Self-adaptive variable spiral motion modular robot for inner pipeline operation

Abstract

The invention discloses a self-adaptive variable spiral motion modular robot for inner pipeline operation, which comprises a spiral motion main body, a guide driving wheel module, a visual inspection module and a magnetic adsorption module, the spiral motion main body is composed of a motion module and a telescopic module, and the motion module and the telescopic module are mutually linked to enable the robot to transversely extend while bending and spiral. Self-adaptive bending spiral can be carried out on the inner surfaces of pipelines with different inner diameters under the action of magnetic adsorption, then stable spiral movement with different lead angles can be carried out, the movement coverage area can be reduced by adjusting the self structure and the spiral movement lead angle, and diversified operation can be carried out by flexibly replacing and carrying various functional devices. The robot is small, light, economical, environmentally friendly, reasonable in structure, easy to control, high in operation efficiency, large and adjustable in operation range, high in damage detection rate, capable of actively avoiding obstacles, capable of transmitting and processing the situation of the inner wall of the pipeline in real time, capable of achieving automation of operation of the inner pipeline and capable of guaranteeing safety of staff and pipeline transportation.

Description

Technical Field

[0001] The present invention relates to the field of pipeline robots, and more specifically, to an adaptive variable spiral motion modular robot for inner pipeline operations. Background Art

[0002] Pipelines are widely used and play an important role in transporting materials. However, after a period of operation, pipelines will suffer from wear, corrosion, cracks, leakage, and other problems, which seriously affect production safety and efficiency, causing huge economic losses and ecological pollution. Therefore, pipeline safety issues are particularly prominent. In order to ensure the normal operation of the pipeline system, it is necessary to conduct regular inspections, tests, cleaning, and repairs on the pipeline. However, the space inside the pipeline is small and closed, and most of the materials transported are toxic and hazardous substances, which makes traditional manual operations very difficult, inefficient, expensive, and has great safety risks.

[0003] At the same time, the existing robots used for internal pipeline operations are large in size, heavy in mass, high in cost, high in energy consumption, complex in structure, difficult to control, low in operating efficiency, and poor in motion stability. At the same time, some robots for internal pipeline operations have a single motion mode, mostly linear motion, which limits the scope of operation and effect; some robots for internal pipeline operations have a low degree of modularity and relatively single functions, and cannot flexibly and effectively accommodate and replace functional equipment, making it difficult to meet the needs of diversified pipeline operations; the operating scope and efficiency of some robots for internal pipeline operations are limited by their own structure, such as being unable to operate multiple distant areas at the same time or unable to carry multiple devices for coordinated operations. The structure of the robot will also cause the robot to have a large movement coverage area in the internal pipeline and easily encounter obstacles, and some robots for internal pipeline operations cannot actively avoid obstacles, thereby affecting the robot's structure, motion, and stability of operation; some robots for internal pipeline operations have difficulty adapting to pipelines of different inner diameters, especially small inner diameter pipelines. In addition, some internal pipeline inspection robots find it difficult to collect, transmit, and process the conditions of the inner wall of the pipeline in real time, and locate damage to the inner wall of the pipeline; some internal pipeline inspection robots have low inspection efficiency, limited data, and low damage detection rate. They can only inspect along the axial direction of the pipeline and cannot perform efficient global circumferential pipeline inspections.

[0004] Therefore, the development of modular robots that are small and lightweight, economical and environmentally friendly, have a reasonable structure, simple control, high operating efficiency, a large and adjustable operating range, a small movement coverage area, a high damage detection rate, can be replaced and carry a variety of operating equipment, can actively avoid obstacles, can transmit and process the inner wall conditions of the pipeline in real time, and can perform adaptive stable variable spiral motion and diversified operations in pipelines of different inner diameters can solve the above problems, realize the automation of internal pipeline operations, and ensure the safety of employees and pipeline transportation. Summary of the invention

[0005] The present invention provides an adaptive variable spiral motion modular robot for inner pipeline operations in order to realize the compactness, lightness, economy, environmental protection, simplicity, stability, efficiency, reliability, diversification of operations, variable motion coverage area, adjustable operating range, active obstacle avoidance function, real-time data transmission and processing function and multi-inner diameter applicability of the inner pipeline operation robot.

[0006] The object of the present invention is achieved through the following technical solutions: an adaptive variable spiral motion modular robot for inner pipeline operation, comprising a spiral motion main body, a guide drive wheel module, a visual inspection module and a magnetic adsorption module;

[0007] The spiral motion body is composed of a plurality of motion modules and telescopic modules connecting the motion modules; the motion module is composed of a plurality of sub-segments, each of which includes a first sub-body and a second sub-body arranged in a staggered mirror image and hinged into a V-shaped structure, and a first connecting rod and a second connecting rod connecting the front and rear sub-segment V-shaped structures, and the two V-shaped structures are staggered and hinged into a W-shaped structure through adjacent sub-bodies; the telescopic module includes a plurality of sub-mechanisms, each of which includes a first sub-rod and a second sub-rod hinged into a scissor-type structure with axes in the same plane, the same sides of the two sub-rods of the head end and the terminal sub-mechanism are respectively hinged to the same sides of the two sub-bodies of the sub-segment to be connected through the hinge module, and the adjacent sub-mechanisms are connected through the connection module, and the connection module has a linkage shaft that can synchronously drive the adjacent sub-mechanisms to extend or shorten along the axial direction of the pipeline;

[0008] The guide drive wheel module is installed at the head end or the end of the motion module, and includes a steering servo and a drive motor. The output shaft of the steering servo is connected to the steering connector equipped with the drive motor, and a wheel hub with a magnetic ring on the outside is installed on the output shaft of the drive motor; the visual inspection module is installed on the guide drive wheel module and inspects the inside of the pipeline through a camera; the magnetic adsorption module is installed at the bottom of the second sub-body;

[0009] The guide drive wheel module and the motion module are adaptively bent on the inner surface of pipes with different inner diameters through magnetic adsorption, and the telescopic module is linked. The steering servo is controlled to turn the drive motor to the required spiral motion angle, and the robot is made to perform spiral motion by controlling the drive motor.

[0010] Further, the first sub-body has a frame structure, and horizontal through-holes are provided at the upper and lower ends on both the left and right sides, and a vertical support column is provided in the middle, dividing the first sub-body into left and right hollow areas. Horizontal through-holes are provided in the middle of both the left and right sides and in the middle of the support column of the first sub-body; the second sub-body is hinged to the first sub-body through the horizontal through-holes at the lower ends on both the left and right sides, and the second sub-body and the first sub-body of the subsequent sub-segment are hinged through the horizontal through-holes at the upper ends on both the left and right sides; through-holes are provided at both ends of the first link, and it is hinged to the horizontal through-holes in the middle of the first sub-bodies of the front and rear sub-segments, and is located in the right hollow area of the first sub-body and the second sub-body; through-holes are provided at both ends of the second link, and it is hinged to the horizontal through-holes in the middle of the second sub-bodies of the front and rear sub-segments, and is located in the left hollow area of the first sub-body and the second sub-body.

