Omnidirectional wheel pipeline inspection robot

Abstract

The invention relates to the technical field of pipeline detection, in particular to an omnidirectional wheel pipeline inspection robot which comprises two robot bodies and a joint variable structure located between the two robot bodies, and the two robot bodies are connected through the joint variable structure; the robot body comprises a bottom plate, a wheel set driving mechanism and a wheel track adjusting mechanism, wherein the wheel set driving mechanism and the wheel track adjusting mechanism are arranged on the bottom plate. The wheel set driving mechanism comprises a wheel set driving assembly, a transmission shaft assembly and omni-directional wheel assemblies, the wheel set driving assembly is in transmission connection with the transmission shaft assembly, and the two omni-directional wheel assemblies are symmetrically arranged on the transmission shaft assembly; the wheel track adjusting mechanism is used for adjusting the distance between the two omnidirectional wheel assemblies. The joint variable structure comprises a posture bending assembly and a joint transmission assembly, and the posture bending assembly and the joint transmission assembly are both connected with the two robot bodies. According to the invention, normal operation in a bent pipeline with many obstacles is facilitated, and normal operation in pipelines with different pipe diameters and pipe diameter changes is also facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and in particular to an omnidirectional wheel pipeline inspection robot. Background Art

[0002] With the acceleration of urbanization, urban underground pipeline systems play a vital role in water supply, drainage, gas, communications and other fields. Underground pipelines crisscross and cover a wide range, supporting all aspects of daily urban operations. Over time, these pipeline systems have not only become increasingly large in scale, but also increasingly complex in internal environments, often filled with obstacles such as corrosion, dirt, and debris. Traditional manual inspection and maintenance methods have been unable to meet the needs of efficient and safe operations, especially in narrow, curved or dangerous gas-filled environments. In order to meet these challenges, pipeline robot technology has emerged. The emergence of pipeline robots has significantly improved the efficiency and safety of pipeline inspection and maintenance, especially in dangerous and inaccessible underground environments, reducing the risks of manual operations.

[0003] The existing pipeline robot movement mainly adopts wheeled or crawler-type movement, in which the wheeled pipeline robot relies on multiple wheels to contact the inner wall of the pipeline, and the wheeled pipeline robot is driven forward by the rotation of the wheels. It is suitable for relatively straight pipelines with constant diameters; however, in pipelines with many bends or obstacles, the grip of the wheels is often insufficient, and it is easy to slip or jam, which makes it difficult for the wheeled pipeline robot to pass normally. The adaptability of the wheeled pipeline robot in complex pipelines is poor, especially when frequent turns or facing multiple obstacles are required, and the efficiency is low. In contrast, the crawler pipeline robot contacts the inner wall of the pipeline through a larger area of ​​crawlers, providing higher grip and stability, solving the problems of some wheeled robots in complex environments. However, the structure of the crawler robot is relatively fixed, and it is difficult to maintain flexibility in pipelines with variable diameters, sharp turns or non-standard shapes, and it cannot adapt to diverse pipeline environments. Therefore, the existing pipeline robot has the disadvantage of being difficult to move normally in pipelines with many bends and obstacles, and it is also difficult to move in pipelines with changing diameters. Summary of the invention

[0004] In order to solve the problem that existing pipeline robots are inconvenient to move in pipelines with many bends and obstacles and in pipelines with changing diameters, the present invention provides an omnidirectional wheel pipeline inspection robot, which is convenient for normal operation in pipelines with many bends and obstacles, and is also convenient for normal operation in pipelines with different diameters and changing diameters. The robot can adjust its wheelbase and body posture according to the pipeline diameter and the environment inside the pipeline to ensure that it always sticks closely to the inside of the pipeline to maintain stable operation, so that it can achieve flexible movement and excellent adaptability in a complex pipeline environment.

[0005] In order to achieve the above-mentioned object, the technical solution of the present invention is: an omnidirectional wheel pipeline inspection robot, comprising two robot bodies and a joint variable structure located between the two robot bodies, the two robot bodies are connected by the joint variable structure. The two robot bodies can be bent by the joint variable structure, thereby adjusting the posture of the robot to facilitate crossing the pipeline bend, so that it is convenient to operate normally in the curved pipeline.

[0006] The robot body includes a base plate and a wheel drive mechanism and a wheel spacing adjustment mechanism arranged on the base plate; the wheel drive mechanism includes a wheel drive assembly, a transmission shaft assembly and an omni-directional wheel assembly, the wheel drive assembly is connected to the transmission shaft assembly in a transmission manner, and two omni-directional wheel assemblies are symmetrically arranged on the transmission shaft assembly; the wheel spacing adjustment mechanism is used to adjust the distance between the two omni-directional wheel assemblies. The wheel drive assembly can make the omni-directional wheel assembly run through the transmission shaft assembly to achieve the purpose of the robot running in the pipeline; wherein the distance between the two omni-directional wheel assemblies can be adjusted through the wheel spacing adjustment mechanism, so that the robot can run in pipelines of different diameters and pipelines with varying diameters, and by adjusting the distance between the two omni-directional wheel assemblies, it is also convenient for the robot to avoid obstacles.

