Distributed driven pipeline detection robot

Abstract

The invention discloses a distributed driving pipeline detection robot, and relates to the technical field of pipeline detection robots, the distributed driving pipeline detection robot comprises a robot body, and the robot body is provided with a moving assembly and an auxiliary supporting assembly; the moving assembly comprises a first frame, a plurality of crawler belts are arranged on the first frame, and a plurality of hydraulic rods are arranged on the first frame; the auxiliary supporting assembly comprises a second frame, first hinge seats are symmetrically mounted at the bottom of the second frame, second connecting rods are rotationally connected to the first hinge seats on the two sides, second hinge seats are symmetrically mounted on the two sides of the mounting seat, electric telescopic rods are rotationally connected to the interiors of the second hinge seats on the two sides, and a driving part is mounted at the bottom of the second frame. Through the double structural design of the triangularly-distributed crawler belt and the self-adaptive auxiliary support, the adaptive capacity to different pipeline environments is greatly improved, the robot can adapt to pipelines with different diameters, detection of the pipelines with different specifications can be completed without replacing equipment, and the equipment investment cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline detection robots, in particular to a pipeline detection robot with distributed driving. BACKGROUND

[0002] The pipeline detection robot is an intelligent equipment specially used for internal detection, maintenance and data collection of pipelines. By integrating a moving mechanism, a sensing system, a control system and a data transmission module, the pipeline detection robot can autonomously or semi-autonomously run in a pipeline environment that is difficult for humans to enter or dangerous, such as a deep-buried municipal pipeline network, a high-pressure industrial pipeline or a pipeline for conveying toxic and harmful medium, so as to realize accurate detection of the inner wall condition, structural defects and running state of the pipeline and provide data support for pipeline safety evaluation and maintenance. The pipeline detection robot is essentially an integrated system of mechanical structure, automation control and sensing detection, which solves the pain points of low efficiency, high risk and limited coverage range of traditional manual detection.

[0003] In the Chinese patent with publication number 202321459604.3, a pipeline detection robot is disclosed. The pipeline detection robot is arranged into a front compartment and a rear compartment. The front compartment is provided with a detection assembly for collecting and detecting the condition inside the pipeline. The rear compartment is provided with a power supply assembly for supplying power to the pipeline detection robot. By arranging the components of the pipeline detection robot in the front and rear compartments respectively, the diameter of the pipeline detection robot can be reduced to facilitate entry into smaller pipelines. The front and rear compartments are connected together by a flexible cable. The flexible cable connects the component signals of the front and rear compartments, and at the same time, the flexible cable can be bent. When the pipeline detection robot enters the main pipe from the branch pipe, the water flow or air pressure in the main pipe pushes the front compartment to turn relative to the rear compartment, so that the pipeline detection robot can more easily enter the smaller diameter pipeline for detection. The existing pipeline detector is not convenient to enter the pipeline, and the pipeline detection efficiency and the operation convenience are improved.

[0004] However, the existing pipeline detection robots usually adopt a double-track or four-track moving structure design when in use, trying to achieve stable movement through the contact between the tracks and the inner wall of the pipeline. However, the double-track structure can only provide two-point support, which is prone to side overturning due to imbalance of the center of gravity at the turning section of the pipeline or the local depression of the inner wall, resulting in interruption of detection. Although the four-track structure improves the stability, it is limited by the symmetrical layout and is prone to component interference in small-diameter pipelines. Moreover, the adjustment stroke of the tracks is fixed and cannot adapt to a large change in the pipe diameter, so the pipeline detection robot still needs to replace the track modules to adapt to multiple pipe diameters, which is poor in versatility. SUMMARY

[0005] The purpose of the present application is to provide a pipeline detection robot with distributed driving to solve the problem of poor stability of the existing track-type pipeline robot.

[0006] In order to achieve the above object, the present application provides the following technical scheme: a distributed drive pipeline detection robot, comprising a robot body, a moving assembly and an auxiliary support assembly are arranged on the robot body;

[0007] The moving assembly comprises a frame one, a plurality of tracks are arranged on the frame one, a plurality of mounting racks are mounted on the frame one, a plurality of hydraulic rods are arranged on the frame one, the plurality of hydraulic rods are mounted on the frame one through fixing seats, a plurality of sliding grooves are formed in the plurality of mounting racks, a plurality of movable seats one are movably mounted on the plurality of sliding grooves, a plurality of damping rods are symmetrically connected to the plurality of movable seats one, and the plurality of tracks are rotatably connected to the top ends of the mounting racks through connecting rods one.