[0011] Further, through-holes in the same direction are provided in the middle and at both ends of the first sub-rod and the second sub-rod. The middle of the second sub-rod is hollowed out so that the first sub-rod passes through it, and the two are hinged through the through-holes in their respective middles; the connection module includes a first linkage, a second linkage and a linkage shaft. The first linkage and the second linkage have an I-shaped structure, and through-holes are provided in the middle of the I-shaped structure and at the protruding parts of its two concave structures. The through-holes in the concave structures on one side of the first linkage and the second linkage are respectively hinged to the through-holes at one end of the first sub-rod and the second sub-rod of the telescopic module sub-mechanism, and the through-holes in the concave structures on the other side are respectively hinged to the through-holes at one end of the first sub-rod and the second sub-rod of the subsequent telescopic module sub-mechanism; one end of the linkage shaft passes through the through-hole in the middle of the first linkage and can move freely, and the other end is fixed in the through-hole in the middle of the second linkage.

[0012] Further, the hinge module includes a hinge piece and a limiting piece. The hinge piece is composed of a cylindrical structure and a C-shaped structure connected. A through-hole is provided at the protruding part of the concave structure of the C-shaped structure. The through-holes in the C-shaped structures of the two hinge pieces are respectively hinged to the through-holes on the same side of the two sub-rods of the first or last sub-mechanism of the telescopic module. The cylindrical structures of the two hinge pieces are respectively hinged to the horizontal through-holes on the same side of the upper ends of the two sub-bodies of the sub-segment to be connected. The outer wall on the left side of the C-shaped structure of one hinge piece contacts the outer wall of the sub-body, and a circular limiting piece with a width equal to the dislocation distance between adjacent sub-bodies and contacting the C-shaped structure is fixed on the cylindrical structure of the other hinge piece, so that the through-holes in the two C-shaped structures are in the same axial position in the pipeline. Circular limiting pieces contacting the inner wall of the sub-body are fixed on the cylindrical structures where the two hinge pieces enter the interior of the sub-body through the horizontal through-holes of the sub-body.

[0013] Furthermore, the robot also includes a functional module, which is installed at the head end or the end of the motion module, and a magnetic adsorption module is installed at the bottom; the interior of the functional module is hollowed out to store the circuit boards of the steering servo, the drive motor and the camera; the sub-segments, sub-mechanisms and functional modules can carry functional equipment for internal pipeline operations, and are combined with the characteristics of the robot and its spiral motion when in use, specifically: ① Make the working range of the functional equipment along the axial direction of the pipeline at least the length of the robot's spiral motion pitch and avoid interference with the robot structure; ② By connecting adjacent motion modules with telescopic modules of different lateral lengths, the robot's multiple motion modules and functional modules carrying functional equipment are arranged at the spacing required for the operation; ③ When the motion trajectories of multiple sub-segments, sub-mechanisms or functional modules carrying functional equipment overlap, if the functions of these functional devices are the same, the same position or area is repeatedly operated at a specific time interval, and if the functions of these functional devices are different, the same position or area is operated in turn at a specific time interval.

[0014] Furthermore, all sub-bodies in the motion module are staggered and hinged in sequence, and the staggered direction and staggered distance of the hinge are the same; the motion modules are staggered by telescopic modules and articulated modules, and the staggered direction is the same as the staggered direction between the sub-segment sub-bodies; the staggered distance between two first sub-bodies or second sub-bodies connected by telescopic modules and articulated modules between two adjacent motion modules is calculated by sub-segment structural parameters, articulated module dimensions, sub-mechanism quantity and dimensions, and connection module quantity and dimensions.

[0015] Furthermore, the steering servo is controlled to change the spiral motion lift angle to achieve the spiral motion pitch required for the operation, or cooperate with the drive motor to meet the speed component requirements during the operation; when the spiral motion lift angle α=0°, the robot circles in situ in the pipeline; when α=90°, the robot moves in a straight line along the axial direction of the pipeline; when 0°<α<90°, the robot moves in a spiral motion in the pipeline.

[0016] Furthermore, the motion coverage areas of the various motion modules of the robot are overlapped with each other to reduce the motion coverage area of ​​the robot, so that when the robot's motion distance along the axial direction of the pipeline is N spiral motion pitches L, N ≥ 1 and is an integer, the sub-segment in the latter motion module can just move to the position of the sub-segment in the previous motion module that coincides with its projection along the axial direction of the pipeline before moving NL distance along the axial direction of the pipeline, and at this time, the motion trajectories and motion coverage areas of the two sub-segments coincide.

[0017] Furthermore, when the robot's helical motion pitch angle α is determined, for a determined pipeline to be operated, the robot's helical motion pitch It is also determined that is the pipeline radius, and the robot’s motion coverage area is reduced by changing the offset distance l1 between two adjacent motion modules, that is, ;like ,in is the displacement distance between adjacent sub-bodies, C is the arc length along the circumferential direction between the contact points between the magnetic adsorption module and the inner wall of the pipe at the same relative position of adjacent sub-segments in the motion module when the robot is adsorbed on the inner wall of the pipe, then there is no need to consider the number of sub-segments of the motion module and the connection method, and the robot structural parameters can be changed to meet the requirements. ;like , the fewer the number of sub-segments visible after the robot is projected along the axial direction of the pipeline, the smaller the robot's motion coverage area. At this time, it is necessary to consider the number of sub-segments of the motion module and the connection method. When the number of sub-segments of the longest motion module in the robot is smaller, and the projection of the short motion module along the axial direction of the pipeline after the motion modules are connected coincides more with the projection of the longest motion module along the axial direction of the pipeline, the fewer the number of sub-segments visible after the robot is projected along the axial direction of the pipeline.

[0018] Furthermore, when the robot's spiral motion angle α is not determined, for a certain pipeline to be operated, the formula Select the helical motion angle α and the number of telescopic module sub-mechanisms between two adjacent motion modules to reduce the robot's motion coverage area; when the number of telescopic module sub-mechanisms between adjacent motion modules in the robot is determined and the same, select α when N=1, and according to The relationship between the number of sub-segments of the motion module and the way they are connected can be considered to further reduce the motion coverage area of ​​the robot.

[0019] The beneficial effects of the present invention are:

[0020] First of all, the robot is small and light, with a simple and reasonable structure, many hollow areas, and light hard materials. It is composed of multiple motion modules, telescopic modules, magnetic adsorption modules, guide drive wheel modules, visual inspection modules and functional modules. Due to its modularity, the number and installation method of each module of the robot can be selected as needed to achieve a stable robot structure and spiral adsorption movement and suitable magnetic adsorption effect and simplified structure; improve the robot's motion performance, achieve easy and stable driving of the robot; flexibly replace and carry multiple or multiple devices to achieve diversified internal pipeline operations. The robot is easy to disassemble and assemble, and each module can be easily assembled and increased or decreased. The robot can also be split into multiple parts for storage, transportation and subsequent assembly and use. Due to the robot's dislocation, articulation and freely movable structure, for pipes with different inner diameters, the robot can perform adaptive bending spirals on the inner surface of pipes with different inner diameters under the action of magnetic adsorption, and the telescopic module and the robot are stretched horizontally through the linkage between the motion module and the telescopic module. The smaller the inner diameter of the pipe, the greater the degree of bending spiral of the robot, and the greater the distance the telescopic module stretches. In addition, when the robot is not bent or is bent in the reverse direction, the telescopic module can be retracted to the minimum lateral length to reduce the lateral length of the robot, thereby reducing the space occupied by the robot. In addition, the bending spiral and lateral telescopic extension of the robot as a whole can be controlled by bending and flattening a certain motion module (or sub-segment) or stretching and retracting a certain telescopic module (or sub-mechanism or connection module), such as for sending the robot to the required depth inside the pipeline or quickly moving the robot out of the pipeline.