[0007] The joint variable structure includes a posture bending component and a joint transmission component, and the posture bending component and the joint transmission component are both connected to the two robot bodies. Through the cooperation of the joint transmission component and the posture bending component with the two robot bodies, the purpose of bending the two robot bodies is achieved, thereby achieving the effect of adjusting the posture of the robot body so as to facilitate normal operation in the curved pipe.

[0008] Furthermore, a protective shell for protecting the wheel set driving mechanism and the wheelbase adjustment mechanism is provided on the top of the base plate; the wheel set driving assembly includes a motor 1, a driving shaft, a driven bevel gear and a driving spur gear, a motor bracket 1 is provided on the top of the base plate, the motor 1 is arranged on the motor bracket 1, and a driving bevel gear is provided at the output end of the motor 1; two bearings 1 with seats are provided at intervals on the top of the base plate, the driving shaft is rotatably arranged between the two bearings 1 with seats, the driven bevel gear and the driving spur gear are fixedly sleeved on the driving shaft, and the driven bevel gear is meshed and connected with the driving bevel gear. The protective shell protects the wheel set driving mechanism and the wheelbase adjustment mechanism, and the synchronous rotation of the driving spur gear is achieved through the cooperation of the motor 1 and the driving bevel gear and the driven bevel gear.

[0009] Furthermore, the transmission shaft assembly includes a transmission shaft and a driven spur gear. Two seat bearings are arranged at intervals on the top of the bottom plate. The transmission shaft and the inner ring of the seat bearing are interference fit. The driven spur gear is fixedly sleeved on the transmission shaft and located between the two seat bearings. The driven spur gear is meshed and connected with the driving spur gear. Two limit slide bars are symmetrically arranged at both ends of the transmission shaft. The driving spur gear and the driven spur gear are matched to realize the synchronous rotation of the transmission shaft, so that the transmission shaft drives the two omnidirectional wheel assemblies to rotate synchronously, thereby realizing the effect of the robot running in the pipeline.

[0010] Furthermore, the omnidirectional wheel assembly includes an omnidirectional wheel shaft, a sleeve and a wear-resistant omnidirectional wheel, the omnidirectional wheel shaft is fixedly connected to the sleeve, the wear-resistant omnidirectional wheel is fixedly sleeved on the omnidirectional wheel shaft, the end of the omnidirectional wheel shaft close to the sleeve is sleeved with a fixing plate, and a bearing is arranged between the fixing plate and the omnidirectional wheel shaft; the sleeve is slidably sleeved on the transmission shaft, and strip sliding holes are symmetrically opened on the sleeve, one end of the limit sliding rod passes through the strip sliding hole and extends to the outside of the sleeve, and the limit sliding rod is slidably connected to the sleeve. The purpose of synchronous rotation of the omnidirectional wheel shaft driven by the transmission shaft is achieved through the cooperation of the limit sliding rod and the strip sliding hole, so that the wear-resistant omnidirectional wheel rotates and runs in the pipeline; the wear-resistant omnidirectional wheel makes it easy for the robot to run in slippery, muddy or even complex pipelines.

[0011] Furthermore, the wheel-track adjustment mechanism includes a wheel-track drive component and a wheel-track transmission component, the wheel-track drive component includes motor 2, a positioning plate, a secondary gear and a tertiary gear, a motor bracket 2 is fixedly arranged on the top of the base plate, the positioning plate is fixedly arranged on the top of the base plate, the motor 2 is arranged on the motor bracket 2, and the output end of the motor 2 is connected to the primary gear; a gear shaft is rotatably arranged on the upper part of the positioning plate, the secondary gear and the tertiary gear are respectively arranged at both ends of the gear shaft, and the secondary gear is meshed and connected with the primary gear.

[0012] Furthermore, the wheelbase transmission assembly includes an upper connecting seat and a lower connecting seat, one end of the upper connecting seat and the lower connecting seat are respectively connected to the two omnidirectional wheel assemblies; an upper gear plate is fixedly arranged on the inner side of one end of the upper connecting seat, and the upper gear plate is meshed and connected with the three-stage gear; a lower gear plate is fixedly arranged on the inner side of the lower connecting seat, and the lower gear plate is meshed and connected with the three-stage gear. Through the cooperation of the three-stage gear with the upper gear plate and the lower gear plate, the three-stage gear can drive the upper connecting seat and the lower connecting seat to move closer to or away from each other during rotation, thereby achieving the effect of adjusting the wheelbase of the robot, so that the robot can operate in pipes of different diameters and pipes with varying diameters.

[0013] Further, an upper slider and a lower slider are fixedly arranged on the top of the bottom plate. A first T-shaped groove is formed in the top of the upper slider, and a second T-shaped groove is formed in the top of the lower slider. A top bottom plate is fixedly arranged at the bottom of the upper connecting seat, and the top bottom plate is slidably arranged in the first T-shaped groove. A bottom bottom plate is fixedly arranged at the bottom of the lower connecting seat, and the bottom bottom plate is slidably arranged in the second T-shaped groove. The cooperation between the top bottom plate and the upper slider facilitates the movement of the upper connecting seat, and the cooperation between the bottom bottom plate and the lower slider facilitates the movement of the lower connecting seat.

