Self-adaptive pipeline leaking stoppage robot driven by coaxial reverse rotation

Abstract

The invention discloses a coaxial reverse driving self-adaptive pipeline leaking stoppage robot which comprises a supporting frame, a self-adaptive wheel set is arranged in the circumferential direction of the supporting frame, the self-adaptive wheel set comprises a self-adaptive driving arm, an abutting wheel and a fixing part, the abutting wheel is arranged on the outer wall of the self-adaptive driving arm, and the self-adaptive driving arm is connected to the supporting frame through the fixing part; and the driving mechanism comprises a driving unit, a first driving wheel set and a second driving wheel set, and the first driving wheel set and the second driving wheel set are driven by the driving unit to keep rotating reversely. According to the self-adaptive pipeline leaking stoppage robot driven in the coaxial reverse rotation mode, the self-adaptive driving arms of the self-adaptive wheel sets drive the abutting wheels to abut against the inner wall of the pipeline, in the steering process of the robot, the abutting wheels of the self-adaptive wheel sets abut against the arc-shaped inner wall of the pipeline all the time, the overall trafficability of the robot can be improved, and the service life of the robot is prolonged. And the driving wheel set keeps rotating reversely, so that axial deflection of the robot in the moving process can be prevented, and the robot is more stable in the moving process.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline robot production, and in particular to a coaxial reverse-driven adaptive pipeline leak-plugging robot. Background Art

[0002] In daily life and industrial production, pipeline transportation has been widely used. For example, in daily life, tap water pipes, sewage pipes, seawater pipes, etc. During long-term use, due to the influence of pipeline quality and external extrusion, cracks, holes and other defects will appear in the pipeline, resulting in pipeline leakage. Therefore, the inner wall of the pipeline needs to be regularly inspected and maintained, and leak repairs and other work must be carried out. In the prior art, pipeline robots have been used to repair the inner wall of the pipeline.

[0003] According to the invention patent application with publication number: CN118274213A and publication date of 2024-07-02, the present invention discloses a pipeline repair robot, including a shell, a rotatable support assembly, a cover assembly, a baffle assembly and a leak repair assembly, the shell is connected to the rotatable support assembly to be supported on the inner wall of the pipeline through the rotatable support assembly, an opening is provided on the circumferential side wall of the shell, the cover assembly includes a cover plate, the cover plate can be opened and closed to cover the opening, the baffle assembly and the leak repair assembly are used to be arranged in the shell, the baffle assembly includes a plurality of baffles, each baffle is arranged in sequence along the circumference of the opening to form an annular structure, when the cover is opened, one end of the annular structure is used to extend from the opening and abut against the inner wall of the pipeline. Its main technical effect is: a relatively closed space is formed between the pipeline, the annular structure and the shell, and the leak repair operation is performed in the relatively closed space; at the same time, the part of the pipeline outside the relatively closed space is still supplied with water, and the water supply is uninterrupted.

[0004] The wall-supporting structure adopted by the existing pipeline robots is mostly a connecting rod mechanism. When the robot turns a corner with the connecting rod type wall-supporting mechanism, some driving wheels cannot fit well with the inner wall of the pipeline, causing the robot to be suspended in the air and difficult to turn. At the same time, when the robot moves forward, the driving motor of the robot itself will cause the robot to axially deflect during the movement, affecting the normal operation of the robot. Therefore, an adaptive pipeline plugging robot with coaxial reverse drive is proposed, aiming to solve the problem that the wall-supporting structure adopted by the pipeline robot in the prior art cannot fit well with the inner wall of the pipeline when turning a corner, causing the robot to be suspended in the air, and axial deflection will occur during the movement. Summary of the invention

[0005] The purpose of the present invention is to provide an adaptive pipeline plugging robot with coaxial reverse drive, which aims to solve the problem that the wall support structure used by the pipeline robot in the prior art cannot fit the inner wall of the pipeline well when turning, causing the robot to be suspended in the air, and axial deflection occurs during movement.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A coaxial reverse-driven adaptive pipeline leak plugging robot, comprising:

