52 are directed away from the direction of motor, and the center of the first column 52 is opened along axial direction Equipped with first through hole 53, disc 51 and first flange 4 are connected by screw, the outer peripheral surface of disc 51 and the inner wall of outer cylinder 1 Between there are gaps；

First connector 8 is mounted in motor cover 5 by the first thrust bearing 6, the outer peripheral surface of the first connector 8 with The inner wall of outer cylinder 1 is connected, and is provided with sealing ring between the outer peripheral surface of the first connector 8 and the inner wall of outer cylinder；First connector 8 End face center close to motor side extends to form the second column 81 along axis outwardly convex, and the second column 81 rotates freely Ground is inserted into first through hole 53, and the first sealing ring 7 is provided between the second column 81 and first through hole 53；First connector 8 are provided in the axial direction with the second through-hole 82 and third through-hole 83, and the second through-hole 82 is provided in the second column 81, the second through-hole 82 It is connected to third through-hole 83, motor output shaft is inserted into the second through-hole, and motor output shaft is connected by key and the second column 81； Second connector 12 is located in third through-hole 83, and is rotatablely connected with the first connector 8；Gasket is provided in third through-hole 83 9 open the second connector 12 with motor output shaft sealed spacer.In the present embodiment, gasket 9 is the aluminium flake of 2mm thickness, aluminium flake It is connect by gluing with the first connector 8.

The inner cylinder 2 is connected with first end cover 14 far from one end of motor output shaft, and first end cover 14 is another with inner cylinder 2 End face seal is connected, and the outer end face central part outwardly convex of first end cover 14 simultaneously extends to form hollow shaft 15, the electric wire of motor 1 from It being pierced by hollow shaft, electric wire and hollow shaft are tightly connected by sealant, and turning set is equipped with third connector 16 in hollow shaft 15, Third connector 16 is rotary body, and the inner wall sealing of the outer peripheral surface and outer cylinder 1 of third connector 16 is connected.

Based on application number：201710896483.1 title：It is a kind of drive roller patent application, applicant continue research, Repetition test is improved, by the way that motor output shaft to be directly connected to by key and the first connector, outside the first connector Circumferential surface and outer cylinder are connected, and motor and inner cylinder are connected, then the first connector of motor driven rotates, and drive outer cylinder rotation, power transmitting High-efficient, energy loss is small, guarantees that outer cylinder being capable of normal rotation.

Meanwhile sealing element is set by the way that the first sealing ring, gasket is arranged, and in the outer peripheral surface of the first connector, if Multi layer waterproof component is set, good sealing performance is improved, guarantees that motor can work normally.

By the way that the first thrust bearing is arranged, axial load bearing capacity is improved, overall structure stability is increased, improves and uses Service life.

In the present embodiment, the outer wall of second connector 12 is circumferentially arranged the first spacer portion 121, the first connection Part 8 is rotatablely connected by the first ball bearing 11 and the second thrust bearing 10 and the second connector 12, and the first ball bearing 11, second push away Power bearing 10 is separated by the first spacer portion 121, wherein the second thrust axis 10 bears against nearly gasket 9；Second connector 12 Outer end face sealing, which is connected, is provided with second end cover 13, limits the first ball bearing 11, and 113 center of second end cover offers through-hole, the Through-hole is stretched out in one end of two connectors 12, and the projecting end detachable connection of the second connector 12 has wheel 23, wheel 23 Wheel shaft is vertical with the axis of inner cylinder 2.

By the first ball bearing of setting and the second thrust bearing, axial load bearing capacity had not only been improved, but also has guaranteed second Connector and the first connector can be stable relatively rotate.It is the first ball bearing and second by the first spacer portion of setting Thrust bearing provides mounting surface, guarantees that its mounting structure is stablized, runs smoothly.By the way that second end cover is arranged, to the first ball bearing Positioning action is played, prevents from falling off at work.Wheel is driven wheel, booster action.