[0014] Further, the attitude bending assembly includes a mounting seat and a connecting plate. The mounting seat has a "U" - shaped structure. Two of the connecting plates are symmetrically arranged inside the vertical part of the mounting seat. One end of each connecting plate is rotatably connected to the mounting seat, and the other end is rotatably connected to a first ear seat. The two first ear seats are respectively fixedly arranged on the top of the bottom plates of the two robot bodies. The cooperation between the connecting plate, the mounting seat and the first ear seat enables the two robot bodies to be bent.

[0015] Further, a mounting plate is vertically arranged on the mounting seat, and a third motor is fixedly arranged on the mounting plate. The output end of the third motor is connected with an intermediate omnidirectional wheel. The cooperation between the joint transmission assembly and the attitude bending assembly can change the attitude of the robot. While facilitating crossing the pipeline bend, it can also make the intermediate omnidirectional wheel contact the inner wall of the pipeline. The cooperation between the third motor and the intermediate omnidirectional wheel enables the robot body to make a rotational motion, enabling the robot to move freely and flexibly in the pipeline, and also facilitating the robot to cross the bend of the pipeline.

[0016] Further, the joint transmission assembly includes a fourth motor, a threaded rod, a nut end block and two second ear seats. The output end of the fourth motor is connected to the threaded rod, the nut end block is threadedly arranged on the threaded rod. Rotating shafts are arranged on one side of the fourth motor and the nut end block respectively, and the two rotating shafts are respectively rotatably connected to the two second ear seats. The two second ear seats are respectively fixedly arranged on the top of the bottom plates of the two robot bodies. The movement of the nut end block on the threaded block enables the connecting plate to move, thereby achieving the purpose of bending the two robot bodies.

[0017] Through the above technical solutions, the beneficial effects of the present invention are as follows: 1. The structure of the present invention is reasonable and has good use effects. It is convenient to operate normally in pipelines with bends and many obstacles, and is also convenient to operate normally in pipelines with different diameters and changing diameters. It can adjust its own wheelbase and body attitude according to the pipeline diameter and the environment inside the pipeline, ensuring that it always clings to the inner part of the pipeline to maintain stable operation, enabling it to achieve flexible movement and excellent adaptability in complex pipeline environments, and having a wide range of applications.

[0018] 2. The wear-resistant omnidirectional wheels and the intermediate omnidirectional wheels of the present invention are made of wear-resistant materials, so that the robot can maintain strong grip and movement stability in slippery, muddy and even complex pipelines, ensuring that it can still move smoothly in a pipeline environment with bends, changes in pipe diameter and obstacles.

[0019] 3. The present invention is composed of two robot bodies and a joint variable structure. The two robot bodies are driven by a separate wheel drive mechanism to achieve flexible movement of the robot in the pipeline. The wheel drive assembly can enable the omnidirectional wheel assembly to operate through the transmission shaft assembly to achieve the purpose of the robot running in the pipeline.

[0020] 4. The present invention achieves the purpose of adjusting the distance between the two omnidirectional wheel assemblies through the wheel spacing adjustment mechanism, so that the robot can operate in pipes with different diameters and pipes with changing diameters. At the same time, by adjusting the distance between the two omnidirectional wheel assemblies, it is also convenient for the robot to avoid obstacles; wherein reducing the distance between the two omnidirectional wheel assemblies facilitates avoiding obstacles, and increasing the distance between the two omnidirectional wheel assemblies can make the wear-resistant omnidirectional wheels close to the inner wall of the pipe to avoid slipping and jamming, so that the robot can still efficiently and stably complete the detection, maintenance and cleaning tasks in a complex pipe environment; the purpose of the transmission shaft driving the omnidirectional wheel axle to rotate synchronously is achieved through the cooperation of the limiting sliding rod and the strip sliding hole, so that the wear-resistant omnidirectional wheel can rotate and operate in the pipe while the sleeve can be extended and retracted on the transmission shaft to facilitate the adjustment of the distance between the two corresponding wear-resistant omnidirectional wheels.

[0021] 5. The joint transmission component and posture bending component of the joint variable structure of the present invention realize the purpose of bending the two robot bodies, thereby adjusting the posture of the robot body to facilitate normal operation in a curved pipe; through the movement of the nut end block of the joint transmission component on the threaded block, the bending and structural changes of the two robot bodies are realized, thereby facilitating the normal operation of the robot in a curved pipe.

[0022] 6. The present invention changes the posture of the robot through the cooperation of the joint transmission component and the posture bending component, which makes it easier to cross the curve of the pipeline and allows the middle omnidirectional wheel to contact the inner wall of the pipeline. The cooperation of motor three and the middle omnidirectional wheel allows the robot body to rotate, so that the robot can move freely and flexibly in the pipeline, and also makes it easier for the robot to cross the curve of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of an omnidirectional wheel pipeline inspection robot of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of an omnidirectional wheel pipeline inspection robot of the present invention. Figure 2 (excluding protective casing); Figure 3 The structure of the robot body of the present invention is shown in FIG. Figure 1 ; Figure 4 The structure of the robot body of the present invention is shown in FIG. Figure 2 ; Figure 5 It is a structural schematic diagram of the wheel set driving mechanism of the present invention; Figure 6 It is a structural schematic diagram of the wheelbase adjustment mechanism of the present invention; Figure 7 It is a structural schematic diagram of the omnidirectional wheel assembly and the transmission shaft assembly of the present invention; Figure 8 It is a structural schematic diagram of the joint variable structure of the present invention.