[0008] A support frame, wherein an adaptive wheel set is arranged circumferentially on the support frame, wherein the adaptive wheel set comprises an adaptive driving arm, an abutment wheel and a fixing portion, wherein the abutment wheel is arranged on an outer wall of the adaptive driving arm, and the adaptive driving arm is connected to the support frame via the fixing portion;

[0009] The driving mechanism is arranged on the support frame, and the driving mechanism includes a driving unit, a driving rod, a linkage rod, a first driving wheel group and a second driving wheel group. The first driving wheel group is connected to the driving rod, and the second driving wheel group is connected to the linkage rod. The driving rod and the linkage rod are both in transmission connection with the driving unit. The driving unit drives the driving rod and the linkage rod to rotate in opposite directions respectively, thereby driving the first driving wheel group and the second driving wheel group to rotate in opposite directions respectively.

[0010] Preferably, the adaptive driving arm comprises a first bend, a second bend and a third bend, the second bend and the third bend are distributed in a linear array, and the second bend and the third bend are symmetrically arranged on both sides of the first bend.

[0011] Preferably, a leak repair module is provided inside the support frame, and the leak repair module includes a spray paint can, a rotating drive mechanism and a pressing drive mechanism, the rotating drive mechanism and the pressing drive mechanism are both arranged at the end of the support frame, the spray paint can is connected to the rotating drive mechanism, the rotating drive mechanism is used to drive the spray paint can to keep rotating, and the pressing drive mechanism is used to contact the trigger end of the spray paint can to trigger the spray paint can.

[0012] Preferably, a detection camera is provided on the outer wall of the support frame.

[0013] Preferably, the driving unit includes a driving motor, a driving gear group and a transmission gear group. A fixing frame is provided on the outer wall of the supporting frame. The driving motor is fixedly installed inside the fixing frame. The driving rod and the linkage rod are both rotatably connected to the fixing frame. The driving rod is connected to the driving gear group, and the linkage rod is connected to the driving gear group through the transmission gear group.

[0014] Preferably, the abutment wheel comprises a connecting rod and an arc-shaped wheel, a mounting rod is provided on the outer wall of the adaptive driving arm, the connecting rod is fixedly mounted on the mounting rod, and the arc-shaped wheel is rotatably connected to the connecting rod.

[0015] Preferably, the first driving wheel group includes a first rotating wheel, a first fixed rod and a first driving wheel, the first rotating wheel is fixedly mounted on the driving rod, the first driving wheel is connected to the first fixed rod, the first fixed rod is slidably connected to the first rotating wheel, an elastic unit is provided on the outer wall of the first fixed rod, and the first rotating wheel is deflected from the first rotating wheel.

[0016] Preferably, the second driving wheel group includes a second rotating wheel, a second fixed rod and a second driving wheel, the second rotating wheel is fixedly installed on the linkage rod, the second driving wheel is connected to the second fixed rod, the second fixed rod is slidably connected to the second rotating wheel, an elastic unit is provided on the outer wall of the second fixed rod, the second driving wheel is deflected to the second rotating wheel, and the deflection direction of the second driving wheel is opposite to that of the first driving wheel.

[0017] In the above technical solution, the present invention provides a coaxial reverse-driven adaptive pipeline leak plugging robot, which has the following beneficial effects:

[0018] The invention drives the abutment wheel to abut against the inner wall of the pipe through the adaptive driving arm of the adaptive wheel group arranged on the outer wall of the support frame. During the steering process of the robot, the abutment wheel of the adaptive wheel group always abuts against the arc-shaped inner wall of the pipe to prevent the robot from being suspended in the air, thereby improving the overall passability of the robot. During the movement of the robot driven by the driving mechanism, the driving mechanism drives the driving rod and the linkage rod to keep rotating in the opposite direction, thereby driving the first driving wheel group and the second driving wheel group to keep rotating in the opposite direction to drive the robot forward. By keeping the first driving wheel group and the second driving wheel group rotating in the opposite direction, the robot can be prevented from axial deflection during the forward or backward process, thereby making the movement of the robot more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0020] Figure 1 A schematic diagram of a three-dimensional structure provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a portion of the structure of a pipe clamp provided in an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of the overall assembly structure provided by an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of the specific structure of the driving mechanism provided by an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of the structure of a leak repair module provided in an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of the normal state structure of an adaptive wheel set provided by an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the state of the adaptive wheel set provided by an embodiment of the present invention inside a pipeline;

