CN109404658A

CN109404658A - A kind of Zhui Chi transmission pipe robot

Info

Publication number: CN109404658A
Application number: CN201811569423.XA
Authority: CN
Inventors: 娄保东
Original assignee: Nanjing Pipe Intelligent Technology Co Ltd
Current assignee: Nanjing Pipe Intelligent Technology Co Ltd
Priority date: 2018-12-20
Filing date: 2018-12-20
Publication date: 2019-03-01
Anticipated expiration: 2038-12-20
Also published as: CN109404658B

Abstract

The invention discloses a kind of Zhui Chi transmission pipe robots, including industrial personal computer and main structure.Main structure includes support plate and two driving devices being rotatably arranged in support plate, and the first controller of fixed setting on the supporting plate；Each driving device includes two driving idler wheels for driving roller and driving roller both ends being arranged in；Each driving idler wheel includes first bevel gear, second bevel gear, the first connector and idler wheel；Industrial personal computer includes first support, and second controller, display screen, control button, cable rolling-up mechanism and battery are provided in the first support；The rolling-up mechanism includes the second motor, reel, the cable and meter counter being wrapped on reel.Pipe detection is carried out using the pipe robot, easy to operate, intelligence degree is high, and detection accuracy is high, and efficiently, solves the problems, such as to be manually difficult to detect.

Description

A kind of Zhui Chi transmission pipe robot

Technical field

The present invention relates to a kind of Zhui Chi transmission pipe robots.

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 pipe robot driving device, application number: 201810153336X, using vehicle Wheel-helical blade roller-Mecanum wheel or Mecanum wheel-helical blade roller-Mecanum wheel combine conduct Driving wheel copes with different situations in pipeline, adaptable.But first motor driving Mecanum wheel is utilized to rotate, band The speed that dynamic pipe robot advances is slow, and efficiency is lower.And in the pipe robot quality, when moving in water, buoyancy is small. In addition, existing pipe robot set-up of control system in robot body's structure, without independent industrial personal computer, causes to operate Inconvenience, and robot body's sealing structure risk is big.

Summary of the invention

The purpose of the present invention is to provide a kind of Zhui Chi transmission pipe robot, solve to drive pipeline machine in the prior art The speed that people advances is slow, and efficiency is lower, and in the pipe robot quality, when moving in water, buoyancy is small, and has pipe machine Device people does not have independent industrial personal computer, leads to inconvenient, and the technical problem that robot body's sealing structure risk is big.

In order to solve the above-mentioned technical problem the present invention, adopts the following technical scheme that

A kind of Zhui Chi transmission pipe robot, including industrial personal computer and main structure.

The main structure includes support plate and two driving devices being rotatably arranged in support plate, and fixed setting The first controller on the supporting plate；Each driving device includes two drivings for driving roller and driving roller both ends being arranged in Idler wheel；Each driving idler wheel includes first bevel gear, second bevel gear, the first connector and idler wheel, one end of first bevel gear Outer lug extends to form boss in the axial direction, and the center of boss offers in the axial direction to be led to through the first of first bevel gear Hole；First connector and first rotating shaft are connected, and rotation is arranged second bevel gear and idler wheel in first rotating shaft, first bevel gear and the The engagement of two bevel gears, second bevel gear are coaxially connected with idler wheel, and the radius of second bevel gear is less than the radius of idler wheel；The driving Roller includes the outer cylinder of inner cylinder, turning set setting portion outer tube, and is fixed at the first shell outside outer cylinder, and first The outer peripheral surface of shell is fixedly installed helical blade along its length；First motor is fixedly installed in inner cylinder；The driving When mechanism is horizontally arranged, the lower edge of helical blade is higher than the lower edge of idler wheel；It is electrically connected between the first motor and the first controller It connects；Second shell is provided in support plate, the first controller is set in second shell, and second shell passes through screw and support plate It is fixedly connected, and second shell with support plate is provided with sealing ring；The front end of the second shell is provided with by transparent material Manufactured front apron；Edge and second shell and the support plate sealing of front apron are connected；The bottom of support plate is provided with flow biography Sensor is electrically connected between flow sensor and the first controller.And sealed set has headlamp on front apron.

The industrial personal computer includes first support, be provided in the first support second controller, display screen, control by Button, cable rolling-up mechanism and battery；The rolling-up mechanism includes the second motor, reel, the cable and meter being wrapped on reel Rice device, the spool rotation of the second motor driven reel, second motor, display screen, control button and battery are controlled with second Device electrical connection processed；First controller in one end connection main structure of cable, with second after the spool of the other end and reel is fixed Controller connection, industrial personal computer and main structure are communicated by cable, and battery passes through structure power supply based on cable, and cable is same When play the role of draw main structure.

During copying mechanically, pipe robot main structure is accommodated in the cavity of first support；Need to municipal administration or When industrial pipeline is detected, pipe robot main structure is put into pipeline to be detected, pipe robot main structure with Industry control machine support is passed through between cable and the first controller of pipe robot main structure by cable connection, second controller It is communicated, battery is that second controller and pipe robot main structure are powered.Scene in camera captured in real-time pipeline, The display screen for sending the industrial personal computer on ground to by cable is shown, the reality in pipeline is got information about convenient for testing staff Situation, while the picture of shooting being stored in second controller, and with the picture deposited in the database of second controller It compares, obtains pipe detection as a result, and forming examining report.Meanwhile the picture of this detection shooting is added to the second control It in the database of device processed, is constantly updated, improves detection precision.

Pipe detection is carried out using the pipe robot, easy to operate, intelligence degree is high, and detection accuracy is high, and efficiently, It solves the problems, such as to be manually difficult to detect.

Because of the particularity of pipe robot main structure working environment, waterproof is the key that entire institute, robot , second shell is no exception, once intaking in second shell, then the first controller damage.Second shell plays protection, support The effect of first controller.

For pipe robot main structure during pipeline advance, second controller controls the work of the second motor, driving volume Cylinder rotation is unreeled, and the second motor rotates backward driving spool turns and carries out winding cable after detection；It can also roll up Handle is set on cylinder, spool turns are driven by swing handle, are manually unreeled or wound cable, it is easy to operate.