[0024] The numbers in the attached drawings are: 1 is a bottom plate, 2 is a protective shell, 3 is a motor bracket 1, 4 is a motor 1, 5 is an active bevel gear, 6 is a bearing with a seat 1, 7 is a driving shaft, 8 is a driven bevel gear, 9 is an active spur gear, 10 is a bearing with a seat 2, 11 is a transmission shaft, 12 is a limit slide bar, 13 is a driven spur gear, 14 is an omnidirectional wheel shaft, 15 is a sleeve, 16 is a strip slide hole, 17 is a fixed plate, 18 is a bearing, 19 is a wear-resistant omnidirectional wheel, 20 is a motor bracket 2, 21 is a motor 2, and 22 is a primary gear , 23 is a positioning plate, 24 is a gear shaft, 25 is a secondary gear, 26 is a tertiary gear, 27 is an upper connecting seat, 28 is an upper base plate, 29 is an upper gear plate, 30 is a lower connecting seat, 31 is a lower base plate, 32 is a lower gear plate, 33 is an upper slider, 34 is a lower slider, 35 is a mounting seat, 36 is a mounting plate, 37 is a motor three, 38 is an intermediate omnidirectional wheel, 39 is a connecting plate, 40 is an ear seat one, 41 is an ear seat two, 42 is a rotating shaft, 43 is a motor four, 44 is a threaded rod, and 45 is a nut end block. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments: In the description of the present invention, it should be understood that the terms "left", "right", "up", "down", "horizontal", "vertical" and the like indicate directions or positional relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0026] like Figures 1 to 8As shown, an omnidirectional wheel pipeline inspection robot includes two robot bodies and a joint variable structure located between the two robot bodies, and the two robot bodies are connected by the joint variable structure. The two robot bodies have the same structure size.

[0027] The robot body includes a base plate 1 and a wheel drive mechanism and a wheel spacing adjustment mechanism arranged on the base plate 1; the wheel drive mechanism includes a wheel drive assembly, a transmission shaft assembly and an omni-directional wheel assembly, the wheel drive assembly is connected to the transmission shaft assembly in a transmission manner, and two omni-directional wheel assemblies are symmetrically arranged on the transmission shaft assembly; the wheel spacing adjustment mechanism is used to adjust the distance between the two omni-directional wheel assemblies. In this embodiment, the base plate 1 and the protective shell 2 are made of high-strength, waterproof, and corrosion-resistant materials, which can effectively resist the harsh environment such as moisture, high temperature, high pressure, and chemical corrosion in the pipeline. The wheel drive assembly can make the omni-directional wheel assembly run through the transmission shaft assembly to achieve the purpose of the robot running in the pipeline; wherein the distance between the two omni-directional wheel assemblies can be adjusted through the wheel spacing adjustment mechanism, so that the robot can run in pipelines of different diameters and pipelines with varying diameters, and by adjusting the distance between the two omni-directional wheel assemblies, it is also convenient for the robot to avoid obstacles.

[0028] The joint variable structure includes a posture bending component and a joint transmission component, and the posture bending component and the joint transmission component are both connected to the two robot bodies. In this embodiment, the two ends of the posture bending component and the joint transmission component are respectively connected to the two robot bodies, and the number of joint transmission components is two and they are located on both sides of the posture bending component. The robot posture is changed by the joint transmission component and the posture bending component, so that the robot can cross the bend of the pipeline and operate normally in the curved pipeline.

[0029] A protective shell 2 for protecting the wheel set driving mechanism and the wheelbase adjustment mechanism is provided on the top of the base plate 1; the wheel set driving assembly includes a motor 4, a driving shaft 7, a driven bevel gear 8 and a driving spur gear 9, a motor bracket 3 is provided on the top of the base plate 1, the motor 4 is arranged on the motor bracket 3, and a driving bevel gear 5 is provided at the output end of the motor 4; two seat bearings 6 are provided at intervals on the top of the base plate 1, the driving shaft 7 is rotatably arranged between the two seat bearings 6, the driven bevel gear 8 and the driving spur gear 9 are fixedly sleeved on the driving shaft 7, and the driven bevel gear 8 is meshed and connected with the driving bevel gear 5.

[0030] In this embodiment, the protective shell 2 protects the wheel drive mechanism and the wheel spacing adjustment mechanism. The semi-enclosed design can prevent external debris such as sand, dirt, etc. from entering the interior, thereby providing good protection for the wheel drive mechanism and the wheel spacing adjustment mechanism and extending the service life of the robot.

[0031] The motor bracket 3 is in an "L"-shaped structure, and the motor 4 is fixedly installed on the vertical part of the motor bracket 3. When the motor 4 is turned on, the output end of the motor 4 drives the active bevel gear 5 to rotate, and the active bevel gear 5 drives the driven bevel gear 8 to rotate synchronously, and the driven bevel gear 8 drives the active shaft 7 and the active spur gear 9 to rotate synchronously.