[0027] Figure 8 A schematic diagram of the structure of the adaptive wheel set in cornering state provided by an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 1. Support frame; 11. Fixed seat; 12. Connecting seat; 13. Fixed frame; 14. Abutment ear; 2. Adaptive wheel group; 21. Adaptive driving arm; 211. First bend; 212. Second bend; 213. Third bend; 22. Abutment wheel; 221. Connecting rod; 222. Arc wheel; 23. Fixed part; 24. Mounting rod; 3. Driving mechanism; 31. Driving unit; 311. Driving motor; 312. Driving gear group; 3121. First gear; 3122. Second gear; 313. Transmission gear group; 3131. First bevel gear; 3132. Second bevel gear ; 3133, third bevel gear; 32, driving rod; 33, linkage rod; 34, first driving wheel group; 341, first rotating wheel; 342, first fixed rod; 343, first driving wheel; 35, second driving wheel group; 351, second rotating wheel; 352, second fixed rod; 353, second driving wheel; 4, leak repair module; 41, spray paint can; 42, rotating drive mechanism; 421, rotating motor; 422, driving gear; 423, driven gear; 424, abutment seat; 425, mounting bracket; 426, extension tube bracket; 43, pressing drive mechanism; 5, detection camera. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0031] The structure 3 includes a driving unit 31, a first driving wheel set 34 and a second driving wheel set 35. The driving unit 31 includes a driving rod 32 and a linkage rod 33. The first driving wheel set 34 is connected to the driving rod 32, and the second driving wheel set 35 is connected to the linkage rod 33. The driving rod 32 and the linkage rod 33 are both in transmission connection with the driving unit 31. The driving unit 31 drives the driving rod 32 and the linkage rod 33 to rotate in opposite directions respectively, thereby driving the first driving wheel set 34 and the second driving wheel set 35 to rotate in opposite directions respectively.

[0032] Specifically, the support frame 1 includes a fixed seat 11 and a connecting seat 12. Preferably, the fixed seat 11 and the connecting seat 12 are connected by a fixing portion 23. Abutment ears 14 are fixedly installed on the circumferential outer walls of the fixed seat 11 and the connecting seat 12. The number of adaptive wheel groups 2 is several, and the several adaptive wheel groups 2 are distributed in a circular array on the outer wall of the support frame 1. Preferably, as an embodiment provided by the present invention, the number of adaptive wheel groups 2 is three, and the three adaptive wheel groups 2 are distributed outside the support frame 1 at an angle of 120°.

[0033] As an embodiment provided by the present invention, the adaptive wheel set 2 includes an adaptive driving arm 21, an abutment wheel 22 and a fixing portion 23. The two ends of the fixing portion 23 are respectively connected to the abutment ears 14 on the circumferential outer walls of the fixing seat 11 and the connecting seat 12. The two ends of the adaptive driving arm 21 are respectively fixedly connected between the fixing portion 23 and the abutment ears 14. The fixing seat 11 and the connecting seat 12 are connected through the fixing portion 23, and the two ends of the adaptive driving arm 21 can be fixed on the support frame 1, which can facilitate connection. The number of abutment wheels 22 is several, and several abutment wheels 22 are distributed in a linear array on the adaptive driving arm 21. When turning, the multiple linearly distributed abutment wheels 22 abut against the inside of the pipe bend, thereby preventing the robot from being suspended when turning, thereby improving the turning performance of the robot.