When pipe robot main structure moves on hard medium, idler wheel and ground face contact, intermediate helical blade Vacantly, first motor driving first bevel gear rotation, drives second bevel gear and idler wheel rotation, and the number of teeth of first bevel gear is less than The number of teeth of second bevel gear, so torque is big, cone tooth transmission twisting is big, and idler wheel rotation is very fast, is not easy to skid, and driving effect is good. When pipe robot main structure moves on soft medium, pipe robot because gravity can sink, then idler wheel and With ground face contact, first motor driving roller and idler wheel rotate together intermediate helical blade, helical blade rotation, by mud Deng being discharged backward, move forward pipe robot, although pipe robot movement velocity is slow at this time, because of contact area Greatly, it will not skid；When pipe robot suspends in water, helical blade is equivalent to propeller, and helical blade is rotated to heel row Water-driven pipe robot advances.

It is further improved, is provided in the support plate and increases by three shell of buoyancy control, plastic blister in filling in third shell Foam material increases buoyancy, and when water is deeper in pipeline, robot body's structure may be implemented to suspend, and quickly propel.

The bottom of the support plate is fixedly installed power-assisted plate, the middle part that power-assisted plate includes downward groove type along its length At the barrier assembly of V-shaped, two driving devices are located at the two sides of barrier assembly.Pass through the isolation group on setting power-assisted plate Two driving devices are located at the two sides of barrier assembly by part, then when robot body advances in the duct, two sides driving dress Mud, the water that the helical blade set evokes by rotation are isolated component and separate, and reduce energy consumption；In addition the barrier assembly of V-shaped Similar to the bottom of ship, play the role of a point water, navigation.

It is further improved, the support plate, second shell, third shell and power-assisted plate are that carbon fiber material is made, matter Amount is light, and intensity is high.

The combination of the second cone tooth and idler wheel of two driving idler wheels of each driving device is located at the two of first motor axis Side, constitutional balance improve overall stability.

It is further improved, in each driving device, the output shaft of the first motor stretches out inner cylinder, and is located at outer cylinder In, extend along first motor output axis direction and is sequentially coaxially provided with first flange, first motor lid and the second connector, first Flange, first motor lid and the second connector are rotary body, and first flange is connected by the first end face of screw and inner cylinder, the There are gaps between the inner wall and first motor output shaft of one flange, between existing between the outer peripheral surface and outer tube inner wall of first flange Gap；The first motor lid is annular in shape, and first motor lid is connected by screw and first flange, the inner wall of first motor lid with There are gaps between first motor output shaft, and there are gaps between the outer peripheral surface and outer tube inner wall of first motor lid.

Second connector is mounted on first motor by the first thrust bearing and covers, the outer peripheral surface of the second connector with The inner wall of outer cylinder is connected, and is provided with sealing ring between the outer peripheral surface of the second connector and the inner wall of outer cylinder；Second connector leans on The end face center of nearly first motor side along axis outwardly convex and extends to form the first column, and the first column is opened along axis Equipped with the first hole, first motor output shaft is inserted into the first hole, and first motor output shaft is connected by key and the second connector；The End face outwardly convex of two connectors far from first motor side simultaneously extends to form the second column, the second column along axis to Sunken inside forms the second hole, and the second hole is stepped hole, and second is provided with the first deep groove ball bearing and the first locating part in the air, wherein First locating part is embedded in the first deep groove ball bearing, and is connected with the inner ring of the first deep groove ball bearing, the first deep groove ball bearing It is resisted against on the step surface of stepped hole, the inner wall of outer ring and stepped hole is connected；One end of first locating part and the second shaft is solid Even.

The first bevel gear of one of driving idler wheel is set in the second shaft by first through hole sealing rotation, and second The end of column is fixedly installed second end cover by screw, and the center of second end cover offers the second through-hole, boss insertion In second through-hole, and second end cover and first bevel gear sealing are connected.

Connect by the way that the first locating part of setting and the second shaft are fixed, and second end cover is resisted against the outer of the first deep groove ball bearing It holds the first locating part to rotate together with the second shaft, prevents the second shaft play, improve stability, and convenient for assembly.

The other end of second shaft is connected with after first through hole with the first connector；Second shaft with first turn Axis is vertically arranged, first bevel gear and second bevel gear engagement.

The inner cylinder is connected with third end cap far from one end of first motor output shaft, and the end face of third end cap and inner cylinder is close Sealing connects, and the outer end face central part outwardly convex of third end cap simultaneously extends to form hollow shaft, and the electric wire of first motor is from hollow shaft In be pierced by, electric wire and hollow shaft are tightly connected by sealant, and turning set is equipped with third connector, third connector in hollow shaft Inner wall sealing for rotary body, 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 and application number: 201810153336X, title: a kind of pipe robot driving device, applicant continue research, repetition test, are improved, By the way that first motor output shaft to be directly connected to by key and the second connector, the outer peripheral surface and outer cylinder of the second connector are connected, First motor and inner cylinder are connected, then first motor drives the rotation of the second connector, drive outer cylinder rotation, and power transmission efficiency is high, Energy loss is small, guarantees that outer cylinder being capable of normal rotation.

Meanwhile sealing element is set in the outer peripheral surface of the second connector, third connector, multi layer waterproof component is set, is improved Sealing performance guarantees that first 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, is successively arranged with the second thrust bearing, partition ring, second in the hollow shaft axially outward deeply Ditch ball bearing, sealing framework and wool felt sealing ring.

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

By setting sealing framework and wool felt sealing ring, sealing performance is improved, guarantees that first motor can normal work Make.

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, The first spacer portion is formed, the second thrust bearing, partition ring and the second deep groove ball bearing are embedded in third connector large-diameter portion, seal bone Frame and wool felt sealing ring are embedded in third connector small diameter portion, and are located at the two sides of the first spacer portion.

Wherein, one end of the second thrust bearing leans with second end cover, an end face of the other end and partition ring against；The One end of two deep groove ball bearings and the other end of partition ring are against the other end is resisted against the step between large diameter portion and small diameter portion On face.One end central part outwardly convex of the third connector far from third end cap simultaneously extends to form the 4th column, and the 4th The center of column offers cavity, and the first bevel gear of another driving idler wheel is set in sky by first through hole sealing rotation In mandrel, boss is inserted into cavity, and the 4th column and first bevel gear are sealed by screw and be connected；The end of the hollow shaft End is connected with after first through hole with the first connector；Second shaft is vertically arranged with first rotating shaft, first bevel gear and The engagement of two bevel gears.By setting structure, convenient for assembly, waterproof performance is good, and structural stability is strong.

It is further improved, the gear ratio of the first bevel gear and second bevel gear is 1:(1.5~5), the gear ratio, tool There is high torque, enhance driving force, guarantees the movement that pipe robot can be stable.