[0032] The transmission shaft assembly includes a transmission shaft 11 and a driven spur gear 13. Two seat bearings 10 are arranged at intervals on the top of the bottom plate 1. The transmission shaft 11 and the inner ring of the seat bearing 10 are interference fit. The driven spur gear 13 is fixedly sleeved on the transmission shaft 11 and located between the two seat bearings 10. The driven spur gear 13 is meshed and connected with the driving spur gear 9. Two limit slide bars 12 are symmetrically arranged at both ends of the transmission shaft 11. In this embodiment, the driving spur gear 9 drives the driven spur gear 13 to rotate synchronously, and the driven spur gear 13 drives the transmission shaft 11 to rotate synchronously.

[0033] The omnidirectional wheel assembly includes an omnidirectional wheel axle 14, a sleeve 15 and a wear-resistant omnidirectional wheel 19, the omnidirectional wheel axle 14 is fixedly connected to the sleeve 15, the wear-resistant omnidirectional wheel 19 is fixedly sleeved on the omnidirectional wheel axle 14, one end of the omnidirectional wheel axle 14 close to the sleeve 15 is sleeved with a fixing plate 17, and a bearing 18 is arranged between the fixing plate 17 and the omnidirectional wheel axle 14; the sleeve 15 is slidably sleeved on the transmission shaft 11, and strip sliding holes 16 are symmetrically opened on the sleeve 15, one end of the limiting sliding rod 12 passes through the strip sliding hole 16 and extends to the outside of the sleeve 15, and the limiting sliding rod 12 is slidably connected to the sleeve 15.

[0034] In this embodiment, during the rotation of the transmission shaft 11, the omnidirectional wheel axle 14 is driven to rotate through the cooperation of the limiting slide bar 12 and the sleeve 15, and the omnidirectional wheel axle 14 drives the wear-resistant omnidirectional wheels 19 to rotate, so as to realize the operation of the robot in the pipeline; wherein the cooperation of the limiting slide bar 12 and the sleeve 15 can ensure that the transmission shaft 11 can drive the omnidirectional wheel axle 14 to rotate, and can also adjust the distance between the wear-resistant omnidirectional wheels 19 of the two omnidirectional wheel assemblies, so as to achieve the effect of adjusting the wheelbase of the robot, so that the robot can operate in pipelines of different diameters and pipelines with changing diameters.

[0035] The wear-resistant omnidirectional wheels 19 and the middle omnidirectional wheels 38 are made of wear-resistant materials with high friction coefficient and excellent wear resistance. The center shafts of the wear-resistant omnidirectional wheels 19 and the middle omnidirectional wheels 38 are strong and durable. The wear-resistant omnidirectional wheels 19 and the middle omnidirectional wheels 38 are carefully carved with specific textures or patterns, which significantly improve the robot's grip and adaptability on slippery, muddy, oily or rough pipe inner walls, ensuring that it can maintain a stable and reliable travel state in various extreme working environments. In addition, this material also has excellent tear resistance and anti-aging properties, which not only greatly extends the service life of the wear-resistant omnidirectional wheels 19 and the middle omnidirectional wheels 38, but also effectively guarantees the stability and superior performance of the robot during long-term work.

[0036] The wheel-track adjustment mechanism includes a wheel-track drive component and a wheel-track transmission component, the wheel-track drive component includes a motor 21, a positioning plate 23, a secondary gear 25 and a tertiary gear 26, a motor bracket 20 is fixedly arranged on the top of the base plate 1, the positioning plate 23 is fixedly arranged on the top of the base plate 1, the motor 21 is arranged on the motor bracket 20, and the output end of the motor 21 is connected to the primary gear 22; a gear shaft 24 is rotatably arranged on the upper part of the positioning plate 23, the secondary gear 25 and the tertiary gear 26 are respectively arranged at both ends of the gear shaft 24, and the secondary gear 25 is meshed and connected with the primary gear 22. In this embodiment, the motor bracket 20 and the positioning plate 23 are both in an "L" shaped structure. The motor 21 is installed on the vertical part of the motor bracket 20. The output end of the motor 21 is connected to the rotating shaft through a universal joint. The first-stage gear 22 is installed on the rotating shaft. When the motor 21 is turned on, the output end of the motor 21 drives the first-stage gear 22 to rotate, and the first-stage gear 22 drives the second-stage gear 25 to rotate synchronously. The second-stage gear 25 drives the third-stage gear 26 to rotate synchronously through the gear shaft 24.