[0034] The driving mechanism 3 is arranged at one end of the support frame 1, and the driving mechanism 3 includes a driving unit 31, a first driving wheel group 34 and a second driving wheel group 35. The driving unit 31 includes a driving rod 32 and a linkage rod 33. The first driving wheel group 34 is connected to the driving rod 32, and the second driving wheel group 35 is connected to the linkage rod 33. The driving unit 31 drives the driving rod 32 and the linkage rod 33 to keep rotating in the opposite direction, and then drives the first driving wheel group 34 and the second driving wheel group 35 to keep rotating in the opposite direction, which can offset the axial deflection of the robot during movement, make the robot move more smoothly, and prevent deflection.

[0035] In the invention, the adaptive driving arm 21 of the adaptive wheel set 2 arranged on the outer wall of the support frame 1 drives the abutment wheel 22 to abut against the inner wall of the pipe. During the steering process of the robot, the abutment wheel 22 of the adaptive wheel set 2 always abuts against the arc-shaped inner wall of the pipe to prevent the robot from being suspended in the air, thereby improving the overall passability of the robot. During the movement of the robot driven by the driving mechanism 3, the driving mechanism 3 drives the driving rod 32 and the linkage rod 33 to keep rotating in the opposite direction, thereby driving the first driving wheel set 34 and the second driving wheel set 35 to keep rotating in the opposite direction to drive the robot forward. By keeping the first driving wheel set 34 and the second driving wheel set 35 rotating in the opposite direction, the robot can be prevented from axial deflection during the forward or backward process, thereby making the robot move more smoothly.

[0036] As an embodiment provided by the present invention, Figure 6 , Figure 7 and Figure 8 As shown, the adaptive driving arm 21 includes a first bend 211, a second bend 212 and a third bend 213. The number of the second bend 212 and the third bend 213 is several. The third bend 213 is connected to the second bend 212, and the second bend 212 is connected to the first bend 211. Specifically, the number of the second bend 212 and the third bend 213 are both two, and the second bend 212 and the third bend 213 are symmetrical about the first bend 211.

[0037] The first bend 211, the second bend 212, and the third bend 213 are connected to form a peak-valley structure, wherein the first bend 211, the second bend 212, and the third bend 213 are all peaks, and the connection between the first bend 211 and the second bend 212, and the connection between the second bend 212 and the third bend 213 are all valleys. The spacing between the first bend 211 and the fixing portion 23 is greater than the spacing between the second bend 212 and the fixing portion 23, and the spacing between the second bend 212 and the fixing portion 23 is greater than the spacing between the third bend 213 and the fixing portion 23. Abutment wheels 22 are provided on the first bend 211, the second bend 212, and the third bend 213. The adaptive driving arm 21 is an elastic spring sheet as a whole and adopts a peak-valley structure, so that when the robot enters the interior of the pipeline, the abutment wheel 22 on the first bend 211 first abuts against the inner wall of the pipeline, and drives the first bend 211 to deform inwardly. When the first bend 211 deforms inwardly, the second bends 212 on both sides are respectively driven to deform toward both sides, and the two third bends 213 are respectively driven to continue to deform toward both sides through the deformation of the two second bends 212 toward the outside, so that the abutment wheels 22 on the first bend 211, the second bend 212 and the third bend 213 can all contact the inner wall of the pipeline. At the same time, the total length of the abutment wheels 22 on the outer wall of the robot becomes longer, which can improve the passability of the robot when turning and prevent the abutment wheels 22 from being suspended in the air when turning and the robot cannot pass.

[0038] The adaptive driving arm 21 provided by the present invention adopts a positive Poisson's ratio structure. When abutting against the inner wall of the pipe, the abutting wheels 22 on the second bend 212 and the third bend 213 can not only be retracted inward to adapt to the inner wall of the pipe, but also move to both sides, so that the overall length of the multiple abutting wheels 22 becomes longer, improving the robot's passing performance. Compared with the traditional connecting rod type wall support structure, the connecting rod type wall support structure has a longer overall length when it has multiple wheel sets, which will affect the robot's cornering performance. The adaptive driving arm 21 with a positive Poisson's ratio structure provided by the present invention can achieve a shorter total length of the wheel sets when it has multiple wheel sets, which will not affect the robot's cornering performance.

[0039] Both ends of the adaptive driving arm 21 are fixed between the fixing portion 23 and the abutting ear 14 by screws.