[0008] The auxiliary support assembly comprises a frame two, guide rods are fixedly connected to the inside of the frame two, a screw rod is rotatably connected to the middle position of the inner side of the frame two, a movable seat two is movably mounted on the screw rod, hinged seats one are symmetrically mounted on the bottom of the frame two, connecting rods two are rotatably connected to the hinged seats one on both sides, connecting rods three are symmetrically rotatably connected to both sides of the movable seat two, a mounting seat is rotatably connected to the top end of the top of the screw rod, a top plate is fixedly connected to the top end of the mounting seat, hinged seats two are symmetrically mounted on both sides of the mounting seat, electric telescopic rods are rotatably connected to the interiors of the hinged seats two on both sides, rollers are mounted at the ends of the connecting rods two and the electric telescopic rods on both sides, and a driving piece is mounted on the bottom of the frame two.

[0009] Further, a sensing module is mounted on the top of the frame one.

[0010] Further, the tracks are provided in three, and the three tracks are distributed in a triangular manner on the outside of the frame one.

[0011] Further, the number of the mounting racks, the hydraulic rods and the fixing seats is consistent, and they are correspondingly arranged on the frame one.

[0012] Further, the telescopic ends of the hydraulic rods are mounted on the movable seats one, and the ends of the damping rods are rotatably connected to the tracks.

[0013] Further, the auxiliary support assembly is arranged below the moving assembly, and the top plate is mounted at the bottom end of the frame one.

[0014] Further, the movable seat two is movably sleeved on the guide rods on both sides, and the driving piece is in transmission connection with the screw rod.

[0015] Further, the connecting rod three is arranged at the top of the connecting rod two, and the connecting rod two and the connecting rod three are rotatably connected.

[0016] Compared with the prior art, the distributed driving pipeline detection robot provided by the application has the beneficial effects of:

[0017] 1. The dual structure design of triangular distribution track and self-adaptive auxiliary support greatly improves the adaptation ability to different pipeline environments; the three tracks in the moving assembly are triangularly distributed at 120°, cooperating with the track posture adjusting mechanism driven by the hydraulic rod, to adapt to conventional pipe diameters; at the same time, the auxiliary support assembly drives the rollers to extend and retract through the screw rod and connecting rod mechanism, to adapt to different diameter pipelines, so that different specification pipeline detection can be completed without replacing the equipment, thereby reducing the equipment investment cost.

[0018] 2. Through the design of the screw rod, connecting rod mechanism and electric telescopic rod in the auxiliary support assembly, the real-time response to the change of the pipeline environment can be realized; when the track is insufficiently supported due to sudden change of the pipe diameter, the electric telescopic rod can be quickly elongated to tightly press against the inner wall, to provide temporary auxiliary support; and when the pipeline turns, the support pressure is adjusted through the extension and retraction difference of the two side telescopic rods, to assist the robot to smoothly turn, avoid the inclination caused by the centrifugal force, prevent the robot from deviating during the detection process, thereby improving the accuracy of the robot detection, providing reliable technical support for the accurate identification and safety evaluation of pipeline defects, and being especially suitable for key fields such as petroleum and chemical pipelines and high-pressure gas pipelines with extremely high detection accuracy requirements. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0020] Figure 1 The device overall structure schematic diagram provided by the embodiment of the present application is shown in the figure.

[0021] Figure 2 The moving assembly structure schematic diagram provided by the embodiment of the present application is shown in the figure.

[0022] Figure 3 The mounting bracket structure schematic diagram provided by the embodiment of the present application is shown in the figure.

[0023] Figure 4 The chute structure schematic diagram provided by the embodiment of the present application is shown in the figure.

[0024] Figure 5 The auxiliary support assembly structure schematic diagram provided by the embodiment of the present application is shown in the figure.

[0025] Figure 6 The mounting seat structure schematic diagram provided by the embodiment of the present application is shown in the figure.