[0037] The wheelbase transmission assembly includes an upper connecting seat 27 and a lower connecting seat 30. One end of the upper connecting seat 27 and the lower connecting seat 30 are respectively connected to the two omnidirectional wheel assemblies. An upper gear plate 29 is fixedly arranged inside one end of the upper connecting seat 27, and the upper gear plate 29 is meshed and connected with a third-stage gear 26. A lower gear plate 32 is fixedly arranged inside the lower connecting seat 30, and the lower gear plate 32 is meshed and connected with the third-stage gear 26. In this embodiment, one end of the upper connecting seat 27 and the lower connecting seat 30 are respectively fixedly connected to the fixing plates 17 of the two omnidirectional wheel assemblies. Among them, teeth matching with the third-stage gear 26 are arranged at the bottom of the upper gear plate 29, and teeth matching with the third-stage gear 26 are arranged at the top of the lower gear plate 32. During the rotation of the third-stage gear 26, through its cooperation with the lower gear plate 32 and the upper gear plate 29, the lower gear plate 32 and the upper gear plate 29 are made to approach or move away from each other. The lower gear plate 32 and the upper gear plate 29 drive the upper connecting seat 27 and the lower connecting seat 30 to approach or move away from each other. The upper connecting seat 27 and the lower connecting seat 30 respectively drive the omnidirectional wheel shafts 14 of the two omnidirectional wheel assemblies to move through the fixing plates 17. The two omnidirectional wheel shafts 14 respectively drive the two wear-resistant omnidirectional wheels 19 to move away from or approach each other. And during this process, the sleeve 15 slides on the transmission shaft 11, and the limit slide rod 12 slides in the strip-shaped slide hole 16.

[0038] An upper slider 33 and a lower slider 34 are fixedly arranged on the top of the bottom plate 1. A first T-shaped groove is formed in the top of the upper slider 33, and a second T-shaped groove is formed in the top of the lower slider 34. An upper bottom plate 28 is fixedly arranged at the bottom of the upper connecting seat 27, and the upper bottom plate 28 is slidably arranged in the first T-shaped groove. A lower bottom plate 31 is fixedly arranged at the bottom of the lower connecting seat 30, and the lower bottom plate 31 is slidably arranged in the second T-shaped groove. In this embodiment, during the movement of the upper connecting seat 27 and the lower connecting seat 30, the upper bottom plate 28 slides in the first T-shaped groove, playing a role of limiting and guiding the movement of the upper connecting seat 27. The lower bottom plate 31 slides in the second T-shaped groove, playing a role of limiting and guiding the lower connecting seat 27.

[0039] The attitude bending assembly includes a mounting seat 35 and a connecting plate 39. The mounting seat 35 is in a "U" - shaped structure. Two connecting plates 39 are symmetrically arranged inside the vertical part of the mounting seat 35. One end of the connecting plate 39 is rotatably connected to the mounting seat 35, and the other end is rotatably connected to an ear seat one 40. The two ear seats one 40 are respectively fixedly arranged on the top of the bottom plates 1 of the two robot bodies. In this embodiment, both ends of the connecting plate 39 are respectively rotatably connected to the mounting seat 35 and the ear seat one 40 through pin shafts, facilitating the bending action of the two robot bodies through the cooperation of the connecting plate 39 with the mounting seat 35 and the ear seat one 40. Among them, the number of connecting plates 39 on the mounting seat 35 is four.

[0040] A mounting plate 36 is vertically arranged on the mounting seat 35, and a motor 37 is fixedly arranged on the mounting plate 36, and the output end of the motor 37 is connected to an intermediate omnidirectional wheel 38. In this embodiment, the posture of the robot is changed by the cooperation of the joint transmission component and the posture bending component, and after the intermediate omnidirectional wheel 38 contacts the inner wall of the pipeline, the intermediate omnidirectional wheel 38 is driven to rotate by the motor 3 37, so that the entire robot structure can rotate in the pipeline to move freely and flexibly; at the same time, when the robot crosses the bend of the pipeline, and the posture of the robot is changed by the cooperation of the joint transmission component and the posture bending component, the entire robot structure can be caused to rotate in the pipeline so that the robot can cross the bend of the pipeline.

[0041] The joint transmission assembly includes a motor 43, a threaded rod 44, a nut end block 45 and two ear seats 41. The output end of the motor 43 is connected to the threaded rod 44, and the nut end block 45 is threadedly arranged on the threaded rod 44. A rotating shaft 42 is arranged on one side of the motor 43 and the nut end block 45. The two rotating shafts 42 are respectively rotatably connected to the two ear seats 41, and the two ear seats 41 are respectively fixedly arranged on the top of the bottom plates 1 of the two robot bodies. In this embodiment, the number of joint transmission assemblies is two, and the rotating shaft 42 is rotatably connected to the vertical part of the ear seat 41 through a bearing. When the motor 43 is turned on, the output end of the motor 43 drives the threaded rod 44 to rotate, and the nut end block 45 moves to the left or right on the threaded rod 44, thereby driving the two bottom plates 1 to bend relative to the mounting seat 35. In this process, the two ends of the connecting plate 39 are driven to rotate on the mounting seat 35 and the ear seat 1 40 respectively.