[0040] It should be pointed out that the number of the first bend 211, the second bend 212 and the third bend 213 can be designed according to the type of the robot to ensure that the cornering performance of the robot is optimal.

[0041] As a further embodiment provided by the present invention, a leak repairing module 4 is arranged on the support frame 1, and the leak repairing module 4 includes a paint spray can 41, a rotating drive mechanism 42 and a pressing drive mechanism 43. The paint spray can 41 is a conventional self-spraying paint in the prior art. The paint liquid inside can be sprayed onto the inner wall of the pipe by pressing to repair the pipe.

[0042] As an embodiment provided by the present invention, the abutting wheel 22 includes a connecting rod 221 and an arc wheel 222. The first bend 211, the second bend 212 and the third bend 213 of the adaptive driving arm 21 are fixedly installed with a mounting rod 24. The connecting rod 221 is fixedly installed on the mounting rod 24. The arc wheel 222 is rotatably connected to the connecting rod 221. There are two arc wheels 222. The two arc wheels 222 are symmetrically arranged at both ends of the connecting rod 221. Preferably, the arc surfaces of the two arc wheels 222 are arranged in a divergent manner, that is, the arc surfaces of the arc wheels 222 abut against the inner wall of the pipe. The abutting wheel 22 is an "I"-shaped structure as a whole, which can make the outer wall surface of the abutting wheel 22 have two surfaces spaced a certain distance apart to contact the inner wall of the pipe, which is more stable than the wheels in the prior art.

[0043] The rotating drive mechanism 42 and the pressing drive mechanism 43 are both arranged on the support frame 1, and the spray paint can 41 is connected to the rotating drive mechanism 42. The rotating drive mechanism 42 can drive the spray paint can 41 to rotate inside the support frame 1, and the pressing drive mechanism 43 can contact the trigger end of the spray paint can 41 to trigger the spray paint can 41.

[0044] Furthermore, the rotating drive mechanism 42 includes a rotating motor 421, a driving gear 422 and a passive gear 423. The rotating motor 421 is fixedly mounted on the outer wall of one side of the fixed seat 11, the driving gear 422 is fixedly mounted on the output end of the rotating motor 421, and an abutment seat 424 is fixedly mounted on the outer wall of the passive gear 423. The abutment seat 424 is rotatably connected to the fixed seat 11 through a bearing. The spray paint can 41 is inserted into the passive gear 423, and one end of the spray paint can 41 passes through the passive gear 423. The driving gear 422 is meshed with the passive gear 423. The rotating motor 421 drives the driving gear 422 to keep rotating, thereby driving the passive gear 423 to keep rotating, and finally drives the spray paint can 41 to rotate inside the support frame 1. A mounting bracket 425 is fixedly mounted on the outer wall on one side of the passive gear 423, and the pressing drive mechanism 43 is fixedly mounted on the mounting bracket 425. Specifically, the pressing drive mechanism 43 is a telescopic motor, and the output end of the pressing drive mechanism 43 is kept telescopic so as to abut against the trigger end of the paint spray can 41, so that the paint liquid inside the paint spray can 41 is sprayed out.

[0045] An extension tube bracket 426 is fixedly installed on the outer wall of the passive gear 423, and an extension tube is inserted into the extension tube bracket 426. The end of the extension tube is connected to the paint spray tank 41. The extension tube can extend the spray distance of the paint spray tank 41, narrow the paint spraying range, and achieve precise spot spraying.

[0046] A detection camera 5 is arranged on the outer wall of the support frame 1. Specifically, the detection camera 5 is arranged on the fixed seat 11. The detection camera 5 can perform visual detection on the damaged parts on the inner wall of the pipeline during the movement of the robot to identify the damaged parts of the pipeline. It should be pointed out that the identification and judgment of the damaged parts of the pipeline by the detection camera 5 is a prior art, and its implementation principle and specific structure are not elaborated here.