[0021] Secondly, the robot can be driven by only one guide drive wheel module, that is, one drive motor, and the guide drive wheel module and the robot's spiral motion angle can be controlled by the steering servo. It has low energy consumption, is economical and environmentally friendly, and is simple to control. The robot has high motion accuracy and sensitive response speed. At the same time, the universal magnetic ball can support the robot's multi-directional motion, thereby achieving spiral motion with different angles of lift to meet different operational requirements, ensure operational efficiency, and reduce energy consumption. In addition, the relative position and motion position of each sub-segment, guide drive wheel module, and functional module of the robot in the pipeline can be determined, so that the positioning of each component of the robot moving in the pipeline can be achieved.

[0022] Then, the robot can reduce the movement coverage area in the pipeline to be operated by adjusting its own structure and spiral motion angle and further optimizing the number of sub-segments of the motion module and the connection method, thereby reducing the possibility of the robot encountering obstacles and reducing the impact of obstacles on the robot's structure, movement and work. At the same time, the robot can monitor the situation ahead in real time through the camera to actively avoid obstacles.

[0023] Finally, sub-segments, sub-mechanisms and functional modules can all be equipped with equipment with special functions, and these equipment can be combined with the characteristics of the robot and its spiral motion when used specifically to further improve performance and work efficiency. For example, the working range of the equipment can be combined with the length of the pitch of the robot's spiral motion; for example, connecting two adjacent motion modules with telescopic modules of different lateral lengths can change the robot's operating range, so that the motion modules and functional modules of the robot's carrying equipment are arranged at the spacing required for the operation, thereby achieving simultaneous operation of multiple distant areas or mutual cooperation between equipment, and when the motion coverage areas, that is, the motion trajectories, of multiple sub-segments, sub-mechanisms or functional modules equipped with equipment overlap, the same position or area can be repeatedly operated or operated in turns at specific intervals, thereby improving the accuracy and efficiency of the operation.

[0024] In addition, the robot can realize global circumferential inspection and axial inspection of the pipeline through the camera and spiral adsorption movement. It can collect and transmit the inner wall conditions of the pipeline in real time, and perform real-time data processing and damage location through computer software. Therefore, the robot has high inspection efficiency, rich data and high damage detection rate.

[0025] In summary, robots can automate internal pipeline operations and ensure the safety of employees and pipeline transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 Schematic diagram of an adaptive variable spiral motion modular robot for inner pipeline operation;

[0028] Figure 2 is a schematic diagram of the sub-segments of the motion module;

[0029] Figure 3 is a schematic diagram of a sub-mechanism of a telescopic module;

[0030] Figure 4 A schematic diagram of a connection module for a telescopic module;

[0031] Figure 5 is a schematic diagram of an articulated module;

[0032] Figure 6 Schematic diagram of the guide drive wheel module from two different perspectives;

[0033] Figure 7Schematic diagram of the visual inspection module;

[0034] Figure 8 Schematic diagram of the functional module;

[0035] Fig. 9 Schematic diagram of the magnetic adsorption module;

[0036] Fig.10 Schematic diagram of the parameters of the sub-segment of the motion module;

[0037] Fig.11 Schematic diagram of the misalignment design of the motion module;

[0038] Fig.12 Schematic diagram of the connection between the motion module and the telescopic module;

[0039] Fig.13 Schematic diagram of the misalignment design between two motion modules;

[0040] Fig.14 Schematic diagram of the structural parameters of the robot, where (a) shows the width of the limiting part, (b) shows the distance from the left side wall of the C-shaped structure of the hinge part to the center of the through hole on the C-shaped structure, (c) shows the center distance between the through holes at both ends of the sub-rod, and (d) shows the center distance between the through holes on the protruding parts of the two concave structures of the linkage part;

[0041] Fig.15 Schematic diagram of the sub-segment parameters of the motion module;

[0042] Fig.16 Schematic diagram of the helix angle and velocity components of the robot during helical motion on the inner wall of the pipeline;

[0043] Fig.17 Schematic diagram of the circumferential arc length between the contact points of the universal magnetic balls at the same relative positions of adjacent sub-segments in the motion module when the robot is adsorbed on the inner wall of the pipeline;

[0044] Fig.18 Schematic diagram of the sub-segment visible after the robot is axially projected along the pipeline;

[0045] In the figure: 1. First sub-body, 2. Second sub-body, 3. First connecting rod, 4. Second connecting rod, 5. First sub-rod, 6. Second sub-rod, 7. First linkage part, 8. Second linkage part, 9. Linkage shaft, 10. Hinge part, 11. Limiting part, 12. Connecting part, 13. Steering servo, 14. Steering connecting part, 15. Driving motor, 16. Wheel hub, 17. Magnetic ring, 18. Position adjusting support, 19. Camera, 20. Functional module, 21. Universal magnetic ball, 22. Connecting dish. Specific implementation method

[0046] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0047] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0048] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0049] like Figure 1 As shown, the present invention provides an adaptive variable spiral motion modular robot for inner pipeline operation, including a spiral motion body, a guide drive wheel module, a visual inspection module, a functional module 20 and a magnetic adsorption module.

[0050] like Figure 2-Figure 5 As shown, the spiral motion body is composed of a motion module and a telescopic module, and each motion module is composed of the same or different number of sub-segments, each sub-segment includes a first sub-body 1, a second sub-body 2, a first connecting rod 3 and a second connecting rod 4, each telescopic module is composed of the same or different number of sub-mechanisms and connecting modules, each sub-mechanism includes a first sub-rod 5 and a second sub-rod 6, and the sub-mechanisms are connected through connecting modules, each connecting module includes a first linkage member 7, a second linkage member 8 and a linkage shaft 9, and the motion module and the telescopic module are connected through two hinge modules, each hinge module includes a hinge 10 and a limit member 11.

[0051] like Figure 2As shown, the first sub-body 1 is a frame-type structure, and the upper and lower ends of the left and right sides are provided with horizontal through holes from left to right. A vertical support column is provided in the middle of the first sub-body 1, dividing the first sub-body 1 into two hollow areas on the left and right. The middle parts of the left and right sides of the first sub-body 1 and the middle part of the support column are provided with horizontal through holes; the second sub-body 2 has the same structure as the first sub-body 1, and is arranged in a staggered mirror image with the first sub-body 1. The two are hinged through the horizontal through holes at the lower ends of the left and right sides, and the second sub-body 2 and the first sub-body of the next sub-segment are hinged. The body 1 is hinged through the transverse through holes at the upper ends of the left and right sides, and the two are also arranged in a staggered mirror image; the first connecting rod 3 is a rod structure with through holes in the same direction at both ends, and is hinged with the middle transverse through holes of the first sub-body 1 of the front and rear sub-segments, and is located in the right hollow area of ​​the first sub-body 1 and the second sub-body 2; the second connecting rod 4 has the same structure as the first connecting rod 3, and the through holes at both ends of the second connecting rod 4 are hinged with the middle transverse through holes of the second sub-body 2 of the front and rear sub-segments, and is located in the left hollow area of ​​the first sub-body 1 and the second sub-body 2.