In the present embodiment, be successively arranged with axially outward in the hollow shaft 15 along hollow shaft third thrust bearing 17, Second sealing ring 18, the second ball bearing 19 and third end cap 20；The third connector 16 is tubular, and cavity includes large-diameter portion And small diameter portion, the inner wall of 16 cavity small diameter portion of third connector is radially raised, forms the second spacer portion 161, third thrust axis Hold 17 and second sealing ring 18 be embedded in 16 cavity small diameter portion of third connector, and be located at the two sides of the second spacer portion 161, wherein One end of third thrust bearing 17 leans with second end cover 14, an end face of the other end and the second spacer portion 161 against；It is described Second ball bearing 19 is embedded in the cavity large-diameter portion of third connector 16；The third end cap 20 includes 201 He of second flange disk Along the outwardly extending third column 202 of hollow shaft axial direction, third column 202 is located at 201 center of second flange disk, and It is integrally formed with second flange disk；Third end cap is connected by the end face seal of second flange disk and third connector 16, third The center of end cap 20 is provided with through-hole along axis, and hollow shaft 15 stretches out third end cap 20, circumferentially arranged in the cavity of third end cap There is third spacer portion 203, be arranged with third sealing ring 21 and copper sheathing 24 in hollow shaft, third sealing ring 21 and copper sheathing 24 are located at the It in the cavity of three end caps 20, and is separated by third spacer portion 203, wherein third sealing ring 21 is located at third spacer portion 203 and Between two ball bearings 19；One end that the hollow shaft 15 stretches out third end cap 20 is provided with external screw thread, for connecting other assemblies.

Multiple Mecanum wheel monomer composition Mecanums are evenly arranged on the outer peripheral surface of the third column 202 Wheel, the axis of each Mecanum wheel monomer and the angle of 15 axis of hollow shaft are 45 degree.

At work, inner cylinder relatively rotates pipe robot with outer cylinder, so the power supply line of motor, control signal wire It can only keep being pierced by opposing stationary component from inner cylinder, while in view of sealing waterproof, therefore select the electric wire of motor It is pierced by from hollow shaft, and the structure is sealed, it is preferred to use the filling with sealant into the cavity of hollow shaft, in order to guarantee Sealing effect, then the length of hollow shaft is longer.Third thrust bearing, the second ball bearing are set, and separated by the second spacer portion, Effectively prevent third connector along axial float, third end cap is connect by screw with the end face seal of third connector, ball Bearing carries radial and axial pressure, guarantees that third connector can relatively rotate with hollow shaft, and be not easy along axial float； Meanwhile by the second sealing ring of setting and third sealing ring, it is sealed, there is good waterproof performance.By the way that wear-resisting copper is arranged Set, hardness is high, and wearability is fabulous, is not likely to produce and kills phenomenon, guarantees that hollow shaft and third end cap are realized and is rotatablely connected, stability It is good.

In the present embodiment, the center that second connector 12 stretches out through-hole one end offers tapped blind hole, wheel branch One end of frame 25 is provided with external screw thread, and is inserted into tapped blind hole, is threadedly coupled with the second connector 12, the bottom of wheel stand 25 Portion's rotation is provided with wheel 23.It is threadedly coupled, easy disassembly.

In the present embodiment, the outer peripheral surface of the third column 202 is uniformly provided with eight grooves, and the bottom surface of concave surface is Plane, a locating rack 204 is embedded in each groove, and locating rack is that U-shaped, locating rack and third column 202 pass through screw company It connects, each Mecanum wheel monomer 205 passes through both ends of the shaft rotation connection corresponding with locating rack 204.Each Mecanum wheel list Body is connected with a corresponding locating rack, locating rack and third column detachable connection, convenient for disassembly and assembly, and locating rack batch is raw It produces, it is at low cost.

In the present embodiment, annular there are two being opened up on the outer peripheral surface of first connector 8, third connector 16 Slot is embedded with sealing ring in annular groove, prevents leak, improves sealing performance.In other embodiments, the quantity of annular groove can be One, three, four or five.