[0047] As a further embodiment provided by the present invention, Figure 3 , Figure 4 and Figure 5 As shown, the driving unit 31 includes a driving motor 311, a driving gear set 312 and a transmission gear set 313. A fixing frame 13 is arranged on the outer wall of the support frame 1. The fixing frame 13 is fixedly connected to the outer wall on one side of the connecting seat 12. The driving motor 311 is fixedly installed on the inner wall on one side of the fixing frame 13. The driving gear set 312 and the transmission gear set 313 are both arranged inside the fixing frame 13. The driving gear set 312 maintains a transmission connection with the output end of the driving motor 311, and the transmission gear set 313 maintains a transmission connection with the driving gear set 312. The driving rod 32 and the linkage rod 33 are both rotatably connected to the fixing frame 13. The driving rod 32 is connected to the driving gear set 312, and the linkage rod 33 is connected to the driving gear set 312 through the transmission gear set 313.

[0048] The driving motor 311 drives the driving gear set 312 to keep rotating. The driving gear set 312 directly drives the driving rod 32 to keep rotating, and drives the linkage rod 33 to keep rotating through the transmission gear set 313 .

[0049] Specifically, the driving gear set 312 includes a first gear 3121 and a second gear 3122. The first gear 3121 is fixedly mounted on the output end of the driving motor 311, and the second gear 3122 is fixedly connected to the end of the driving rod 32. The first gear 3121 is meshed with the second gear 3122. The driving motor 311 drives the first gear 3121 to keep rotating and then drives the second gear 3122 to keep rotating, and finally drives the driving rod 32 to keep rotating.

[0050] The linkage rod 33 is rotatably connected to the outside of the driving rod 32, and the transmission gear set 313 includes a first bevel gear 3131, a second bevel gear 3132 and a third bevel gear 3133. The first bevel gear 3131 is fixedly installed on the outer wall of the second gear 3122 and rotates synchronously with the second gear 3122. The second bevel gear 3132 is rotatably connected to the inside of the fixed frame 13. The third bevel gear 3133 is fixedly installed on the outer wall of the linkage rod 33. The first bevel gear 3131 is meshed with the second bevel gear 3132, and the second bevel gear 3132 is meshed with the third bevel gear 3133. The third bevel gear 3133 is rotatably connected to the fixed frame 13 through a bearing.

[0051] The first gear 3121 is driven to keep rotating by the driving motor 311. When the first gear 3121 rotates, the driving rod 32 keeps rotating, and the first bevel gear 3131 is driven to keep rotating at the same time. The second bevel gear 3132 and the third bevel gear 3133 are driven to rotate by the first bevel gear 3131, so that the linkage rod 33 keeps rotating. The linkage rod 33 is driven by the first bevel gear 3131, the second bevel gear 3132, and the third bevel gear 3133, so that the rotation direction of the linkage rod 33 is opposite to the rotation direction of the driving rod 32, and finally the rotation directions of the first driving wheel group 34 and the second driving wheel group 35 are opposite.

[0052] As a further embodiment provided by the present invention, Figure 4As shown, the first driving wheel group 34 includes a first rotating wheel 341, a first fixed rod 342 and a first driving wheel 343. The first rotating wheel 341 is fixedly installed on the end of the driving rod 32 away from the fixed frame 13. The first driving wheel 343 is rotatably connected to the first fixed rod 342. The end of the first fixed rod 342 away from the first driving wheel 343 is slidably connected to the first rotating wheel 341. Specifically, a flat key is provided on the outer wall of the first fixed rod 342. The first fixed rod 342 is slidably connected to the first driving wheel 343 through the flat key. Preferably, the first driving wheel 343 provided on the first rotating wheel 341 is inclined to the axial direction of the driving rod 32. Specifically, the first driving wheel 343 is inclined at an angle of 15°. An elastic unit is provided on the outer wall of the first fixed rod 342. The elastic unit drives the first driving wheel 343 to abut against the inner wall of the pipe, so that the robot can adapt to pipes within a certain diameter range. Preferably, the number of the first fixing rods 342 and the number of the first driving wheels 343 are both multiple, and the multiple first fixing rods 342 and the first driving wheels 343 are distributed in a circular array on the outer wall of the first rotating wheel 341. As an embodiment provided by the present invention, the number of the first fixing rods 342 and the number of the first driving wheels 343 are both three, and the angle between two adjacent first fixing rods 342 and the first driving wheels 343 is 120°.