[0042] The working principle of the present invention is as follows: when it is necessary to enter the pipeline to work, first adjust the spacing between the two wear-resistant omnidirectional wheels 19 on the two robot bodies according to the diameter of the pipeline to ensure that the robot can enter the pipeline; that is, turn on the motor 21, the output end of the motor 21 drives the first-stage gear 22 to rotate, the first-stage gear 22 drives the second-stage gear 25 to rotate synchronously, and the second-stage gear 25 drives the third-stage gear 26 to rotate synchronously through the gear shaft 24; during the rotation of the third-stage gear 26, through its cooperation with the lower gear plate 32 and the upper gear plate 29, the lower gear plate 32 and the upper gear plate 29 make the lower gear plate 32 and the upper gear plate 29 approach each other, the lower gear plate 32 and the upper gear plate 29 drive the upper connecting seat 27 and the lower connecting seat 30 to approach each other, the upper connecting seat 27 and the lower connecting seat 30 respectively drive the omnidirectional wheel axles 14 of the two omnidirectional wheel assemblies to move through the fixed plate 17, and the two omnidirectional wheel axles 14 respectively drive the two wear-resistant omnidirectional wheels 19 to approach each other, and in this process, the sleeve 15 slides on the transmission shaft 11, and the limiting slide bar 12 slides in the strip slide hole 16.

[0043] After adjusting the distance between the two wear-resistant omnidirectional wheels 19 on the robot body, turn on the motor 4, the output end of the motor 4 drives the active bevel gear 5 to rotate, the active bevel gear 5 drives the driven bevel gear 8 to rotate synchronously, the driven bevel gear 8 drives the active shaft 7 and the active spur gear 9 to rotate synchronously, the transmission shaft 11 drives the omnidirectional wheel shaft 14 to rotate through the cooperation of the limiting slide bar 12 and the sleeve 15, and the omnidirectional wheel shaft 14 drives the wear-resistant omnidirectional wheel 19 to rotate, so that the robot enters the pipeline to work.

[0044] When the robot is working in a pipeline and the diameter of the pipeline changes, such as when the diameter of the pipeline increases or decreases, the distance between the two wear-resistant omnidirectional wheels 19 on the robot body is adjusted again through the wheel spacing adjustment mechanism to increase or decrease the distance between the two wear-resistant omnidirectional wheels 19 on the robot body; when the robot is running in the pipeline, the wear-resistant omnidirectional wheels 19 can be in close contact with the inner wall of the pipeline to maintain stable operation; when the robot encounters an obstacle that needs to be avoided during its operation in the pipeline, the distance between the two wear-resistant omnidirectional wheels 19 on the robot body can be adjusted again through the wheel spacing adjustment mechanism to reduce the distance between the two wear-resistant omnidirectional wheels 19 to avoid the obstacle.

[0045] When the robot needs to cross a bend while running in a pipeline, the motor 43 is turned on, and the output end of the motor 43 drives the threaded rod 44 to rotate, and the nut end block 45 moves left or right on the threaded rod 44, thereby driving the two base plates 1 to bend relative to the mounting seat 35, thereby realizing the bending of the two robot bodies relative to the joint variable structure, and then the wheel drive mechanism drives the robot body to run across the bend of the pipeline.

[0046] When the entire robot structure needs to be rotated to cross the bend of the pipeline, the posture of the robot is changed by the cooperation of the joint transmission component and the posture bending component, and after the middle omnidirectional wheel 38 contacts the inner wall of the pipeline, the middle omnidirectional wheel 38 is driven to rotate by the motor three 37 to make the entire robot structure rotate in the pipeline, and then the motor three 37 is turned off, and the robot body is driven to run through the wheel group drive mechanism to cross the bend of the pipeline.

[0047] The embodiments described above are only preferred embodiments of the invention and are not intended to limit the scope of implementation of the invention. Therefore, any equivalent changes or modifications made according to the technical solutions described in the patent scope of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. An omnidirectional wheel pipeline inspection robot, characterized in that: It comprises two robot bodies and a joint variable structure located between the two robot bodies, and the two robot bodies are connected by the joint variable structure; The robot body comprises a base plate (1) and a wheel set driving mechanism and a wheel spacing adjustment mechanism arranged on the base plate (1); the wheel set driving mechanism comprises a wheel set driving assembly, a transmission shaft assembly and an omnidirectional wheel assembly, the wheel set driving assembly is connected to the transmission shaft assembly in a transmission manner, and two omnidirectional wheel assemblies are symmetrically arranged on the transmission shaft assembly; the wheel spacing adjustment mechanism is used to adjust the distance between the two omnidirectional wheel assemblies; The joint variable structure comprises a posture bending component and a joint transmission component, and both the posture bending component and the joint transmission component are connected to the two robot bodies.

2. The omnidirectional wheel pipeline inspection robot according to claim 1, characterized in that: A protective housing (2) for protecting a wheel set driving mechanism and a wheelbase adjustment mechanism is provided on the top of the base plate (1); the wheel set driving assembly comprises a motor (4), a driving shaft (7), a driven bevel gear (8) and a driving spur gear (9); a motor bracket (3) is provided on the top of the base plate (1); the motor (4) is arranged on the motor bracket (3); and a driving bevel gear (5) is provided at the output end of the motor (4); two bearings (6) with seats are provided at intervals on the top of the base plate (1); the driving shaft (7) is rotatably provided between the two bearings (6); the driven bevel gear (8) and the driving spur gear (9) are fixedly sleeved on the driving shaft (7); and the driven bevel gear (8) is meshingly connected with the driving bevel gear (5).