[0052] like Figure 3 As shown, the first sub-rod 5 and the second sub-rod 6 have the same length, and are provided with through holes in the middle and at both ends in the same direction. The middle of the second sub-rod 6 is hollowed out so that the first sub-rod 5 can pass through it. At the same time, the two are hinged through the through holes in the middle of each, thereby forming a scissor-type structure. Figure 4 As shown, the structure of the first linkage member 7 and the second linkage member 8 is in the shape of an I-shape, and the protruding parts of the two concave structures on the left and right of the I-shape structure are provided with through holes from top to bottom, and the middle part of the I-shape structure is provided with a through hole from front to back. The through holes of the concave structures on one side of the first linkage member 7 and the second linkage member 8 are respectively hinged to the through holes at one end of the first sub-rod 5 and the second sub-rod 6 of the telescopic module sub-mechanism, and the through holes of the concave structures on the other side are respectively hinged to the through holes at one end of the first sub-rod 5 and the second sub-rod 6 of the rear sub-mechanism of the telescopic module, thereby connecting the front and rear sub-mechanisms of the telescopic module, and the axes of each sub-rod in the telescopic module are all in the same plane; one end of the linkage shaft 9 passes through the through hole in the middle of the first linkage member 7 and can move freely, and the other end is fixed in the through hole in the middle of the second linkage member 8, and the linkage shaft 9 can synchronously drive the adjacent sub-mechanisms to extend or shorten along the axial direction of the pipeline.

[0053] like Figure 5As shown in the figure, the hinge 10 is composed of a cylindrical structure and a C-shaped structure. One end of the cylindrical structure is fixed to the left side of the C-shaped structure. There are multiple through holes on the cylindrical structure, and a through hole extending from top to bottom is opened on the protruding part of the concave structure of the C-shaped structure. The cylindrical structures of the two hinges 10 are respectively hinged to the horizontal through holes on the same side of the upper ends of the first sub-body 1 and the second sub-body 2 of a certain sub-segment of the motion module. The through holes of the C-shaped structures of the two hinges 10 are respectively hinged to the through holes at one end of the first sub-rod 5 and the second sub-rod 6 of the frontmost or rearmost sub-mechanism of the telescopic module, thereby connecting the motion module and the telescopic module. The limiting member 11 is in a circular ring structure and has a through hole, which can be fixed to the through hole on the cylindrical structure of the hinge 10, thereby preventing the hinge 10 from moving horizontally relative to the sub-segment of the motion module.

[0054] As Figure 6 shown in the figure, the guiding and driving wheel module includes a connecting member 12, a steering servo 13, a steering connecting member 14, a driving motor 15, a hub 16 and a magnetic ring 17. The structure of the connecting member 12 is in a P shape, that is, it is composed of a '丿' structure and a cuboid structure, and the tail of the '丿' structure has a horizontal through hole from left to right, which can be hinged to the horizontal through hole at the upper end of the first sub-body 1 at the frontmost end or the second sub-body 2 at the rearmost end of the motion module. The steering servo 13 is fixed inside the cuboid structure of the connecting member 12, and its rotating output shaft faces downward and is outside the cuboid structure. The steering connecting member 14 is in an inverted L-shaped structure, and its horizontal upper part is used to be fixed to the rotating output shaft of the steering servo 13, so the steering connecting member 14 can rotate synchronously with the rotating output shaft. The driving motor 15 is in a cylindrical shape, and the cylinder is divided into two sections, namely the control end and the rotating end of the driving motor 15. The control end is fixed to the vertical lower part of the steering connecting member 14. The hub 16 is in a cylindrical shape and is fixed to the outside of the rotating end of the driving motor 15. The magnetic ring 17 is in a circular ring shape and has strong magnetism, and is fixed to the outside of the hub 16. Preferably, the steering servo 13 adopts a micro servo supporting angle control, and the driving motor 15 adopts a micro servo motor with position feedback, and both have high precision, large torque and sensitive reaction speed.

[0055] As Figure 7 shown in the figure, the visual inspection module includes a position adjustment bracket 18 and a camera 19. The position adjustment bracket 18 is in a circular structure, with a threaded hole facing the center of the circle at the top, and vertical brackets are provided at the left and right ends of the circular structure. Transverse through holes are opened at the lower ends of the two brackets, and they are installed on the top of the cuboid structure of the connecting member 12 through the transverse through holes, and the position adjustment bracket 18 can be fixed or rotated around the transverse through hole. The camera 19 is installed inside the circular structure of the position adjustment bracket 18, and the camera 19 can be fixed or moved by screwing a screw into the threaded hole of the circular structure of the position adjustment bracket 18.

[0056] As Figure 8As shown, the functional module 20 is hinged to the upper end transverse through hole of the first sub-body 1 at the front end or the second sub-body 2 at the end of the motion module.

[0057] like Fig. 9 As shown, the magnetic adsorption module includes a universal magnetic ball 21 and a connecting dish 22; the universal magnetic ball 21 is a spherical structure with strong magnetism; the connecting dish 22 is composed of an axial structure and a spherical crown container, the symmetry axes of the two coincide, and the axial structure is on the outside of the spherical crown container, the inner side of the spherical crown container is used to embed the universal magnetic ball 21, and the axial structure has an external thread, and the paired connecting dishes 22 are arranged horizontally through the external thread of the axial structure and are vertically fixed to the middle of the bottom of each second sub-body 2 and the functional module 20 of the spiral motion body and are symmetrical on both sides. Preferably, a plurality of small balls can be added to the inner side of the spherical crown container to assist the rolling of the universal magnetic ball 21. The installation layout of the magnetic adsorption module can be further optimized, and the contact points between the robot and the inner surface of the pipeline can be increased, such as a rectangular symmetrical arrangement, to increase the stability of the robot movement.

[0058] Furthermore, the sub-segments, sub-mechanisms, connecting modules, articulated modules, connectors 12, steering connectors 14, wheel hubs 16, position adjustment brackets 18, functional modules 20 and connecting dishes 22 are all made of lightweight hard materials, and the interior of the functional module 20 is hollowed out to reduce the weight of the robot and improve the performance of the robot, thereby ensuring the stability of the robot's adsorption operation. The guide drive wheel module and the functional module 20 are connected to the motion module, and each sub-body and connecting rod of the motion module, each sub-rod of the telescopic module and each linkage of the connecting module are hingedly connected by round-head pins, so that the robot can perform adaptive bending spirals on the inner surfaces of pipes with different inner diameters under the action of magnetic adsorption.

[0059] The following is a detailed description of the design method of some components of the adaptive variable spiral motion modular robot for inner pipeline operation provided by the present invention. In this embodiment, the telescopic module includes m sub-mechanisms and m-1 connection modules, and m≥1. Since the sub-segment at the end of the motion module is no longer connected to a sub-segment, the first connecting rod 3 and the second connecting rod 4 in the sub-segment need to be removed in order to install the guide drive wheel module or the functional module 20.

[0060] 1. Design of dislocation method and distance.

[0061] like Fig.10 As shown, the first sub-body 1 and the second sub-body 2 of the motion module sub-segment are staggered and hinged, and the front and rear sub-segments are also staggered and hinged through the second sub-body 2 of the front sub-segment and the first sub-body 1 of the rear sub-segment. The staggered direction and staggered distance of these hinges are the same, and the staggered distance is d1. Therefore, the staggered distance d between the first sub-body 1 or the second sub-body 2 of the n1th sub-segment and the first sub-body 1 or the second sub-body 2 of the n2th sub-segment in the motion module can be expressed by formula (1):

[0062] (1)

[0063] Among them, n2 > n1. In the example shown, n1 = 2 and n2 = 4. Fig.11 As shown in the example, n1 = 2 and n2 = 4.