It is further improved, cyclic annular second spacer portion is provided in second shaft, the second spacer portion divides the second shaft For first segment and second segment, wherein first bevel gear rotation is set on first segment, and boss is resisted against in the second spacer portion, the External screw thread is provided on two sections, the first locating part center offers threaded hole, and second segment is threadedly coupled with the first locating part, is convenient for Dismounting.Circumferentially face convexes to form third spacer portion, the first deep groove ball bearing for the one end of first locating part far from the second spacer portion It is fastened between the second spacer portion and third spacer portion, prevents the first deep groove ball bearing along axial float, improve structural stability.

It being further improved, the idler wheel includes roller body and the 4th end cap, third through-hole is offered in roller body, The inner wall outwardly convex of third through-hole forms the 4th spacer portion, and second bevel gear is set in first rotating shaft by copper sheathing rotation, First rotating shaft is provided with the second locating part far from one end integral type of the first connector, and roller body passes through 3rd bearing and first Shaft rotation connection, 3rd bearing are fastened between the second locating part and the 4th spacer portion, and the 4th end cap passes through with roller body Screw fastening, the 4th end cap are resisted against on the 4th spacer portion outer ring, and there are gaps between the 4th end cap and the second locating part, prevent Only 3rd bearing improves structural stability along axial float, and convenient for assembly.

It is further improved, opens up on the outer peripheral surface of the roller body fluted, form the outer peripheral surface of roller body more A anti-skidding third protrusion, the height of third protrusion are 2~10mm, increase friction, prevent from skidding.

It is further improved, multiple lightening holes is offered in the roller body, mitigate weight.

It is further improved, the both ends of each driving device pass through first steel pipe respectively and are fixedly connected with support plate；Institute It states and offers fourth hole, fifth hole and the 6th hole, the axis of fourth hole, fifth hole and the 6th hole on the first connector It is mutually perpendicular to, in the second shaft or hollow shaft insertion fourth hole, and is fastened by bolt and the first connector；First rotating shaft It is connect in insertion fifth hole and by key with the first connector；6th hole is threaded hole, and the both ends of the first steel pipe are all provided with It is equipped with external screw thread, wherein one end is inserted into the 6th hole of the first connector, and is threadedly coupled therewith, and the other end of the first steel pipe is worn Support plate is crossed, and is fastened by two nuts and support plate, after the conducting wire of first motor passes through hollow shaft, by the first connector The 6th hole enter corresponding first steel pipe cavity in, connect after being then pierced by the first steel pipe with waterproof connector in second shell It connects, the other end of waterproof connector between conducting wire and the first controller by being electrically connected.By being opened up two-by-two on the first connector Mutually perpendicular fourth hole, fifth hole and the 6th hole, while meeting the component firm connection therewith of three different directions It is required that structure is simple, convenient for assembly, and stability is good.

It is further improved, the idler wheel is made of magnesium alloy material, and density is small, transports in water convenient for the pipe robot When dynamic, it can suspend；First bevel gear, second bevel gear are made of nylon material, wear-resisting.

It is further improved, the first support generally cube frame is made of aluminium alloy extrusions, and quality is strong, by force Degree is high, is hardly damaged.First support is divided into three layers, is denoted as superstructure, media layer damage and understructure, wherein understructure For battery and storage pipe robot main structure to be arranged, media layer damage for being arranged cable rolling-up mechanism, second controller, Display screen and control button are set to the superstructure of first support.Hierarchical design, is easily installed different components, and design is closed Reason, layout is whole, beautiful.

It is further improved, hinged between the superstructure and media layer damage of the first support, superstructure can be around hinge Conjunction is opened or is covered in the place's of connecing rotation, and hydraulic stem, one end and upper layer of hydraulic stem are provided between superstructure and media layer damage Structure it is side walls hinged, the other end is side walls hinged with media layer damage respective side；The second controller is arranged in superstructure In, display screen and control button are embedded the inner surface in superstructure.Hingedly it is arranged between superstructure and media layer damage, makes Used time, which is rotated up, opens superstructure, by the way that hydraulic stem is arranged, plays a supporting role to superstructure, prevents superstructure Surprisingly rotates down and influence normal use；It is rotated down after use and superstructure lid is closed into structure upper end in middle level, protected Protect screen.

The upper surface of the media layer damage is operating platform, and keyboard and mouse are placed on operating platform as the second control The input component of device, it is easy to operate.

It is further improved, further includes control handle, control handle can be by way of wired or wireless communication with second Controller connection.It can be run in the duct by operation control handle to control pipe robot main structure.

It is further improved, the shaft of the reel is rotatably arranged in first support by bearing, and fixation is arranged on spool There is the first synchronizing wheel, the second synchronizing wheel is provided on the second motor output shaft, the first synchronizing wheel passes through synchronous with the second synchronizing wheel Band connection prevents from skidding by synchronous band connection.The bearing block of installation bearing is removably mounted to the card slot of aluminium alloy extrusions In, the distance between the second motor and reel is adjusted, it is convenient for disassembly and assembly.

It is further improved, further includes conductor rope mechanism, the conductor rope mechanism includes third motor, lead screw and sliding block, third electricity Machine is fixed in first support, and the output shaft of third motor is connected by one end of shaft coupling and lead screw, and the both ends of lead screw pass through Bearing and first support are rotatablely connected, and the shaft of lead screw and reel is arranged in parallel；Sliding block is set on lead screw, and and threads of lead screw Connection.

The meter counter is fixed on sliding block, and meter counter includes second support, encoder, and is rotatably arranged on The shaft of the first idler wheel, the second idler wheel on two brackets, the shaft of encoder and the second idler wheel is connected, the outer peripheral surface of the first idler wheel On open up fluted, rubber layer is coated on the outer peripheral surface of the second idler wheel, cable is passed through between the first idler wheel, the second idler wheel, Cable is fastened in groove, and the periphery face contact on the surface of cable and the first idler wheel, the second idler wheel, passes through setting groove and rubber Glue-line prevents that slipping phenomenon occurs between cable and the first idler wheel, the second idler wheel, improves the precision of meter counter.

There are two limit switches, two limit switches to be located at the both ends of lead screw for setting in the first support, and two Limit switch is corresponding with the both ends of reel.It is electrically connected between the third motor and limit switch and second controller.