[0053] The second driving wheel group 35 includes a second rotating wheel 351, a second fixed rod 352 and a second driving wheel 353. The second rotating wheel 351 is fixedly installed at one end of the driving rod 32 away from the fixed frame 13. The second driving wheel 353 is rotatably connected to the second fixed rod 352. One end of the second fixed rod 352 away from the second driving wheel 353 is slidably connected to the second rotating wheel 351. Specifically, a flat key is provided on the outer wall of the second fixed rod 352. The second fixed rod 352 is slidably connected to the second driving wheel 353 through the flat key. Preferably, the second driving wheel 353 provided on the second rotating wheel 351 is inclined to the axial direction of the driving rod 32. Specifically, the inclination angle of the second driving wheel 353 is 15°, and the inclination angle of the second driving wheel 353 is opposite to the inclination angle of the first driving wheel 343. An elastic unit is provided on the outer wall of the second fixed rod 352. The elastic unit drives the second driving wheel 353 to abut against the inner wall of the pipe, so that the robot can adapt to pipes within a certain diameter range. As an embodiment provided by the present invention, the number of the second fixing rods 352 and the number of the second driving wheels 353 are both three, and the angle between two adjacent second fixing rods 352 and the first driving wheel 343 is 120°.

[0054] Working principle:

[0055] When the pipeline needs to be repaired, the robot is placed inside the pipeline, and the adaptive wheel set 2 arranged outside the robot abuts against the inner wall of the pipeline;

[0056] When the adaptive wheel set 2 abuts, the abutting wheel 22 connected to the first bend 211 on the adaptive driving arm 21 will first abut against the inner wall of the pipe and drive the adaptive driving arm 21 to deform. When the first bend 211 deforms, the second bends 212 on both sides can be driven to deform inwards and to both sides at the same time, and the third bend 213 can be driven to deform to both sides through the deformation of the second bend 212, so that the abutting wheels 22 on the first bend 211, the second bend 212 and the third bend 213 can all abut against the inner wall of the pipe, ensuring that the robot will not be suspended when turning.

[0057] When the robot moves, the output end of the driving motor 311 keeps rotating in the forward direction, driving the first gear 3121 to keep rotating. When the first gear 3121 rotates, the driving rod 32 keeps rotating, and the linkage rod 33 is driven to keep rotating on the outer wall of the driving rod 32 through the linkage gear set, thereby driving the first driving wheel group 34 and the second driving wheel group 35 to keep rotating in the opposite direction. The first driving wheel 343 and the second driving wheel 353 arranged on the outer walls of the first rotating wheel 341 and the second rotating wheel 351 drive the robot to move inside the pipeline. At the same time, since the driving rod 32 and the linkage rod 33 are coaxially designed, the shaking of the robot during movement can be reduced, making the movement process of the robot more stable.

[0058] When the robot moves inside the pipeline, the damaged part of the inner wall of the pipeline is detected by the detection camera 5 arranged on the support frame 1. After the damaged part is detected, the robot moves to the corresponding position, drives the spray paint can 41 to rotate through the rotating drive mechanism 42, so that the extension tube installed on the driving gear 422 is aligned with the damaged part, and the output end of the pressing drive mechanism 43 is abutted against the pressing cap of the spray paint can 41, so that the spray paint can 41 is sprayed through the extension tube.

[0059] Those skilled in the art will appreciate that other similar connection methods may also be used to implement the present invention, such as welding, bonding or screwing.