[0026] Marked in the figure:

[0027] 1, robot body; 2, moving assembly; 3, auxiliary support assembly; 21, frame one; 22, track; 23, sensing module; 24, mounting rack; 25, hydraulic rod; 26, fixed seat; 27, sliding groove; 28, movable seat one; 29, shock absorbing rod; 210, connecting rod one; 31, frame two; 32, guide rod; 33, screw rod; 34, movable seat two; 35, hinged seat one; 36, connecting rod two; 37, connecting rod three; 38, mounting seat; 39, top plate; 310, hinged seat two; 311, electric telescopic rod; 312, roller; 313, driving piece. DETAILED DESCRIPTION

[0028] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below in combination with the drawings.

[0029] As shown in the accompanying Figure 1 to the accompanying Figure 6 drawings:

[0030] Example one:

[0031] The present application provides a kind of distributed drive's pipeline detection robot, including robot body 1, moving assembly 2 and auxiliary support assembly 3 are equipped on robot body 1;

[0032] The mobile assembly 2 comprises a frame 21 (the frame 21 is made of high-strength aluminum alloy material, which can reduce the overall weight of the robot and reduce the driving load of the track 22, while the tensile strength can reach 310 MPa, which can withstand the impact force caused by the protrusions on the inner wall of the pipeline and collisions to avoid deformation of the frame 21), a plurality of tracks 22 are arranged on the frame 21, and the three tracks 22 are arranged in a triangular distribution on the outer side of the frame 21 (the track 22 is preferably made of a composite structure of rubber and metal skeleton, the outer layer rubber material is high wear-resistant nitrile rubber, and the hardness is controlled at 70-80 degrees of Shore, which can enhance the friction with the inner wall of the pipeline to avoid slipping, and reduce the wear of the inner wall of the pipeline; the inner layer metal skeleton is made of spring steel material and has a certain elasticity, which can slightly deform with the curvature of the inner wall of the pipeline to increase the contact area; the surface of the track 22 is uniformly distributed with anti-skid protrusions to further enhance the grip on the inner wall of the wet or oily pipeline; each track 22 is provided with an independent direct-current servo motor (power 50-100W, rotating speed 0-300rpm), which drives the track 22 to rotate through a speed reducer, and the independent driving design realizes distributed power control, and the speed difference of the different tracks 22 can be adjusted to realize steering (for example, the left track 22 is decelerated, and the right track 22 is accelerated to realize left steering), and the minimum steering radius can be controlled to be 1.5 times the diameter of the robot itself, which can meet the steering requirements of the narrow space in the pipeline), and a sensing module 23 is mounted on the top of the frame 21, and the sensing module 23 is movably mounted on the top of the frame 21 through threads {the top of the frame 21 is provided with an installation interface with internal threads, and the bottom of the sensing module 23 is provided with an external thread joint, so that the sensing module 23 can be quickly disassembled and assembled through thread connection, compared with bolt fixing, the thread connection does not need additional tools, and a single person can complete the module replacement within 30 seconds; meanwhile, a nitrile rubber sealing ring is arranged at the thread connection to prevent water vapor and dust in the pipeline from entering the module, and to protect the electronic components; the sensing module 23 adopts a standardized interface and a modular design, different functional modules can be replaced according to detection requirements, and common types include: ① high-definition image detection module: provided with a 1080P wide-angle camera (field of view 120°) and an LED fill light (brightness adjustable), which can shoot images of the inner wall of the pipeline in real time, and identify defects such as cracks, corrosion and foreign matters; ② ultrasonic flaw detection module: integrated with an ultrasonic probe (frequency 5-10MHz), which can detect the wall thickness and weld defects of the pipeline, the detection depth can reach 50mm, and the accuracy is ±0.1mm; ③ inner diameter measurement module: a laser ranging sensor (measurement range 50-1000mm, accuracy ±0.5mm) is used to collect the inner diameter data of the pipeline in real time to determine whether there is pipe diameter deformation; ④ data transmission module: the sensing module 23 is provided with a wireless transmission module (supporting 4G / 5G or LoRa protocol) to transmit the detection data to the ground control system in real time; meanwhile, a storage chip (capacity 128GB) is arranged in the module to locally backup data to avoid data loss caused by signal interruption}.