During wrapup procedure, the rotation of third motor driven screw rod, band movable slider and meter counter are moved along screw rod, The other end of the one end of cable with the movement of meter counter from the one ends wound of reel to reel, sliding block collide the limit of respective side After bit switch, second controller control third motor is rotated backward, and band movable slider and meter counter are moved along screw rod to the other side, The other end of one end by cable from the one ends wound of reel to reel guarantees that cable uniformly, is successively wrapped on reel, prevents Disorder cable influences to unreel next time.

It is further improved, guide rod is provided in the first support, rotation is provided with directive wheel on sliding block, is oriented to skidding Dynamic formula is fastened on guide rod, and guide rod is arranged in parallel with screw rod.The rotation of third motor driven screw rod, band movable slider are moved along screw rod In dynamic process, directive wheel is moved along guide rod, by setting guide rod and directive wheel, improves structural stability, anti-limited slip block It is shaken in moving process.

Be further improved, be provided with conducting wire slip ring in the first support, one end of cable by after conducting wire slip ring with the Two controllers connection, the problems such as solving cable winding, or even twist into two parts.

It is further improved, the bottom of the first support is provided with universal wheel, easy to carry；The first support is integrally adopted It is made of aluminium alloy extrusions, easy to process, assembly.

Compared with prior art, the beneficial effects of the present invention are:

1) compact-sized, by the way that second controller and cable rolling-up mechanism to be integrated in first support, it is easy to carry； By the way that set-up of control system in first support, to be reduced to sealing air of the set-up of control system in robot body's structure Danger.Operator can be operated by second controller button, very convenient, in display screen after the middle scene of pipeline is shot Upper display, while the relevant parameter of pipe robot can also be shown on a display screen, intuitively.

2), by being designed to the structure using cone tooth transmission, and the gear ratio of first bevel gear and second bevel gear is 1: (1.5~5), the gear ratio have high torque, enhance driving force, guarantee the movement that pipe robot can be stable.

3) three shell of buoyancy control, is increased by setting on the supporting plate, plastic foam material in filling, increases in third shell Add buoyancy, when water is deeper in pipeline, robot body's structure may be implemented to suspend, and quickly propel.

4), by the barrier assembly on setting power-assisted plate, two driving devices are located to the two sides of barrier assembly, then When robot body advances in the duct, mud, the water that the helical blade of two sides driving device evokes by rotation are isolated group Part separates, and reduces energy consumption；In addition the barrier assembly of V-shaped is similar to the bottom of ship, plays the role of a point water, navigation.

5), the combination of the second cone tooth and idler wheel of two driving idler wheels of each driving device is located at first motor axis Two sides, constitutional balance improve overall stability.

6), idler wheel is made of magnesium alloy material, and density is small, when moving in water convenient for the pipe robot, can hang It is floating；First bevel gear, second bevel gear are made of nylon material, wear-resisting.

Detailed description of the invention

Fig. 1 is the structure chart of Zhui Chi transmission pipe of the present invention robot.

Fig. 2 is the main structure perspective view of Zhui Chi transmission pipe of the present invention robot.

Fig. 3 is the right view of Fig. 2.

Fig. 4 is the structure chart of second shell.

Fig. 5 is the structure chart of power-assisted plate.

Fig. 6 is the structure chart of camera.

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

Fig. 8 is the front view of Fig. 7.

Fig. 9 is the A-A cross-sectional view of Fig. 8.

Figure 10 is the perspective view of the second connector.

Figure 11 is cross-sectional view of second connector along axis.

Figure 12 is the structure chart of third connector.

Figure 13 is the structure chart of the first connector.

Figure 14 is the structure chart of second bevel gear, the first connector and idler wheel.

Figure 15 is the structure chart of roller body.

Figure 16 is the cross-sectional view of roller body in the axial direction.

Figure 17 is the structure chart of first bevel gear.

Figure 18 is the structure chart of the second shaft.

Figure 19 is the front view of pipe robot industrial personal computer of the present invention.

Figure 20 is the left view of Figure 19.

Figure 21 is the perspective view of conductor rope mechanism, meter counter.

Figure 22 is the top view of Figure 21.

Specific embodiment

To keep the purpose of the present invention and technical solution clearer, below in conjunction with the embodiment of the present invention to skill of the invention Art scheme is clearly and completely described.

As shown in Figure 1-22, a kind of Zhui Chi transmission pipe robot, including industrial personal computer 3000 and main structure 1000.

The main structure includes support plate 40 and two driving devices being rotatably arranged in support plate, and fixation is set Set the first controller in support plate 40.Each driving device includes two for driving roller and driving roller both ends being arranged in Drive idler wheel；Each driving idler wheel includes first bevel gear 10, second bevel gear 16, the first connector 14 and idler wheel, the first cone Outer lug extends to form boss 1001 in the axial direction for one end of gear 10, and the center of boss 1001 offers in the axial direction to be passed through Wear the first through hole 1002 of first bevel gear；First connector 14 is connected with first rotating shaft 15, and rotation is arranged in first rotating shaft 15 Second bevel gear 16 and idler wheel, first bevel gear 10 and second bevel gear 16 engage, and second bevel gear 16 is coaxially connected with idler wheel, The radius of second bevel gear 16 is less than the radius of idler wheel.

The driving roller includes the outer cylinder 2 that inner cylinder 3, turning set are arranged in outside inner cylinder 3, and is fixed at outer cylinder First shell 1 outside 2, the outer peripheral surface of first shell 1 are fixedly installed helical blade 101 along its length；It is solid in inner cylinder Surely it is provided with first motor 4；When the driving mechanism is horizontally arranged, the lower edge of helical blade 101 is higher than the lower edge of idler wheel.Spiral The difference in height of the lower edge of the lower edge and idler wheel of blade is 2-10mm.The height of helical blade is 1-5cm.The first motor and the It is electrically connected between one controller.Second shell 30 is provided in support plate, the first controller is set in second shell 30, and second Shell 30 is fixedly connected by screw with support plate, and second shell with support plate is provided with sealing ring；The second shell Front end be provided with front apron 32 made of transparent material；The edge and second shell 30 of front apron 32 and the table of support plate 40 It seals and is connected between face；The bottom of support plate 40 is provided with flow sensor, is electrically connected between flow sensor and the first controller It connects.And sealed set has headlamp 31 on front apron.

It is provided with camera 90 in the cavity of the second shell 30, is electrically connected between camera 90 and the first controller； When robot advances in the duct, scene in camera captured in real-time pipeline, and send the industrial personal computer on ground to and show, just In getting information about the actual conditions in pipeline, environment is complicated in pipeline.Because of the particularity of pipe robot working environment, So waterproof is the key point of entire robot, second shell is no exception, once intaking in second shell, then the first control Device damage.Second shell plays the role of protection, the first controller of support.