[0064] Such as Fig.12 、 Fig.13 As shown, the movement modules are offset from each other through the telescopic module and the hinge module, and the offset direction is the same as the offset direction between the first sub-body 1 and the second sub-body 2 of the sub-segment. Due to the offset distance between the first sub-body 1 and the second sub-body 2 of the sub-segment, when the cylindrical structures of the two hinge members 10 are respectively hinged to the upper lateral through-holes on the same side of the first sub-body 1 and the second sub-body 2 of a certain sub-segment, the left vertical outer wall of the C-shaped structure of one hinge member 10 contacts the outer wall of one sub-body, and the left vertical outer wall of the C-shaped structure of the other hinge member 10 has a distance from the outer wall of the other sub-body, and the distance is d1. Therefore, a limiting member 11 with a width of d2 is fixed on the cylindrical structure of the hinge member 10, and d2 = d1, so that the left vertical outer wall of the C-shaped structure of the hinge member 10 contacts the outer wall of the sub-body through the limiting member 11. At the same time, a limiting member 11 is also fixed on each of the partial cylindrical structures of the two hinge members 10 that enter the interior of the sub-body through the sub-body lateral through-holes, and the limiting member 11 contacts the inner wall of the sub-body, thereby preventing the two hinge members 10 from moving horizontally with the sub-segment and changing the offset distance between the movement modules or causing the movement modules to disengage from the telescopic module. Such as Fig.10 、 Fig.13 、 Fig.14 、 Fig.15 As shown, the offset distance l1 between the first sub-body 1 or the second sub-body 2 of the two corresponding sub-segments connected by the telescopic module and the hinge module between the two movement modules can be expressed by formula (2):

[0065] (2)

[0066] In the formula, D is the width of the sub-body, l2 is the distance from the left side wall of the C-shaped structure of the hinge 10 to the center of the through hole on the C-shaped structure, l3 is the center distance between the through holes at both ends of the sub-rod, l4 is the center distance between the through holes on the protruding parts of the two concave structures of the linkage, l5 is the center distance between the upper and lower transverse through holes of the sub-body, and λ is the angle between the straight line formed by connecting the upper and lower transverse through holes of the first sub-body 1 and the straight line formed by connecting the upper and lower transverse through holes of the second sub-body 2 in the sub-segment. By installing sensors on the sub-segment, the value of λ after the robot bends and spirally adsorbs in pipelines with different inner diameters can be measured, and the value of λ increases with the increase of the pipeline inner diameter. Therefore, the smaller the pipeline inner diameter, the larger the misalignment distance l1 between the two motion modules. And by increasing the number of telescopic module sub-mechanisms and connection modules, the misalignment distance l1 between the two motion modules can be increased. Of course, by designing different robot structure parameters and changing d2, l2, l3, l4, l5, λ, and d1, the misalignment distance l1 between the two motion modules can also be changed.

[0067] In addition, by combining formula (1) and formula (2), the misalignment distance between any two first sub-bodies 1 or second sub-bodies 2 of adjacent two motion modules can also be calculated. Therefore, the relative positions of each sub-segment of the robot, each guiding and driving wheel module, and the functional module 20 can be determined according to the robot structure parameters in any pipeline to be operated or when the robot is not bent. And the motion position of the robot can also be determined by structure parameters, the position feedback of the driving motor 15, the helix angle of the spiral motion, and the pipeline inner diameter, etc., so as to realize the positioning of each component of the robot moving in the pipeline.

[0068] II. Adjustable helix angle of the spiral motion and helix angle selection method.

[0069] The universal magnetic ball 21 can support the multi-directional movement of the robot. Under the action of the driving motor 15, the robot makes a uniform spiral motion on the inner wall of the pipeline, and its motion trajectory is a spiral line. And by controlling the steering servo 13 to make the driving motor rotate, the helix angle of the spiral motion can be changed, so as to realize various spiral motions of the robot. As Fig.16 shown, the helix angle α of the spiral motion is the angle formed by controlling the movement of the steering servo 13 so that the steering connecting piece 14 and the driving motor 15 rotate with the output shaft of the steering servo 13 and form an angle with the initial position (α = 0°). In special cases, when α = 0°, the robot makes a circumferential circle in place inside the pipeline; when α = 90°, the robot makes a straight-line motion along the axial direction of the pipeline. Therefore, when the robot makes a spiral motion, 0° < α < 90°.

[0070] As Fig.16As shown in the figure, when the robot's motion speed v remains unchanged, the larger the spiral motion lead angle α, the larger the robot's velocity component vsinα along the pipeline axis direction, and the smaller the velocity component vcosα along the pipeline tangent direction. The ratio of the two components is tanα, so the spiral motion lead angle can be obtained by controlling the steering servo 13 and cooperating with the drive motor 15 to meet the velocity component requirements during operation. In addition, for the same pipeline (with an inner radius of r), the larger the spiral motion lead angle α of the robot, the greater the pitch L of the spiral line formed by the spiral motion (which can be expressed as ) is also larger, that is, the density of the spiral coil is smaller, so the steering servo 13 can be controlled according to the spiral motion pitch required for the operation to obtain the corresponding spiral motion lead angle. When the robot focuses on the global circumferential inspection of the inner wall of the pipeline, a spiral motion with a small lead angle can be used to increase the density of the spiral motion coils to avoid missed inspection areas. It can also reduce the robot movement speed v while meeting the requirements for the velocity component along the tangent direction of the pipeline, thereby reducing energy consumption; when the robot focuses on the axial inspection of the inner wall of the pipeline, a spiral motion with a large lead angle can be used. It can reduce the robot movement speed v while meeting the requirements for the velocity component along the axial direction of the pipeline, thereby reducing energy consumption, and it can also increase the spiral motion pitch to improve the robot axial inspection efficiency.

[0071] 3. Change the movement coverage area by adjusting the robot structure.

[0072] While the robot is performing spiral motion on the inner wall of the pipe, it also spirally bends and adsorbs on the inner wall of the pipe. Therefore, its main structure and spiral motion trajectory together form the motion coverage area between the robot and the inner wall of the pipe. The inner surface of the pipe usually has obstacles, such as large areas of sediment. By reducing the robot's motion coverage area, the possibility of the robot encountering obstacles can be reduced, thereby reducing the impact of obstacles on the robot's structure, movement and work. In order to reduce the robot's motion coverage area, the motion coverage areas of each motion module of the robot can be overlapped with each other. For example, when the robot's motion distance along the axial direction of the pipe is NL (representing N spiral motion pitches L, N ≥ 1 and is an integer), the sub-segment in the latter motion module can just move to the position of the sub-segment in the previous motion module that coincides with its projection along the axial direction of the pipe before moving NL distance along the axial direction of the pipe. At this time, the motion trajectories and motion coverage areas of the two sub-segments coincide, and the motion time , where v is the speed of the robot in uniform spiral motion.

[0073] When the robot's helical motion angle α is determined, for a certain pipeline to be operated, the robot's helical motion pitch It is also determined that the robot's motion coverage area can be reduced by changing the offset distance l1 between two adjacent motion modules, that is, , where λ can be obtained by placing a motion module to be assembled with a magnetic adsorption module into the pipeline to be operated and measuring it with a sensor. , then there is no need to consider the number of sub-segments of the motion module and the way they are connected. In the formula, C is the arc length along the circumferential direction between the contact points of the universal magnetic ball 21 and the inner wall of the pipe at the same relative position of adjacent sub-segments in the motion module when the robot is adsorbed on the inner wall of the pipe, as Fig.17 As shown, d1 and C in the formula are related to the robot structure, so the formula can be satisfied by changing the robot structural parameters (such as the wall thickness on both sides of the sub-body, the center distance between the transverse through hole at the upper end of the first sub-body 1 and the transverse through hole at the upper end of the second sub-body 2 when the sub-segment is not bent). At the same time, for pipes with different inner diameters, C in the formula is also different. A certain motion module to be assembled with a magnetic adsorption module installed can be placed inside the pipe for bending spiral adsorption, and then C can be obtained by measurement. It can also be measured by simulating the working environment when designing the robot model. If , then the number of sub-segments visible after the robot is projected along the pipeline axis ( Fig.18 The smaller the number of sub-segments visible after the robot is projected along the axial direction of the pipeline (10), the smaller the robot's motion coverage area, which depends on the number of sub-segments of the motion modules and the connection method. When the number of sub-segments of the longest motion module in the robot is smaller, and the projection of the short motion module along the axial direction of the pipeline after the motion modules are connected coincides more with the projection of the longest motion module along the axial direction of the pipeline, the smaller the number of sub-segments visible after the robot is projected along the axial direction of the pipeline.