[0033] A plurality of mounting racks 24 are mounted on the frame 21, a plurality of hydraulic rods 25 are arranged on the frame 21, the plurality of hydraulic rods 25 are all mounted on the frame 21 through fixing seats 26, the plurality of mounting racks 24, the hydraulic rods 25 and the fixing seats 26 are consistent in number and are correspondingly arranged on the frame 21, a sliding groove 27 is arranged on each mounting rack 24, each track 22 corresponds to one mounting rack 24 (a total of three), the mounting rack 24 preferably adopts an "L-shaped" steel plate structure (thickness 8-10mm, material Q235 steel), one end is fixed on the frame 21 through bolts, and the other end extends to the inner side of the track 22 and serves as a support and guide base of the track 22; the sliding groove 27 arranged on the mounting rack 24 is a "T-shaped groove" structure (groove width 15mm, groove depth 20mm), a movable seat 28 is arranged at the bottom of the T-shaped sliding block and cooperates with the sliding groove 27 to realize sliding - the T-shaped groove design can prevent the movable seat 28 from sliding off the sliding groove 27 and improve the structural stability; the inner wall of the sliding groove 27 is coated with a polytetrafluoroethylene coating, the friction coefficient is only 0.04, the resistance when the movable seat 28 slides is reduced, and the posture adjustment is smooth}, a plurality of movable seats 28 are movably mounted on the plurality of sliding grooves 27, and the hydraulic rods 25 are mounted at the ends of the movable seats 28{the hydraulic rod 25 preferably selects a small high-pressure hydraulic push rod (stroke 50-100mm, thrust 500-1000N, response speed 0.5s), which can accurately control the extension amount and adapt to the slight height change of the inner wall of the pipeline, the fixing seat 26 preferably adopts a "U-shaped" cast steel structure and is fixed on the frame 21 through four M12 bolts, the inside of the fixing seat 26 is provided with a rubber buffer pad, which can absorb the vibration of the hydraulic rod 25 during work and avoid noise and component wear; each hydraulic rod 25 corresponds to one fixing seat 26, and each hydraulic rod 25 corresponds to one fixing seat 26, so that the posture adjustment of each track 22 is independently controllable and does not interfere with each other}, a plurality of shock-absorbing rods 29 are symmetrically and rotatably connected to the plurality of movable seats 28, and the shock-absorbing rods 29 are rotatably connected to the tracks 22 at the ends{each movable seat 28 corresponds to two shock-absorbing rods 29 (a total of six), the shock-absorbing rod 29 adopts a composite structure of hydraulic damping and spring (length 80-120mm, damping coefficient 500N·s / m), one end is rotatably connected to the movable seat 28 through a pin shaft, and the other end is rotatably connected to the metal framework of the track 22; when the track 22 encounters a protrusion on the inner wall of the pipeline, the shock-absorbing rod 29 can absorb impact energy through hydraulic damping (buffer time 0.3-0.5s), while the spring can assist in resetting to avoid the track 22 from impact off the inner wall; the rotating connection design (pin shaft matched with self-lubricating bearing) of the shock absorber 29 can ensure that the track 22 rotates flexibly without jamming during posture adjustment, and multiple tracks 22 are all connected to the top end of the mounting frame 24 through the connecting rod 210 (the mounting frame 24 is preferably made of high-strength stainless steel rod with a diameter of 10 mm and a length of 60-80 mm), and the two ends are connected to the top end of the mounting frame 24 and the metal framework of the track 22 through joint bearings, respectively, which can realize 360° rotation, ensuring that the track 22 can adapt to any angle change (rotation angle range -30° to +30°) when rotating around the connecting rod 210.

[0034] Working principle: The frame 21 is the load-bearing matrix of the mobile assembly 2, and the three tracks 22 distributed triangularly on the outside are the core walking components of the robot. The triangular distribution design can ensure that the robot always maintains three-point contact with the inner wall of the pipeline, even if it faces a small change in the inner diameter of the pipeline or a locally uneven inner wall, it can maintain stable support and avoid tipping over; during operation, the track 22 is powered by the built-in drive unit (such as a motor) to roll along the inner wall of the pipeline, driving the robot body 1 to move forward, backward, or turn, meeting the movement needs of different detection paths.