The industrial personal computer includes first support 300, and 300 are provided with second controller, display screen in the first support 303, control button, cable rolling-up mechanism and battery.The rolling-up mechanism includes the second motor, reel 306, is wrapped on reel Cable 200 and meter counter 307, the spool of the second motor driven reel 305 rotates second motor, display screen, control Button and battery are electrically connected with second controller；First controller, the other end and volume in one end connection main structure of cable It is connect after the spool of cylinder is fixed with second controller, industrial personal computer and main structure are communicated by cable, and battery passes through cable Based on structure power supply, cable 200 play the role of simultaneously traction main structure.

For pipe robot main structure during pipeline advance, second controller controls the work of the second motor, driving volume Cylinder rotation is unreeled, and the second motor rotates backward driving spool turns and carries out winding cable after detection；It can also roll up Handle is set on cylinder, spool turns are driven by swing handle, is manually unreeled or is wound.

In the present embodiment, it is provided in the support plate 30 and increases by three shell 50 of buoyancy control, filled in third shell 50 Middle plastic foam material increases buoyancy, and when water is deeper in pipeline, robot body's structure may be implemented to suspend, and quickly propel.

The bottom of the support plate is fixedly installed power-assisted plate 60, and the middle part that power-assisted plate includes is along its length to lower groove The barrier assembly 61 of V-shaped is formed, two driving devices are located at the two sides of barrier assembly 61.By on setting power-assisted plate Two driving devices are located at the two sides of barrier assembly, then when robot body advances in the duct, two sides by barrier assembly Mud, the water that the helical blade of driving device evokes by rotation are isolated component and separate, and reduce energy consumption；In addition V-shaped every From the bottom that component is similar to ship, play the role of a point water, navigation.

In the present embodiment, the support plate 30, second shell 30, third shell 50 and power-assisted plate 60 are carbon fiber material Matter is made, light weight, and intensity is high.

The combination of the second cone tooth 16 and idler wheel of two driving idler wheels of each driving device is located at first motor axis Two sides, constitutional balance improve overall stability.In other embodiments, the group of the second cone tooth and idler wheel of two driving idler wheels Close the same side that can be located at first motor axis.

In the present embodiment, in each driving device, the output shaft of the first motor 4 stretches out inner cylinder, and is located at outer In cylinder, first flange 5, first motor lid 6 and the second connector are sequentially coaxially provided with along first motor output axis direction extension 8, first flange 5, first motor lid 6 and the second connector 8 are rotary body, and first flange 5 passes through the first of screw and inner cylinder End face connection, there are gap between the inner wall and first motor output shaft of first flange, in the outer peripheral surface and outer cylinder of first flange There are gaps between wall；The first motor lid 6 is annular in shape, and first motor lid is connected by screw and first flange, and first There are gaps between the inner wall and first motor output shaft of motor cover, exist between the outer peripheral surface and outer tube inner wall of first motor lid Gap.

Second connector 8 is mounted on first motor lid 6 by the first thrust bearing 7, the periphery of the second connector 8 The inner wall of face and outer cylinder 2 is connected, and the outer peripheral surface of the second connector is provided with annular groove 83, is used for sealing ring；Second connection Part 8 along axis outwardly convex and extends to form the first column 81, the first column close to the end face center of 4 side of first motor 81 offer the first hole 82 along axis, and first motor output shaft is inserted into the first hole 82, and first motor output shaft passes through key and the Two connectors 8 are connected；End face outwardly convex of second connector 8 far from first motor side simultaneously extends to form the second column 84, the second column 84 is recessed inwardly to form the second hole 85 along axis, and the second hole is stepped hole, and second is provided with first deeply in the air Ditch ball bearing 11 and the first locating part 12, wherein the first locating part 12 is embedded in the first deep groove ball bearing 11, and deeply with first The inner ring of ditch ball bearing 11 is connected, and the first deep groove ball bearing 11 is resisted against on the step surface of stepped hole, outer ring and stepped hole Inner wall is connected；One end of first locating part 12 and the second shaft 9 is connected.

The first bevel gear 10 of one of driving idler wheel is set in the second shaft 9 by the sealing rotation of first through hole 1002 On, the end of the second column 84 is fixedly installed second end cover 13 by screw, and it is logical that the center of second end cover offers second Hole, boss 1001 are inserted into the second through-hole, and second end cover and the sealing of first bevel gear 10 are connected.

The other end of second shaft 9 is connected with after first through hole with the first connector 14；Second shaft 9 and One shaft 15 is vertically arranged, and first bevel gear 9 and second bevel gear 16 engage.

The inner cylinder is connected with third end cap 19, the end of third end cap 19 and inner cylinder far from one end of first motor output shaft Face sealing is connected, and the outer end face central part outwardly convex of third end cap simultaneously extends to form hollow shaft 20, the electric wire of first motor 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 25 in hollow shaft 20, Third connector 25 is rotary body, and the inner wall sealing of the outer peripheral surface and outer cylinder of third connector 25 is connected.

In the present embodiment, be successively arranged with axially outward in the hollow shaft 20 second thrust bearing 21, partition ring, Second deep groove ball bearing 22, sealing framework 23 and wool felt sealing ring 24.

The third connector 25 is tubular, and cavity includes large-diameter portion 252 and small diameter portion 253, the inner wall edge of small diameter portion Radial protrusion forms the first spacer portion 251, and the second thrust bearing 21, partition ring and the second deep groove ball bearing 22 are connected embedded in third Part large-diameter portion, sealing framework and wool felt sealing ring are embedded in third connector small diameter portion, and are located at the first spacer portion 251 Two sides.

In the present embodiment, the gear ratio of the first bevel gear and second bevel gear be 1:3, the gear ratio, have compared with Large torque enhances driving force, guarantees the movement that pipe robot can be stable.

In other embodiments, the gear ratio of the first bevel gear and second bevel gear can be 1:1.5,1:2,1: 2.5,1:3.5,1:4.5 or 1:5 etc., or wherein any one numerical value.