3. The omnidirectional wheel pipeline inspection robot according to claim 2, characterized in that: The transmission shaft assembly comprises a transmission shaft (11) and a driven spur gear (13); two seat bearings (10) are arranged at intervals on the top of the base plate (1); the transmission shaft (11) and the inner rings of the seat bearings (10) are interference fit; the driven spur gear (13) is fixedly sleeved on the transmission shaft (11) and located between the two seat bearings (10); the driven spur gear (13) is meshingly connected with the driving spur gear (9); and two limit slide bars (12) are symmetrically arranged at both ends of the transmission shaft (11).

4. The omnidirectional wheel pipeline inspection robot according to claim 3, characterized in that: The omnidirectional wheel assembly comprises an omnidirectional wheel shaft (14), a sleeve (15) and a wear-resistant omnidirectional wheel (19); the omnidirectional wheel shaft (14) is fixedly connected to the sleeve (15); the wear-resistant omnidirectional wheel (19) is fixedly sleeved on the omnidirectional wheel shaft (14); a fixing plate (17) is sleeved on one end of the omnidirectional wheel shaft (14) close to the sleeve (15); a bearing (18) is arranged between the fixing plate (17) and the omnidirectional wheel shaft (14); the sleeve (15) is slidably sleeved on the transmission shaft (11); strip-shaped sliding holes (16) are symmetrically opened on the sleeve (15); one end of the limiting sliding rod (12) passes through the strip-shaped sliding hole (16) and extends to the outside of the sleeve (15); the limiting sliding rod (12) is slidably connected to the sleeve (15).

5. The omnidirectional wheel pipeline inspection robot according to claim 1, characterized in that: The wheelbase adjustment mechanism includes a wheelbase drive assembly and a wheelbase transmission assembly. The wheelbase drive assembly includes a second motor (21), a positioning plate (23), a second-stage gear (25), and a third-stage gear (26). A second motor bracket (20) is fixedly arranged at the top of the bottom plate (1). The positioning plate (23) is fixedly arranged at the top of the bottom plate (1). The second motor (21) is arranged on the second motor bracket (20), and the output end of the second motor (21) is connected with a first-stage gear (22). A gear shaft (24) is rotatably arranged at the upper part of the positioning plate (23). The second-stage gear (25) and the third-stage gear (26) are respectively arranged at both ends of the gear shaft (24), and the second-stage gear (25) is meshed and connected with the first-stage gear (22).

6. The omnidirectional wheel pipeline inspection robot according to claim 5, characterized in that: The wheelbase transmission assembly includes an upper connecting seat (27) and a lower connecting seat (30). One ends of the upper connecting seat (27) and the lower connecting seat (30) are respectively connected with the two omnidirectional wheel assemblies. An upper gear plate (29) is fixedly arranged at the inner side of one end of the upper connecting seat (27), and the upper gear plate (29) is meshed and connected with the third-stage gear (26). A lower gear plate (32) is fixedly arranged at the inner side of the lower connecting seat (30), and the lower gear plate (32) is meshed and connected with the third-stage gear (26).

7. The omnidirectional wheel pipeline inspection robot according to claim 6, characterized in that: An upper slider (33) and a lower slider (34) are fixedly arranged at the top of the bottom plate (1). A first T-shaped groove is formed at the top of the upper slider (33), and a second T-shaped groove is formed at the top of the lower slider (34). An upper bottom plate (28) is fixedly arranged at the bottom of the upper connecting seat (27), and the upper bottom plate (28) is slidably arranged in the first T-shaped groove. A lower bottom plate (31) is fixedly arranged at the bottom of the lower connecting seat (30), and the lower bottom plate (31) is slidably arranged in the second T-shaped groove.

8. The omnidirectional wheel pipeline inspection robot according to claim 1, characterized in that: The attitude bending assembly includes a mounting seat (35) and a connecting plate (39). The mounting seat (35) is in a "U" shape structure. Two connecting plates (39) are symmetrically arranged at the inner side of the vertical part of the mounting seat (35). One end of the connecting plate (39) is rotatably connected with the mounting seat (35), and the other end is rotatably connected with a first ear seat (40). The two first ear seats (40) are respectively fixedly arranged at the top of the bottom plates (1) of the two robot bodies.

9. The omnidirectional wheel pipeline inspection robot according to claim 8, characterized in that: A mounting plate (36) is vertically arranged on the mounting seat (35). A third motor (37) is fixedly arranged on the mounting plate (36), and the output end of the third motor (37) is connected with an intermediate omnidirectional wheel (38).

10. The omnidirectional wheel pipeline inspection robot according to claim 1, characterized in that: The joint transmission assembly includes a fourth motor (43), a threaded rod (44), a nut end block (45), and two second ear seats (41). The output end of the fourth motor (43) is connected with the threaded rod (44). The nut end block (45) is threadedly arranged on the threaded rod (44). Rotating shafts (42) are arranged at one sides of the fourth motor (43) and the nut end block (45). The two rotating shafts (42) are respectively rotatably connected with the two second ear seats (41). The two second ear seats (41) are respectively fixedly arranged at the top of the bottom plates (1) of the two robot bodies.

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