[0035] When the inner wall of the pipeline has obvious protrusions, depressions, or changes in diameter, the hydraulic rod 25 cooperates with the shock absorber 29 and the movable seat 28 to realize adaptive posture adjustment of the track 22. The hydraulic rod 25 is installed on the frame 21 through the fixed seat 26, and its telescopic end is connected to the movable seat 28, which can slide along the sliding groove 27 on the mounting frame 24, while the shock absorber 29 at the end of the movable seat 28 is connected to the track 22;

[0036] When the height of the inner wall of the pipeline changes, the hydraulic rod 25 extends or retracts according to the instructions of the control system, pushing the movable seat 28 to slide up and down along the sliding groove 27, and then driving the track 22 to rotate around the connecting rod 210 (the rotating connection point of the track 22 and the mounting frame 24) through the shock absorber 29, adjusting the contact angle and pressure of the track 22 with the inner wall of the pipeline. The shock absorber 29 can also absorb the impact and vibration of the track 22 during adjustment, avoiding the transmission of vibration to the frame 21 and ensuring the detection accuracy of the sensing module 23.

[0037] The sensing module 23 movably installed on the top of the frame 21 can be replaced according to the detection requirements (such as a camera, an ultrasonic flaw detection sensor, a pipe inner diameter measurement sensor, etc.). During operation, the sensing module 23 collects data such as images, structural defects, and sizes of the inside of the pipe in real time, and transmits the data to the control system, so as to realize real-time monitoring and recording of the inside condition of the pipe. The threaded installation mode facilitates the maintenance or upgrading of the sensing equipment in the later period, and improves the versatility of the robot.

[0038] Embodiment two:

[0039] The embodiment is basically the same as the previous embodiment, except that the auxiliary support assembly 3 is arranged below the moving assembly 2. The auxiliary support assembly 3 includes a frame two 31, and the inside of the frame two 31 is fixedly connected with a guide rod 32 in a symmetrical manner. A lead screw 33 is rotatably connected to the middle position of the inner side of the frame two 31 (the lead screw 33 preferably adopts a ball screw structure to ensure the accuracy of the lifting adjustment of the movable seat two 34. The top end of the lead screw 33 is rotatably connected to the mounting seat 38 through a deep groove ball bearing, and the bottom end is connected to the output shaft of the driving part 313 through a shaft coupling. A dust cover is sleeved on the outside of the lead screw 33 to prevent dust and water vapor in the pipe from entering the ball nut inside, thereby avoiding wear and tear that may cause a decrease in transmission accuracy). The movable seat two 34 is movably installed on the lead screw 33, and the movable seat two 34 is movably sleeved on the two guide rods 32 at both ends. The frame two 31 is symmetrically provided with a hinge seat one 35 at the bottom, and the hinge seat one 35 is rotatably connected with a connecting rod two 36. The movable seat two 34 is symmetrically rotatably connected with a connecting rod three 37, and the connecting rod three 37 is arranged on the top of the connecting rod two 36. The connecting rod two 36 and the connecting rod three 37 are rotatably connected (both the connecting rod two 36 and the connecting rod three 37 preferably adopt high-strength stainless steel rods, and the length is designed according to the support range. The rod body is formed into a fork joint at both ends by precise forging, a connecting hole is formed at the joint, and a self-lubricating bearing is embedded in the hole to ensure smooth rotation of the connecting rod without jamming).