In the present embodiment, it is provided with cyclic annular second spacer portion 903 in second shaft 9, the second spacer portion 903 is by the Two shafts are divided into first segment 901 and second segment 902, and the wherein rotation of first bevel gear 10 is set on first segment, and boss 1001 It being resisted against in the second spacer portion 903, external screw thread is provided on second segment 902,12 center of the first locating part offers threaded hole, the It is threadedly coupled with the first locating part 12 for two section 902, it is easy to disassemble.The one end of first locating part far from the second spacer portion circumferentially face Third spacer portion is convexed to form, the first deep groove ball bearing is fastened between the second spacer portion and third spacer portion, prevents the first depth Ditch ball bearing improves structural stability along axial float.

In the present embodiment, the idler wheel includes roller body 17 and the 4th end cap 18, is offered in roller body 17 Third through-hole 172, the inner wall outwardly convex of third through-hole form the 4th spacer portion 173, and second bevel gear 16 is rotated by copper sheathing It is set in first rotating shaft 15, first rotating shaft 15 is provided with the second locating part far from one end integral type of the first connector 14, rolling Ontology 17 is taken turns to be rotatablely connected by 3rd bearing and first rotating shaft, 3rd bearing be fastened on the second locating part and the 4th spacer portion it Between, the 4th end cap 18 is fastened with roller body 17 by screw, and the 4th end cap is resisted against on the 4th spacer portion outer ring, and the 4th end It there are gap between lid and the second locating part, prevents 3rd bearing along axial float, improves structural stability, and convenient for assembly.

In the present embodiment, it opens up fluted on the outer peripheral surface of the roller body 17, makes the outer peripheral surface shape of roller body At multiple anti-skidding third protrusions 171, the height of third protrusion is 2~10mm, increases friction, prevents from skidding.

In the present embodiment, multiple lightening holes are offered in the roller body 17, mitigate weight.

In the present embodiment, the both ends of each driving device pass through first steel pipe 80 and the fixed company of support plate 40 respectively It connects；Fourth hole 141, fifth hole 142 and the 6th hole 143 are offered on first connector 14, fourth hole, the 5th are led to The axis in hole and the 6th hole is mutually perpendicular to, and the second shaft 9 or hollow shaft 20 are inserted into fourth hole 141, and by bolt with The fastening of first connector 14；First rotating shaft 15 is inserted into fifth hole 142 and is connect by key with the first connector；6th hole 143 be threaded hole, and the 6th hole 143 is threaded hole, and the both ends of the first steel pipe 80 are provided with external screw thread, and wherein one end is inserted into It in 6th hole 143 of the first connector 14, and is threadedly coupled therewith, the other end of the first steel pipe 80 passes through support plate 40, and leads to It crosses two nuts and support plate 40 fastens, after the conducting wire of first motor 4 passes through hollow shaft 20, by the 6th of the first connector 14 the Hole 143 enters in the cavity of corresponding first steel pipe 80, be then pierced by the first steel pipe it is after 80s with second shell 30 on waterproof connector Connection, the other end of waterproof connector between conducting wire and the first controller by being electrically connected.By opening up two on the first connector Two mutually perpendicular fourth holes, fifth hole and the 6th hole, while meeting the component firm connection therewith of three different directions Requirement, structure is simple, and convenient for assembly, and stability is good.

In the present embodiment, the idler wheel is made of magnesium alloy material, and density is small, in water convenient for the pipe robot When movement, it can suspend；First bevel gear, second bevel gear are made of nylon material, wear-resisting.

In the present embodiment, the first support 300 generally cube frame, is made, quality of aluminium alloy extrusions By force, intensity is high, is hardly damaged.First support is divided into three layers, is denoted as superstructure 301, media layer damage and understructure, wherein Understructure for battery and storage pipe robot main structure, media layer damage to be arranged is used to that cable rolling-up mechanism to be arranged, the Two controllers, display screen and control button are set to the superstructure of first support.Hierarchical design is easily installed different portions Part, rationally, layout is whole for design, beautiful.

In the present embodiment, hinged between the superstructure and media layer damage of the first support, superstructure can be around Conjunction is opened or is covered in hinged place rotation, is provided with hydraulic stem 302 between superstructure and media layer damage, and the one of hydraulic stem 302 End is side walls hinged with superstructure, and the other end is side walls hinged with media layer damage respective side；The second controller setting exists In superstructure, display screen 303 and control button are embedded the inner surface in superstructure.Between superstructure and media layer damage Hinged setting, when use, which is rotated up, opens superstructure, by the way that hydraulic stem is arranged, plays a supporting role to superstructure, Prevent superstructure from surprisingly rotating down and influencing normal use；It is rotated down after use and closes superstructure lid in middle level Screen is protected in structure upper end.

It in the present embodiment, further include control handle 304, control handle 304 can pass through the shape of wired or wireless communication Formula is connect with second controller.It can be run in the duct by operation control handle to control pipe robot main structure.

In the present embodiment, the shaft of the reel 305 is rotatably arranged in first support 300 by bearing, on spool Fixing sleeve is equipped with the first synchronizing wheel, is provided with the second synchronizing wheel, the first synchronizing wheel and the second synchronizing wheel on the second motor output shaft It prevents from skidding by synchronous band connection by synchronous band connection.The bearing block of installation bearing is removably mounted to aluminium alloy type In the card slot of material, the distance between the second motor and reel is adjusted, it is convenient for disassembly and assembly.

It in the present embodiment, further include conductor rope mechanism 308, the conductor rope mechanism 308 includes third motor 3081, lead screw 3082 and sliding block 3083, third motor 3081 be fixed in first support 300, the output shaft of third motor 3081 passes through shaft coupling It is connected with one end of lead screw 3082, the both ends of lead screw 3082 are rotatablely connected by bearing and first support 300, lead screw 3082 and volume The shaft of cylinder 305 is arranged in parallel；Sliding block 3083 is set on lead screw, and is connect with threads of lead screw.

The meter counter 307 is fixed on sliding block, and meter counter includes second support 3071, encoder 3074, and The first idler wheel 3072, the second idler wheel 3072 being rotatably arranged in second support, the shaft of the shaft of encoder and the second idler wheel It is connected, opens up fluted on the outer peripheral surface of the first idler wheel, be coated with rubber layer on the outer peripheral surface of the second idler wheel, cable is from the first rolling It is passed through between wheel, the second idler wheel, cable is fastened in groove, and the outer peripheral surface on the surface of cable and the first idler wheel, the second idler wheel Contact by setting groove and rubber layer prevents from that slipping phenomenon occurs between cable and the first idler wheel, the second idler wheel, improves meter The precision of rice device.

There are two limit switches 3086, two limit switches to be located at the both ends of lead screw for setting in the first support, and Two limit switches are corresponding with the both ends of reel.It is electrically connected between the third motor and limit switch and second controller.