[0060] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A coaxial reverse-driven adaptive pipeline leak plugging robot, characterized in that: include: A support frame (1), wherein an adaptive wheel set (2) is arranged circumferentially on the support frame (1), wherein the adaptive wheel set (2) comprises an adaptive driving arm (21), an abutment wheel (22) and a fixing portion (23), wherein the abutment wheel (22) is arranged on an outer wall of the adaptive driving arm (21), and the adaptive driving arm (21) is connected to the support frame (1) via the fixing portion (23); A driving mechanism (3), wherein the driving mechanism (3) is arranged on a support frame (1), and comprises a driving unit (31), a driving rod (32), a linkage rod (33), a first driving wheel set (34) and a second driving wheel set (35), wherein the first driving wheel set (34) is connected to the driving rod (32), and the second driving wheel set (35) is connected to the linkage rod (33), and the driving rod (32) and the linkage rod (33) are both in transmission connection with the driving unit (31), and the driving unit (31) drives the driving rod (32) and the linkage rod (33) to rotate in opposite directions respectively, thereby driving the first driving wheel set (34) and the second driving wheel set (35) to rotate in opposite directions respectively.

2. The coaxial reverse-driven adaptive pipeline leak plugging robot according to claim 1, characterized in that: The adaptive driving arm (21) comprises a first bend (211), a second bend (212) and a third bend (213), wherein the second bend (212) and the third bend (213) are distributed in a linear array, and the second bend (212) and the third bend (213) are symmetrically arranged on both sides of the first bend (211).

3. The coaxial reverse-driven adaptive pipeline leak plugging robot according to claim 1, characterized in that: The support frame (1) is provided with a leak repair module (4) inside, and the leak repair module (4) comprises a spray paint can (41), a rotating drive mechanism (42) and a pressing drive mechanism (43), wherein the rotating drive mechanism (42) and the pressing drive mechanism (43) are both arranged at the end of the support frame (1), and the spray paint can (41) is connected to the rotating drive mechanism (42), and the spray paint can (41) is driven to keep rotating by the rotating drive mechanism (42), and the spray paint can (41) is triggered by the pressing drive mechanism (43) contacting the trigger end of the spray paint can (41).

4. The coaxial reverse-driven adaptive pipeline leak plugging robot according to claim 1, characterized in that: The outer wall of the support frame (1) is provided with a detection camera (5).

5. The coaxial reverse-driven adaptive pipeline leak plugging robot according to claim 1, characterized in that: The driving unit (31) comprises a driving motor (311), a driving gear set (312) and a transmission gear set (313); a fixing frame (13) is arranged on the outer wall of the supporting frame (1); the driving motor (311) is fixedly installed inside the fixing frame (13); the driving rod (32) and the linkage rod (33) are both rotatably connected to the fixing frame (13); the driving rod (32) is connected to the driving gear set (312); and the linkage rod (33) is connected to the driving gear set (312) via the transmission gear set (313).

6. The coaxial reverse-driven adaptive pipeline leak plugging robot according to claim 1, characterized in that: The abutment wheel (22) comprises a connecting rod (221) and an arc-shaped wheel (222); a mounting rod (24) is provided on the outer wall of the adaptive driving arm (21); the connecting rod (221) is fixedly mounted on the mounting rod (24); and the arc-shaped wheel (222) is rotatably connected to the connecting rod (221).

7. The coaxial reverse-driven adaptive pipeline leak plugging robot according to claim 1, characterized in that: The first driving wheel group (34) comprises a first rotating wheel (341), a first fixing rod (342) and a first driving wheel (343); the first rotating wheel (341) is fixedly mounted on the driving rod (32); the first driving wheel (343) is connected to the first fixing rod (342); the first fixing rod (342) is slidably connected to the first rotating wheel (341); an elastic unit is arranged on the outer wall of the first fixing rod (342); and the first rotating wheel (341) is arranged to be deflected from the first rotating wheel (341).

8. The coaxial reverse-driven adaptive pipeline leak plugging robot according to claim 7, characterized in that: The second driving wheel group (35) comprises a second rotating wheel (351), a second fixed rod (352) and a second driving wheel (353); the second rotating wheel (351) is fixedly mounted on the linkage rod (33); the second driving wheel (353) is connected to the second fixed rod (352); the second fixed rod (352) is slidably connected to the second rotating wheel (351); an elastic unit is arranged on the outer wall of the second fixed rod (352); the second driving wheel (353) is deflected from the second rotating wheel (351), and the deflection direction of the second driving wheel (353) is opposite to that of the first driving wheel (343).

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