[0074] When the robot structural parameters are determined and the helical motion rise angle α is not determined, for a certain pipeline to be operated, the formula Select the appropriate spiral motion angle α and the number m of telescopic module sub-mechanisms between two adjacent motion modules to reduce the robot's motion coverage area. For example, when the number m of telescopic module sub-mechanisms between two adjacent motion modules in the robot is determined and the same, since there are multiple pairs of solutions for α and N for any m (and the larger N is, the smaller α is), α when N=1 can be selected. At this time, α is the largest among the multiple pairs of solutions, the coil density of the spiral line formed by the spiral motion of the robot is the smallest, and the corresponding motion coverage area of ​​a single component of the robot (such as a single sub-segment) is also the smallest, so α is determined, and according to The relationship between the number of sub-segments of the motion module and the way they are connected can be considered to further reduce the motion coverage area of ​​the robot.

[0075] 4. Multiple cameras enable circumferential visual inspection, axial visual inspection and obstacle avoidance.

[0076] A plurality of cameras 19 are installed on the top of the robot's connector 12 to realize the robot's global circumferential visual inspection function, pipeline axial visual inspection function and obstacle avoidance function, and the camera 19 has functions such as ultra-wide-angle field of view and lighting. When the camera 19 faces the inner wall of the pipeline, the robot can perform a close-up and detailed circumferential visual inspection of the inner wall of the pipeline, and the range of the inner wall of the pipeline visible in the field of view of the camera 19 is at least the length of the pitch of the robot's spiral motion in the axial direction of the pipeline, so as to achieve full coverage of the inner wall of the pipeline, that is, a global circumferential visual inspection. When the camera 19 faces the axial direction of the pipeline, the robot's axial visual inspection can be realized. When the camera 19 can see the front of the robot's movement direction, it can monitor in real time whether there are obstacles in front of the robot, so as to control the steering servo 13 in advance to rotate the drive motor 15 to change the robot's movement direction and movement coverage area to avoid obstacles.

[0077] 5. Adaptive multi-diameter design.

[0078] The robot can operate on pipes with different inner diameters. Under the magnetic adsorption of the magnetic ring 17 and the universal magnetic ball 21, the hinged and freely movable parts move relative to each other, so that the robot can perform adaptive bending spiral adsorption on the inner surface of pipes with different inner diameters. Compared with when not bent, the angle λ in the sub-segment becomes smaller, driving the two articulated modules hinged to it to rotate and approach, thereby reducing the center distance of the two sub-rod through holes hinged to the through holes of the two articulated modules, driving the two sub-rods of each sub-mechanism and the two linkage parts and linkage shafts of each connecting module to rotate relative to each other, so that each sub-mechanism is synchronously extended laterally, and the lateral lengths of each sub-mechanism before and after the extension are the same. At the same time, the smaller the inner diameter of the pipeline, the greater the degree of the robot's bending spiral, and the greater the distance the telescopic module is extended.

[0079] 6. Selection of guide drive wheel module and functional module, relationship and selection of telescopic module and motion module, selection of number of motion module sub-segments and number of magnetic adsorption modules, modularity and occupied space and convenience, functions of sub-segments, sub-mechanisms and functional module 20.

[0080] The robot can be driven by only one motor to make spiral motion on the inner surface of the pipeline, which is simple to control, economical and energy-saving. It can also be installed with multiple guide drive wheel modules (installed at the front end or end of the motion module) to cooperate in driving the robot. The steering servos 13 of these guide drive wheel modules keep the rotation angle of the drive motor 15 and the movement speed of the drive motor 15 consistent, so as to more easily drive the robot to make spiral motion forward and backward along the pipeline. The functional module 20 can also be installed at the front end or end of each motion module according to the required pipeline operation requirements.

[0081] Two adjacent motion modules are connected by at least one telescopic module for synchronous motion, and the more telescopic modules there are, the more stable the robot structure and motion are. The number of sub-mechanisms and connection modules in these telescopic modules is the same, while the number of sub-mechanisms and connection modules in the telescopic modules between two adjacent motion modules may be different. The number of motion modules can be selected according to the required pipeline operation requirements, the number of guide drive wheel modules and functional modules 20, and the installation requirements. When the telescopic module is too long, resulting in unstable robot structure and motion, the telescopic module can be split and an additional motion module can be connected at the split.

[0082] By selecting the appropriate number of sub-segments of each motion module and the number of magnetic adsorption modules, the robot can achieve stable adsorption movement on the inner surface of the pipeline and the required pipeline operation requirements. When the robot's magnetic adsorption effect on the inner surface of the pipeline is too strong, the number of magnetic adsorption modules of each sub-segment and functional module 20 can be reduced to one, and the magnetic adsorption module can be vertically fixed in the middle of the bottom of the second sub-body 2 of the sub-segment and the functional module 20, or a relatively small magnetic ring 17 and a universal magnetic ball 21 can be used instead, so that the robot structure can be simplified, the cost can be saved, and the robot can be prevented from being difficult to drive or difficult to remove from the pipeline due to the strong magnetic adsorption effect; when the robot's magnetic adsorption effect on the inner surface of the pipeline is too weak, the number of magnetic adsorption modules of each sub-segment and functional module 20 can be increased, and the magnetic adsorption modules can be arranged horizontally and vertically fixed in the middle of the bottom of the second sub-body 2 of the sub-segment and the functional module 20 and symmetrically, or a relatively large magnetic ring 17 and a universal magnetic ball 21 can be used instead, so as to ensure that the robot can be stably adsorbed on the inner surface of the pipeline and avoid sliding during the spiral movement of the robot and affecting the movement accuracy.

[0083] Thanks to the modularity of the robot, its motion module, telescopic module, articulated module, guide drive wheel module, visual inspection module, functional module 20, magnetic adsorption module, sub-segments, sub-mechanisms and connection modules can be easily assembled as needed, and can also be easily increased or decreased. In addition, when the robot is not bent or reversely bent (the motion module is bent toward the side where the magnetic adsorption module is installed), the telescopic module can be retracted to the minimum lateral length to reduce the lateral length of the robot, thereby reducing the space occupied by the robot, and the robot can also be disassembled into multiple parts (such as disassembling the motion module and the telescopic module, or disassembling according to different numbers of sub-segments and sub-mechanisms) for storage, transportation and subsequent assembly and use.