[0040] The top end of the screw rod 33 is rotationally connected with a mounting seat 38, the top end of the mounting seat 38 is fixedly connected with a top plate 39, the top plate 39 is installed at the bottom end of the frame one 21, the two sides of the mounting seat 38 are symmetrically installed with hinged seats two 310 (the hinged seats two 310 are preferentially made of cast steel, are fixed through bolts, are internally installed joint bearings, and the tail pins of the electric telescopic rods 311 are inserted into the joint bearings, so that the electric telescopic rods 311 can be multi-angle rotated; the rotation angle range of the hinged seats two 310 and the electric telescopic rods 311 is-45° to +45°, so that the electric telescopic rods 311 can adjust the supporting angle according to the curvature of the inner wall of the pipeline, realize active clamping and attitude correction, if the pipeline turns, one side of the electric telescopic rod 311 is elongated, the other side is shortened, the electric telescopic rod 311 assists the robot in turning and maintaining balance), the two sides of the hinged seats two 310 are internally rotationally connected with the electric telescopic rods 311 (the electric telescopic rods 311 are preferentially selected to be small DC electric push rods, the push rod body is made of an aluminum alloy shell, is internally provided with a planetary gear reducer and a limit switch, and is prevented from being damaged due to overstroke), the two sides of the connecting rods two 36 and the ends of the electric telescopic rods 311 are all installed with the rollers 312 (the rollers 312 are preferentially made of a composite structure of a rubber wheel body and a metal hub, the wheel body is made of polyurethane rubber, can reduce frictional damage to the inner wall of the pipeline, and can enhance the grip, the hub is made of aluminum alloy, is connected with the connecting rods two 36 and the ends of the electric telescopic rods 311 through shafts, so that the rollers 312 can be flexibly rolled, the resistance of the robot when moving is reduced, the rollers 312 can have sufficient contact area with the inner wall of the pipeline, and the supporting stability is improved), and the bottom of the frame two 31 is installed with a driving part 313, the driving part 313 is in transmission connection with the screw rod 33 (the driving part 313 is preferentially selected to be a DC servo motor, is provided with a planetary gear reducer, can ensure that the output torque meets the transmission requirement of the screw rod 33, can feed back the rotation speed and position information in real time, realizes the precision of the lifting position of the movable seat two 34, is fixed on the bottom of the frame two 31 through a motor support, rubber damping pads are additionally installed between the support and the frame, vibration of the motor when operating is reduced and is not transmitted to the frame, the motor shell is designed to have an IP67 protection level, can prevent water vapor and dust in the pipeline from invading the inside of the motor, and can ensure stable operation in a humid and dusty pipeline environment).

[0041] Working principle:

[0042] The frame two 31 of the auxiliary supporting assembly 3 is connected with the frame one 21 through the top plate 39, the driving part 313 (such as a servo motor) installed at the bottom of the frame two 31 is a power source for auxiliary supporting adjustment, an output end of the driving part 313 is in transmission connection with the screw rod 33 in the middle of the inner side of the frame two 31, can drive the screw rod 33 to reversely rotate, the guide rods 32 fixedly installed inside the frame two 31 limit the movement of the movable seat two 34, the movable seat two 34 is movably sleeved on the screw rod 33 and is penetrated through the guide rods 32 at two ends, so that a straight line movement structure of the screw rod 33 transmission plus the guide rod 32 limiting is formed:

[0043] When the driving member 313 drives the screw rod 33 to rotate forward, the movable seat two 34 slides upward along the guide rod 32; on the contrary, when the screw rod 33 rotates reversely, the movable seat two 34 slides downward; the cross-rotating connection of the connecting rod three 37 on the two sides of the movable seat two 34 and the connecting rod two 36 rotatingly connected to the upper rotating connection of the hinge seat one 35 at the bottom of the frame two 31, the cross-rotating connection of the connecting rod three 37 at the top of the connecting rod two 36, the upward and downward sliding of the movable seat two 34 changes the cross angle of the connecting rod two 36 and the connecting rod three 37:

[0044] When the movable seat two 34 slides upward, the connecting rod three 37 pushes the connecting rod two 36 to rotate outward around the hinge seat one 35, so that the roller 312 at the end of the connecting rod two 36 is away from the center of the frame two 31, and the support range is expanded;

[0045] When the movable seat two 34 slides downward, the connecting rod three 37 pulls the connecting rod two 36 to rotate inward, so that the roller 312 is close to the center of the frame two 31, and the support range is reduced;

[0046] The roller 312 is in contact with the inner wall of the pipeline, and through the above adjustment, it can be adapted to pipelines with different diameters, and at the same time, the roller 312 rolls when the robot moves, reducing the frictional resistance with the inner wall of the pipeline;

[0047] The hinge seat two 310 rotatingly connected to the upper end of the electric telescopic rod 311 on the two sides of the mounting seat 38 (fixed at the bottom end of the top plate 39 and rotatingly connected to the top end of the screw rod 33) further improves the flexibility of auxiliary support:

[0048] The electric telescopic rod 311 is provided with the roller 312 at the end thereof, which can adjust the length through self-telescopic adjustment, cooperate with the angle adjustment of the connecting rod two 36, and realize the “active clamping” of the inner wall of the pipeline: for example, at the turning place of the pipeline, one side of the electric telescopic rod 311 is elongated, and the other side is appropriately shortened, the pressure difference of the rollers 312 on the two sides assists the robot to turn, while maintaining the overall balance;