In the present embodiment, first spacer portion 121, the second spacer portion 161 and third spacer portion 103 are ring-type, It is easy to process, and with the contact surface of thrust bearing is big, isolation effect is good.In other embodiments, spacer portion can for it is multiple not Continuous block-shaped protrusion.

In the present embodiment, the first end cover 14 and the other end of inner cylinder 2 are connected by screw to, the first connector 8 Outer end face be connected by screw to second end cover 13, third end cap 20 and the end face of third connector 16 are connected by screw to, Replacement easy to disassemble, and fastening effect is good.

Embodiment two：

In the present embodiment, driving device is divided into three sections along its length：It is rolled including driving roller and setting in driving The Mecanum wheel at cylinder both ends；Using Mecanum wheel-helical blade roller-Mecanum wheel combination.

Eight grooves, the bottom surface of concave surface are uniformly provided on the outer peripheral surface of second connector stretching second end cover part For plane, it is embedded a locating rack in each groove, locating rack is U-shaped, and locating rack is connected by screw to the second connector, often A Mecanum wheel passes through both ends of the shaft rotation connection corresponding with locating rack.

Other parts are identical with embodiment.

Do not done in the utility model illustrate be the prior art or can be realized by the prior art, Er Qieben Specific implementation case described in utility model is only the preferable case study on implementation of the utility model, is not used to limit practical Novel practical range.Equivalent changes and modifications made by i.e. all contents according to present utility model application the scope of the patents, should all make For the technology scope of the utility model.

Claims (10)

1. a kind of pipe robot driving device, which is characterized in that be divided into three sections along its length：Including driving roller and set The driving idler wheel at driving roller both ends is set, the driving idler wheel that driving roller one end is arranged in is Mecanum wheel, another End is Mecanum wheel or wheel；

The driving roller includes the outer cylinder of inner cylinder, turning set setting portion outer tube, and is fixed at outside outer cylinder The outer peripheral surface of shell, shell is fixedly installed helical blade along its length；Motor is fixedly installed in inner cylinder；The driving At the lower end of device, the lower edge of helical blade is higher than the lower edge of Mecanum wheel and wheel.

2. pipe robot driving device according to claim 1, which is characterized in that in the output shaft of the motor stretches out Cylinder, and be located in outer cylinder, extend along motor output shaft direction and is sequentially coaxially provided with first flange, motor cover, the first connector With the second connector, first flange, motor cover, the first connector and the second connector are rotary body, and first flange passes through spiral shell Nail is connect with the first end face of inner cylinder, and there are gap, the peripheries of first flange between the inner wall and motor output shaft of first flange There are gaps between face and outer tube inner wall；The motor cover include disc and setting disc center, and with disc one The first body formed column, the first column are directed away from the direction of motor, and the center of the first column is provided in the axial direction with First through hole, disc and first flange are connected by screw, and there are gaps between the outer peripheral surface of disc and the inner wall of outer cylinder；

First connector is mounted in motor cover by the first thrust bearing, the outer peripheral surface of the first connector and outer cylinder it is interior Wall is connected, and is provided with sealing ring between the outer peripheral surface of the first connector and the inner wall of outer cylinder；First connector is close to motor one The end face center of side extends to form the second column along axis outwardly convex, and the second column is rotatably freely inserted into first through hole In, and the first sealing ring is provided between the second column and first through hole；First connector is provided in the axial direction with the second through-hole And third through-hole, the second through-hole are provided in the second column, the second through-hole is connected to third through-hole, motor output shaft insertion the In two through-holes, motor output shaft is connected by key and the first connector；Second connector is located in third through-hole, and connects with first Fitting rotation connection；Gasket is provided in third through-hole to open the second connector and motor output shaft sealed spacer；

The inner cylinder is connected with first end cover far from one end of motor output shaft, and the end face seal of first end cover and inner cylinder is connected, The outer end face central part outwardly convex of first end cover simultaneously extends to form hollow shaft, and the electric wire of motor is pierced by from hollow shaft, electric wire It being tightly connected with hollow shaft by sealant, turning set is equipped with third connector in hollow shaft, and third connector is rotary body, the The inner wall sealing of the outer peripheral surface and outer cylinder of three connectors is connected.