[0084] Functional module 20 can be used to store objects, such as circuit boards for connecting steering servo 13, drive motor 15, camera 19 and other functional devices. Sub-segments, sub-mechanisms and functional modules 20 can also be equipped with equipment with special functions, such as eddy current, X-ray and other detection equipment, to further perform non-destructive testing on the pipeline, detect internal defects such as pores and slag inclusions; cleaning equipment to remove sediment, dirt, blockages or bacteria to ensure the cleanliness and flow efficiency of the pipeline; coating and repair equipment (such as micro-welding equipment or adhesive sprayer) to use spiral motion to evenly apply coatings on the inner wall of the pipeline or repair damage; environmental monitoring and sampling equipment to monitor environmental parameters such as temperature, humidity, and harmful gases in the pipeline along the spiral path through sensors, or to sample materials at specific locations during the spiral motion to analyze the chemical composition or pollutants in the pipeline.

[0085] When these devices are used specifically, they can be combined with the robot and its spiral motion characteristics to further improve performance and work efficiency. For example, when it is necessary to clean or apply coating to all areas of the inner wall of a certain section of the pipeline, the device control end can be installed inside the functional module 20, and the device working end can be installed outside the functional module 20. The working range of the device along the axial direction of the pipeline (cleaning range or spraying range) is at least the length of the robot's spiral motion pitch and avoids interference with the robot structure to achieve full coverage of all areas of the inner wall of the section of the pipeline. In order to make the coating evenly applied, the working range of the device along the axial direction of the pipeline can be exactly the length of the robot's spiral motion pitch.

[0086] For example, connecting two adjacent motion modules through telescopic modules of different transverse lengths can change the robot's operating range, so that the motion modules and functional modules 20 of the robot's onboard equipment are arranged at the spacing required for the operation. At this time, the robot can be moved to the area to be operated inside the pipeline through spiral motion, robot positioning, and camera 19, and then the spiral motion rise angle α=0°, so that the robot can simultaneously perform circumferential operations on multiple spaced areas to be operated through the onboard equipment, and the equipment distributed at the required spacing can also cooperate with each other during the spiral motion. When the motion coverage areas of multiple sub-segments or sub-mechanisms or functional modules 20 equipped with equipment, that is, the motion trajectories overlap, if the functions of these devices are the same, the same position can be repeatedly operated at a specific time interval, or a certain area of ​​the pipeline can be repeatedly operated, and when the operation content is data collection, etc., repeated operations can be mutually verified to improve the operation efficiency and accuracy. If the functions of these devices are different, the same position can be operated in turn at a specific time interval, or a certain area of ​​the pipeline can be operated in turn, such as using the cleaning function first and then the detection function.

[0087] The bending spiral and lateral extension of the robot as a whole can be controlled by bending and flattening a certain motion module (or a certain sub-segment) of the robot or stretching and contracting a certain telescopic module (or a certain sub-mechanism or a certain connecting module) of the robot. For example, by bending the motion module at the rear of the robot, the other motion modules, telescopic modules and articulated modules of the robot are linked, so that the robot is bent spirally and stretched laterally. When the positions of the guide drive wheel module and the functional module 20 are adjusted and the robot is over-bent so that its external diameter is smaller than the internal diameter of the pipeline to be operated, the robot can be sent into the pipeline by holding the motion module at the rear of the robot. In addition, if the telescopic module between the rearmost motion module and the previous motion module is long enough, the other modules of the robot can be sent to the required depth inside the pipeline by holding the motion module at the rear of the robot and the rearmost motion module can be kept outside the pipeline. If it is not long enough, after the operation is completed, the rearmost motion module can be moved out of the pipeline first by the backward movement of the robot. At this time, the motion module outside the pipeline can be bent to make the external diameter of the robot smaller than the internal diameter of the pipeline, and then the robot can be quickly moved out of the pipeline by holding the motion module outside the pipeline.

[0088] The operation process of the adaptive variable spiral motion modular robot for inner pipeline operation provided by the present invention is as follows:

[0089] When performing internal pipeline operations, the size of the robot's spiral motion angle α and the number of motion modules and their sub-segments, magnetic adsorption modules, guide drive wheel modules, functional modules 20, telescopic modules and their sub-mechanisms and connection modules are selected according to the required operation requirements to ensure that the robot structure is stable and can perform stable adsorption movement on the inner surface of the pipeline, and the magnetic adsorption effect is of appropriate strength. Among them, if there is no requirement for the horizontal length of the telescopic module stretched out during operation, the robot's motion coverage area can be reduced by further determining the horizontal length of the telescopic module stretched out and optimizing the number of sub-segments of the motion module and the connection method. Then the robot is assembled, and the steering servo 13 is controlled to move so that the steering connector 14 and the drive motor 15 rotate with the output shaft of the steering servo 13 to form an angle with the initial position (α=0°) as the required spiral motion angle. At the same time, the functional equipment and camera 19 are installed according to the operation requirements, and the position of the camera 19 is adjusted by the position adjustment bracket 18 to realize the pipeline global circumferential visual inspection, pipeline axial visual inspection and robot obstacle avoidance functions as required.

[0090] The robot is then bent excessively and sent into the pipeline in a spiral shape, so that it can be adaptively adsorbed on the inner surface of the pipeline under the action of magnetic adsorption. For the inspection operation, the robot drives itself to move in a spiral motion through the drive motor 15 and drives deeper into the pipeline, while visually inspecting the inside of the pipeline. During the inspection process, the camera 19 collects and transmits the situation in the pipeline in real time, and performs data processing and damage location in real time through computer software. After the inspection is completed, the robot is driven to the pipeline outlet for removal and recycling, and the robot is disassembled into multiple parts for storage, transportation and subsequent assembly and use.

[0091] The above is only a preferred embodiment of the present invention. Although the present invention has been disclosed as a preferred embodiment, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the above disclosed methods and technical contents without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of protection of the technical solution of the present invention.

Claims

1. An adaptive variable spiral motion modular robot for inner pipeline operation, characterized in that: It includes a spiral motion body, a guide drive wheel module, a visual inspection module and a magnetic adsorption module; The spiral motion body is composed of a plurality of motion modules and telescopic modules connecting the motion modules; the motion module is composed of a plurality of sub-segments, each of which includes a first sub-body and a second sub-body arranged in a staggered mirror image and hinged into a V-shaped structure, and a first connecting rod and a second connecting rod connecting the front and rear sub-segment V-shaped structures, and the two V-shaped structures are staggered and hinged into a W-shaped structure through adjacent sub-bodies; the telescopic module includes a plurality of sub-mechanisms, each of which includes a first sub-rod and a second sub-rod hinged into a scissor-type structure with axes in the same plane, the same sides of the two sub-rods of the head end and the terminal sub-mechanism are respectively hinged to the same sides of the two sub-bodies of the sub-segment to be connected through the hinge module, and the adjacent sub-mechanisms are connected through the connection module, and the connection module has a linkage shaft that can synchronously drive the adjacent sub-mechanisms to extend or shorten along the axial direction of the pipeline; The guide drive wheel module is installed at the head end or the end of the motion module, and includes a steering servo and a drive motor. The output shaft of the steering servo is connected to the steering connector equipped with the drive motor, and a wheel hub with a magnetic ring on the outside is installed on the output shaft of the drive motor; the visual inspection module is installed on the guide drive wheel module and inspects the inside of the pipeline through a camera; the magnetic adsorption module is installed at the bottom of the second sub-body; The guide drive wheel module and the motion module are adaptively bent on the inner surface of pipes with different inner diameters through magnetic adsorption, and the telescopic module is linked. The steering servo is controlled to turn the drive motor to the required spiral motion angle, and the robot is made to perform spiral motion by controlling the drive motor.