In the present embodiment, guide rod 3085 is provided in the first support 300, rotation is provided with directive wheel on sliding block 3084,3084 slidingtype of directive wheel is fastened on guide rod 3085, and guide rod is arranged in parallel with screw rod.Third motor driven screw rod Rotation, during band movable slider is moved along screw rod, directive wheel is moved along guide rod, by setting guide rod and directive wheel, is mentioned High structural stability, anti-limited slip block shake in moving process.

In the present embodiment, conducting wire slip ring is provided in the first support 300, one end of cable passes through after conducting wire slip ring The problems such as being connect with second controller, solving cable winding, or even twist into two parts.

In the present embodiment, the bottom of the first support 300 is provided with universal wheel 309, easy to carry；Described first Frame is integrally made of aluminium alloy extrusions, easy to process, assembly.

Do not done in the present invention illustrate be the prior art or can be realized by the prior art, and the present invention Described in specific implementation case be only preferable case study on implementation of the invention, practical range not for the purpose of limiting the invention. Equivalent changes and modifications made by i.e. all contents according to scope of the present invention patent all should be used as technology scope of the invention.

Claims

1. a kind of Zhui Chi transmission pipe robot, which is characterized in that including industrial personal computer and main structure；

The main structure includes support plate and two driving devices being rotatably arranged in support plate, and is fixed at branch The first controller on fagging；Each driving device includes the two drivings rolling for driving roller and driving roller both ends being arranged in Wheel；Each driving idler wheel includes first bevel gear, second bevel gear, the first connector and idler wheel, one end edge of first bevel gear Axis direction outer lug extends to form boss, and the center of boss offers in the axial direction to be led to through the first of first bevel gear Hole；First connector and first rotating shaft are connected, and rotation is arranged second bevel gear and idler wheel in first rotating shaft, first bevel gear and the The engagement of two bevel gears, second bevel gear are coaxially connected with idler wheel, and the radius of second bevel gear is less than the radius of idler wheel；The driving Roller includes the outer cylinder of inner cylinder, turning set setting portion outer tube, and is fixed at the first shell outside outer cylinder, and first The outer peripheral surface of shell is fixedly installed helical blade along its length；First motor is fixedly installed in inner cylinder；The driving When mechanism is horizontally arranged, the lower edge of helical blade is higher than the lower edge of idler wheel；It is electrically connected between the first motor and the first controller It connects；

The industrial personal computer includes first support, and second controller, display screen, control button, electricity are provided in the first support Cable rolling-up mechanism and battery；The rolling-up mechanism includes the second motor, reel, the cable and meter counter being wrapped on reel, The spool of second motor driven reel rotates, and second motor, display screen, control button and battery are electric with second controller Connection；First controller in one end connection main structure of cable, after the spool of the other end and reel is fixed with second controller Connection, industrial personal computer and main structure are communicated by cable, and battery passes through structure power supply based on cable.

2. Zhui Chi transmission pipe according to claim 1 robot, which is characterized in that the main structure further includes second Shell, the first controller are set in second shell, and second shell is fixedly connected by screw with support plate, and second shell Support plate is provided with sealing ring；The front end of the second shell is provided with the front apron made of transparent material；Front apron Edge and the sealing of second shell and support plate are connected；The bottom of support plate is provided with flow sensor, flow sensor and first It is electrically connected between controller；

It is provided with camera in the cavity of the second shell, is electrically connected between camera and the first controller；

It is provided in the support plate and increases by three shell of buoyancy control, plastic foam material in filling in third shell；

The bottom of the support plate is fixedly installed power-assisted plate, and downward groove forms V along its length at the middle part that power-assisted plate includes The barrier assembly of font, two driving devices are located at the two sides of barrier assembly.

3. Zhui Chi transmission pipe according to claim 2 robot, which is characterized in that the support plate, second shell, Three shells and power-assisted plate are that carbon fiber material is made；

The idler wheel is made of magnesium alloy material, and first bevel gear, second bevel gear are made of nylon material；

The combination of the second cone tooth and idler wheel of two driving idler wheels of each driving device is located at the two sides of first motor axis；

The gear ratio of the first bevel gear and second bevel gear is 1:(1.5~5).

4. Zhui Chi transmission pipe according to any one of claim 1-3 robot, which is characterized in that filled in each driving In setting, the output shaft of the first motor stretches out inner cylinder, and is located in outer cylinder, extends along first motor output axis direction successively same Axis is provided with first flange, first motor lid and the second connector, and first flange, first motor lid and the second connector are rotation Swivel, first flange is connected by the first end face of screw and inner cylinder, between the inner wall and first motor output shaft of first flange There are gaps, and there are gaps between the outer peripheral surface and outer tube inner wall of first flange；The first motor lid is annular in shape, the first electricity Cover is connected by screw and first flange, there are gap between the inner wall and first motor output shaft of first motor lid, first There are gaps between the outer peripheral surface and outer tube inner wall of motor cover；

Second connector is mounted on first motor by the first thrust bearing and covers, the outer peripheral surface and outer cylinder of the second connector Inner wall be connected, and be provided with sealing ring between the outer peripheral surface of the second connector and the inner wall of outer cylinder；Second connector is close to The end face center of one motor side is along axis outwardly convex and extends to form the first column, and the first column is offered along axis First hole, first motor output shaft are inserted into the first hole, and first motor output shaft is connected by key and the second connector；Second connects End face outwardly convex of the fitting far from first motor side simultaneously extends to form the second column, and the second column concaves along axis It falls into and forms the second hole, the second hole is stepped hole, and second is provided with the first deep groove ball bearing and the first locating part in the air, wherein first Locating part is embedded in the first deep groove ball bearing, and with the inner ring of the first deep groove ball bearing be connected, the first deep groove ball bearing against On the step surface of stepped hole, the inner wall of outer ring and stepped hole is connected；One end of first locating part and the second shaft is connected；

The first bevel gear of one of driving idler wheel is set in the second shaft by first through hole sealing rotation, the second column The end of body is fixedly installed second end cover by screw, and the center of second end cover offers the second through-hole, boss insertion second In through-hole, and second end cover and first bevel gear sealing are connected；

The other end of second shaft is connected with after first through hole with the first connector；Second shaft and first rotating shaft are hung down Straight setting, first bevel gear and second bevel gear engagement；