3. pipe robot driving device according to claim 2, which is characterized in that the outer wall edge of second connector It is circumferentially provided with the first spacer portion, the first connector is connected by the first ball bearing and the rotation of the second thrust bearing and the second connector It connects, the first ball bearing, the second thrust bearing are separated by the first spacer portion, wherein the second thrust bearing is close to gasket；Described The outer end face sealing of two connectors, which is connected, is provided with second end cover, limits the first ball bearing, and second end cover center offers through-hole, Second connector stretches out through-hole, and the end detachable connection of the second connector has wheel, the wheel shaft of wheel and the axis of inner cylinder Vertically.

4. pipe robot driving device according to claim 3, which is characterized in that along hollow shaft axis in the hollow shaft To being successively arranged with third thrust bearing, the second sealing ring, the second ball bearing and third end cap outward；

The third connector is tubular, and cavity includes large diameter portion and small diameter portion, and the inner wall of small diameter portion is radially raised, is formed Second spacer portion, third thrust bearing and the second sealing ring are embedded in third connector small diameter portion, and are located at the second spacer portion Two sides, wherein one end of third thrust bearing leans with second end cover, an end face of the other end and the second spacer portion against；Institute It states the second ball bearing and is embedded in third connector large-diameter portion；The third end cap includes second flange disk and along hollow shaft axial direction side To outwardly extending third column, third column is located at second flange disk center, and is integrally formed with second flange disk；The Three end caps are connected by the end face seal of second flange disk and third connector, and third end cap center is provided with through-hole along axis, Hollow shaft stretches out third end cap, circumferentially arranged in the cavity of third end cap to have third spacer portion, is arranged with third in hollow shaft Sealing ring and copper sheathing, third sealing ring and copper sheathing are located in the cavity of third end cap, and are separated by third spacer portion, wherein third Sealing ring is between third spacer portion and the second ball bearing；One end that the hollow shaft stretches out third end cap is provided with outer spiral shell Line；

Multiple Mecanum wheel monomer composition Mecanum wheels, Mei Gemai are evenly arranged on the outer peripheral surface of the third column It is 45 degree that Ke Namu, which takes turns the axis of monomer and the angle of hollow shaft axis,.

5. pipe robot driving device according to claim 4, which is characterized in that second connector stretches out through-hole The center of one end offers tapped blind hole, and one end of wheel stand is provided with external screw thread, and is inserted into tapped blind hole, connects with second Fitting is threadedly coupled, and the lower rotation of wheel stand is provided with wheel.

6. pipe robot driving device according to claim 5, which is characterized in that the outer peripheral surface of the third column Eight grooves are uniformly provided with, the bottom surface of concave surface is plane, is embedded a locating rack in each groove, and locating rack is U-shaped, positioning Frame is connected by screw to third column, and each Mecanum wheel monomer is connected by both ends of the shaft rotation corresponding with locating rack It connects.

7. pipe robot driving device according to claim 6, which is characterized in that first connector, third connect At least one annular groove is offered on the outer peripheral surface of fitting, is embedded with sealing ring in annular groove.

8. pipe robot driving device according to claim 7, which is characterized in that between first spacer portion, second Every portion and the second spacer portion be ring-type.

9. pipe robot driving device according to claim 8, which is characterized in that the gasket is the aluminium of 2mm thickness Piece, aluminium flake are connect by gluing with the first connector.

10. pipe robot driving device according to claim 9, which is characterized in that the first end cover and inner cylinder End face is connected by screw to, and outer end face and the second end cover of the first connector are connected by screw to, and third end cap is connect with third The outer end face of part is connected by screw to.