2. The adaptive variable spiral motion modular robot for inner pipeline operation according to claim 1, characterized in that: The first sub-body is a frame-type structure, and has transverse through holes on the upper and lower ends of the left and right sides, and a vertical support column is provided in the middle, dividing the first sub-body into left and right hollow areas, and transverse through holes are provided in the middle of the left and right sides of the first sub-body and the middle of the support column; the second sub-body is hinged to the first sub-body through the transverse through holes at the lower ends of the left and right sides, and the second sub-body and the first sub-body of the rear sub-segment are hinged through the transverse through holes at the upper ends of the left and right sides; the first connecting rod has through holes at both ends, which are hinged to the middle transverse through holes of the first sub-body of the front and rear sub-segments, and are located in the right hollow area of ​​the first sub-body and the second sub-body; the second connecting rod has through holes at both ends, which are hinged to the middle transverse through holes of the second sub-body of the front and rear sub-segments, and are located in the left hollow area of ​​the first sub-body and the second sub-body.

3. The adaptive variable spiral motion modular robot for inner pipeline operation according to claim 2, characterized in that: The middle and both ends of the first sub-rod and the second sub-rod are provided with through holes in the same direction. The middle of the second sub-rod is hollowed out so that the first sub-rod passes through it, and the two are hinged through the through holes in their respective middles; the connection module includes a first linkage, a second linkage and a linkage shaft. The first linkage and the second linkage are in an I-shaped structure. Through holes are provided in the middle of the I-shaped structure and the protruding parts of its two concave structures. The through holes in the concave structure on one side of the first linkage and the second linkage are respectively hinged to the through holes at one end of the first sub-rod and the second sub-rod of the telescopic module sub-mechanism, and the through holes in the concave structure on the other side are respectively hinged to the through holes at one end of the first sub-rod and the second sub-rod of the subsequent sub-mechanism of the telescopic module; one end of the linkage shaft passes through the through hole in the middle of the first linkage and can move freely, and the other end is fixed in the through hole in the middle of the second linkage.

4. The adaptive variable spiral motion modular robot for inner pipeline operation according to claim 3, characterized in that: The hinge module includes a hinge piece and a limiting piece. The hinge piece is composed of a cylindrical structure and a C-shaped structure connected. A through hole is provided in the protruding part of the concave structure of the C-shaped structure. The through holes of the C-shaped structures of the two hinge pieces are respectively hinged to the through holes on the same side of the two sub-rods of the first or last sub-mechanism of the telescopic module. The cylindrical structures of the two hinge pieces are respectively hinged to the horizontally penetrating holes on the same side of the upper ends of the two sub-bodies of the sub-segment to be connected. The outer wall of the left side of the C-shaped structure of one of the hinge pieces contacts the outer wall of the sub-body, and a circular limiting piece with a width equal to the dislocation distance between adjacent sub-bodies and contacting the C-shaped structure is fixed on the cylindrical structure of the other hinge piece, so that the through holes of the two C-shaped structures are in the same axial position of the pipeline. Circular limiting pieces that contact the inner wall of the sub-body are fixed on the cylindrical structures of the two hinge pieces that enter the interior of the sub-body through the horizontally penetrating holes of the sub-body.

5. The adaptive variable spiral motion modular robot for inner pipeline operation according to claim 1, characterized in that: The robot further includes a function module, which is installed at the first or last end of the motion module, and a magnetic adsorption module is installed at the bottom; the interior of the function module is hollowed out for storing the circuit boards of the steering servo, the driving motor and the camera; the sub-segments, sub-mechanisms and function modules can carry functional devices for in-pipe operations and are combined with the robot and its helical motion characteristics during use. Specifically: ① Make the working range of the functional device along the axial direction of the pipeline at least have the length of one pitch of the helical motion of the robot and avoid interference with the robot structure; ② Connect adjacent motion modules with telescopic modules of different transverse lengths so that multiple motion modules and function modules of the robot carrying functional devices are arranged at the intervals required for the operation; ③ When the motion trajectories of multiple sub-segments, sub-mechanisms or function modules carrying functional devices coincide, if the functions of these functional devices are the same, then the same position or area is repeatedly operated at specific time intervals, and if the functions of these functional devices are different, then the same position or area is alternately operated at specific time intervals.

6. The adaptive variable spiral motion modular robot for inner pipeline operation according to claim 4, characterized in that: All sub-bodies in the motion module are staggered and hinged in sequence, and the staggered direction and staggered distance of the hinge are the same; the motion modules are staggered by telescopic modules and articulated modules, and the staggered direction is the same as the staggered direction between the sub-segment sub-bodies; the staggered distance between two first sub-bodies or second sub-bodies connected by telescopic modules and articulated modules between two adjacent motion modules is calculated by sub-segment structural parameters, articulated module dimensions, sub-mechanism quantity and dimensions, and connection module quantity and dimensions.

7. The adaptive variable spiral motion modular robot for inner pipeline operation according to claim 1, characterized in that: The steering servo is controlled to change the spiral motion lift angle to achieve the spiral motion pitch required for the operation, or cooperate with the drive motor to meet the speed component requirements during the operation; when the spiral motion lift angle α=0°, the robot circles in situ in the pipeline; when α=90°, the robot moves in a straight line along the axial direction of the pipeline; when 0°<α<90°, the robot performs spiral motion in the pipeline.

8. The adaptive variable spiral motion modular robot for inner pipeline operation according to claim 6, characterized in that: The motion coverage areas of the robot's various motion modules are overlapped to reduce the robot's motion coverage area. When the robot's motion distance along the pipeline axis is N spiral motion pitches L, N ≥ 1 and is an integer, the sub-segment in the latter motion module can just move to the position of the sub-segment in the previous motion module that coincides with its projection along the pipeline axis before moving NL distance along the pipeline axis. At this time, the motion trajectories and motion coverage areas of the two sub-segments coincide.

9. The adaptive variable spiral motion modular robot for inner pipeline operation according to claim 8, characterized in that: When the robot's helical motion angle α is determined, for a certain pipeline to be operated, the robot's helical motion pitch It is also determined that is the pipeline radius, and the robot’s motion coverage area is reduced by changing the offset distance l1 between two adjacent motion modules, that is, ;like ,in is the displacement distance between adjacent sub-bodies, C is the arc length along the circumferential direction between the contact points between the magnetic adsorption module and the inner wall of the pipe at the same relative position of adjacent sub-segments in the motion module when the robot is adsorbed on the inner wall of the pipe, then there is no need to consider the number of sub-segments of the motion module and the connection method, and the robot structural parameters can be changed to meet the requirements. ;like , the fewer the number of sub-segments visible after the robot is projected along the axial direction of the pipeline, the smaller the robot's motion coverage area. At this time, it is necessary to consider the number of sub-segments of the motion module and the connection method. When the number of sub-segments of the longest motion module in the robot is smaller, and the projection of the short motion module along the axial direction of the pipeline after the motion modules are connected coincides more with the projection of the longest motion module along the axial direction of the pipeline, the fewer the number of sub-segments visible after the robot is projected along the axial direction of the pipeline.

10. The adaptive variable spiral motion modular robot for inner pipeline operation according to claim 9, characterized in that: When the robot's spiral motion angle α is not fixed, for a certain pipeline to be operated, the formula Select the helical motion angle α and the number of telescopic module sub-mechanisms between two adjacent motion modules to reduce the robot's motion coverage area; when the number of telescopic module sub-mechanisms between adjacent motion modules in the robot is determined and the same, select α when N=1, and according to The relationship between the number of sub-segments of the motion module and the way they are connected is taken into account to reduce the motion coverage area of ​​the robot.

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