[0049] When the track 22 of the moving assembly 2 is temporarily insufficiently supported due to defects of the inner wall of the pipeline, the electric telescopic rod 311 can be quickly elongated, and the roller 312 is in contact with the inner wall of the pipeline to provide temporary auxiliary support, so as to avoid the inclination of the robot;

[0050] The cooperation of the electric telescopic rod 311 and the connecting rod two 36 enables the auxiliary support assembly 3 to realize wide-range diameter adaptation and fine attitude correction, and greatly improves the stability of the robot in the complex pipeline environment.

[0051] The above only describes certain exemplary embodiments of the present application by way of illustration, and it is needless to say that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present application. Therefore, the above figures and description are illustrative in nature and should not be understood as limiting the scope of protection of the claims of the present application.

Claims

1. A distributed drive pipe inspection robot comprising a robot body (1), characterized in that, The robot body (1) is provided with a moving assembly (2) and an auxiliary support assembly (3); The moving assembly (2) comprises a frame one (21), a plurality of tracks (22) are arranged on the frame one (21), a plurality of mounting frames (24) are mounted on the frame one (21), a plurality of hydraulic rods (25) are arranged on the frame one (21), the plurality of hydraulic rods (25) are mounted on the frame one (21) through the fixing seats (26), a plurality of sliding grooves (27) are arranged on the plurality of mounting frames (24), a plurality of movable seats one (28) are movably mounted on the plurality of sliding grooves (27), a plurality of damping rods (29) are symmetrically and rotatably connected to the plurality of movable seats one (28), and the plurality of tracks (22) are rotatably connected to the top ends of the mounting frames (24) through connecting rods one (210). The auxiliary support assembly (3) comprises a frame two (31), the frame two (31) is internally and symmetrically fixedly connected with guide rods (32), a lead screw (33) is rotatably connected to the middle position of the inner side of the frame two (31), a movable seat two (34) is movably mounted on the lead screw (33), hinged seats one (35) are symmetrically mounted on the bottom of the frame two (31), connecting rods two (36) are rotatably connected to the hinged seats one (35) on both sides, connecting rods three (37) are symmetrically and rotatably connected to the movable seat two (34) on both sides, a mounting seat (38) is rotatably connected to the top end of the top of the lead screw (33), a top plate (39) is fixedly connected to the top end of the mounting seat (38), hinged seats two (310) are symmetrically mounted on the mounting seat (38) on both sides, electric telescopic rods (311) are rotatably connected to the interiors of the hinged seats two (310) on both sides, and rollers (312) are mounted on the ends of the connecting rods two (36) and the electric telescopic rods (311) on both sides. The frame two (31) is provided with a driving piece (313).

2. The distributed drive pipe inspection robot of claim 1, wherein, The frame one (21) is provided with a sensing module (23) which is movably mounted on the top of the frame one (21) through threads.

3. The distributed drive pipe inspection robot of claim 1, wherein, The tracks (22) are provided in three, and the three tracks (22) are distributed in a triangular manner on the outside of the frame one (21).

4. The distributed drive pipe inspection robot of claim 1, wherein, The number of the mounting frames (24), the hydraulic rods (25) and the fixing seats (26) is consistent, and they are correspondingly arranged on the frame one (21).

5. The distributed drive pipe inspection robot of claim 1, wherein, The telescopic ends of the hydraulic rods (25) are mounted on the movable seats one (28), and the ends of the damping rods (29) are rotatably connected to the tracks (22).

6. The distributed drive pipe inspection robot of claim 1, wherein, The auxiliary support assembly (3) is arranged below the moving assembly (2), and the top plate (39) is mounted on the bottom end of the frame one (21).

7. The distributed drive pipe inspection robot of claim 1, wherein, The movable seat two (34) is movably sleeved on the guide rods (32) on both sides, and the driving piece (313) is in transmission connection with the lead screw (33).

8. The distributed drive pipe inspection robot of claim 1, wherein, The connecting rods three (37) are arranged on the top of the connecting rods two (36), and the connecting rods two (36) and the connecting rods three (37) are in rotational connection.

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