The inner cylinder is connected with third end cap far from one end of first motor output shaft, and the end face seal of third end cap and inner cylinder is solid Even, the outer end face central part outwardly convex of third end cap simultaneously extends to form hollow shaft, and the electric wire of first motor is worn from hollow shaft Out, electric wire and hollow shaft are tightly connected by sealant, and turning set is equipped with third connector in hollow shaft, and third connector is rotation The inner wall sealing of swivel, the outer peripheral surface and outer cylinder of third connector is connected；

The second thrust bearing, partition ring, the second deep groove ball bearing, sealing bone are successively arranged in the hollow shaft axially outward Frame and wool felt sealing ring；

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 First spacer portion, the second thrust bearing, partition ring and the second deep groove ball bearing be embedded in third connector large-diameter portion, sealing framework and Wool felt sealing ring is embedded in third connector small diameter portion, and is located at the two sides of the first spacer portion；

Wherein, one end of the second thrust bearing leans with second end cover, an end face of the other end and partition ring against；Second is deep One end of ditch ball bearing and the other end of partition ring are against the other end is resisted against the step surface between large diameter portion and small diameter portion On；

One end central part outwardly convex of the third connector far from third end cap simultaneously extends to form the 4th column, the 4th column The center of shape body offers cavity, and the first bevel gear of another driving idler wheel is set in hollow by first through hole sealing rotation On axis, boss is inserted into cavity, and the 4th column and first bevel gear are sealed by screw and be connected；The hollow the tip of the axis It is connected with after first through hole with the first connector；Second shaft is vertically arranged with first rotating shaft, first bevel gear and second Bevel gear engagement.

5. Zhui Chi transmission pipe according to claim 4 robot, which is characterized in that be provided with ring in second shaft Second shaft is divided into first segment and second segment by the second spacer portion of shape, the second spacer portion, and wherein first bevel gear rotation is set in On first segment, and boss is resisted against in the second spacer portion, and external screw thread is provided on second segment, and the first locating part center offers spiral shell Pit, second segment are threadedly coupled with the first locating part；The one end of first locating part far from the second spacer portion circumferentially face convex shaped At third spacer portion, the first deep groove ball bearing is fastened between the second spacer portion and third spacer portion.

6. Zhui Chi transmission pipe according to claim 5 robot, which is characterized in that the idler wheel include roller body and 4th end cap, offers third through-hole in roller body, and the inner wall outwardly convex of third through-hole forms the 4th spacer portion, and second Bevel gear is set in first rotating shaft by copper sheathing rotation, and first rotating shaft is provided with the far from one end integral type of the first connector Two locating parts, roller body are rotatablely connected by 3rd bearing and first rotating shaft, and 3rd bearing is fastened on the second locating part and the Between four spacer portions, the 4th end cap and roller body are fastened by screw, and the 4th end cap is resisted against on the 4th spacer portion outer ring, and There are gaps between 4th end cap and the second locating part.

7. Zhui Chi transmission pipe according to claim 6 robot, which is characterized in that the both ends of each driving device It is fixedly connected respectively by first steel pipe with support plate；Fourth hole, fifth hole are offered on first connector It is mutually perpendicular to the axis in the 6th hole, fourth hole, fifth hole and the 6th hole, the second shaft or hollow shaft are inserted into four-way Kong Zhong, and fastened by bolt and the first connector；First rotating shaft is inserted into fifth hole and is connected by key and the first connector It connects；

6th hole is threaded hole, and the both ends of the first steel pipe are provided with external screw thread, and wherein the first connector is inserted into one end It in 6th hole, and is threadedly coupled therewith, the other end of the first steel pipe passes through support plate, and tight by two nuts and support plate Gu after the conducting wire of first motor passes through hollow shaft, the cavity of corresponding first steel pipe is entered by the 6th hole of the first connector In, it is connect after being then pierced by the first steel pipe with waterproof connector in second shell, the other end of waterproof connector passes through conducting wire and first It is electrically connected between controller.

8. Zhui Chi transmission pipe according to claim 7 robot, which is characterized in that the first support is generally cube Body frame, is made of aluminium alloy extrusions, and first support is divided into three layers, is denoted as superstructure, media layer damage and understructure, In, understructure for battery and storage pipe robot main structure, media layer damage to be arranged is used to that cable rolling-up mechanism to be arranged, Second controller, display screen and control button are set to the superstructure of first support；

Hinged between the superstructure and media layer damage of the first support, superstructure can be rotated around hinged place and be opened Or lid closes, and is provided with hydraulic stem between superstructure and media layer damage, one end of hydraulic stem and superstructure it is side walls hinged, separately One end is side walls hinged with media layer damage respective side；The second controller is arranged in superstructure, and display screen and control are pressed Button is embedded the inner surface in superstructure；

The upper surface of the media layer damage is operating platform, is placed with keyboard and mouse as second controller on operating platform Input component.

9. Zhui Chi transmission pipe according to claim 8 robot, which is characterized in that the industrial personal computer further includes conductor rope machine Structure, the conductor rope mechanism include third motor, lead screw and sliding block, and third motor is fixed in first support, third motor it is defeated Shaft is connected by one end of shaft coupling and lead screw, and the both ends of lead screw are rotatablely connected by bearing and first support, lead screw and volume The shaft of cylinder is arranged in parallel；Sliding block is set on lead screw, and is connect with threads of lead screw；

The meter counter is fixed on sliding block, and meter counter includes second support, encoder, and is rotatably arranged on second The shaft of the first idler wheel, the second idler wheel on frame, the shaft of encoder and the second idler wheel is connected, and opens on the outer peripheral surface of the first idler wheel Equipped with groove, rubber layer is coated on the outer peripheral surface of the second idler wheel, cable is passed through between the first idler wheel, the second idler wheel, cable It is fastened in groove, and the periphery face contact on the surface of cable and the first idler wheel, the second idler wheel；

There are two limit switches, two limit switches to be located at the both ends of lead screw for setting in the first support, and two limits It switchs corresponding with the both ends of reel；

It is electrically connected between the third motor and limit switch and second controller.

10. Zhui Chi transmission pipe according to claim 9 robot, which is characterized in that be provided in the first support Guide rod, rotation is provided with directive wheel on sliding block, and directive wheel slidingtype is fastened on guide rod, and guide rod is parallel with screw rod to be set It sets；Conducting wire slip ring is provided in the first support, one end of cable after conducting wire slip ring with second controller by connecting；It is described The bottom of first support is provided with universal wheel；The first support is integrally made of aluminium alloy extrusions.