Outer pipeline obstacle crossing carrying robot in complex environment

Abstract

The invention belongs to the technical field of outer pipeline obstacle-crossing carrying robots, aims to complete the detection task of the whole circumference of the surface of an outer pipeline in a narrow working space, and discloses an outer pipeline obstacle-crossing carrying robot in a complex environment, which comprises a self-adaptive clamping unit, a middle motor joint bending obstacle-crossing unit and a combined wheel type moving unit, the self-adaptive clamping units are connected to the front portion and the rear portion of the middle motor joint bending obstacle crossing unit, the combined wheel type moving unit is connected with the self-adaptive clamping units, a connecting rod body serves as a power source for active clamping of a single-side arm through a worm and gear, and the robot conducts inchworm type axial movement through the middle motor joint bending obstacle crossing unit. Front-back movement and directional rotation are carried out through the combined wheel type moving unit. The device can adapt to space inclined and bent pipeline structures, has the capacity of treating obstacles such as pipe diameter abrupt change, pipeline hanging brackets and bosses, and has certain load capacity.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of outer pipeline obstacle-carrying robot, and particularly relates to an outer pipeline obstacle-carrying robot in a complex environment. BACKGROUND

[0002] As an important component in industrial facilities, the health status of a pipeline directly affects the safety and efficiency of the entire system. However, the pipeline faces many challenges during long-term use, such as corrosion, aging, mechanical damage, and external environmental influences, which can lead to energy leakage, economic losses, and even serious safety accidents. Therefore, real-time monitoring and efficient maintenance of the pipeline health status are particularly important.

[0003] Current pipeline detection mainly relies on manual inspection and auxiliary equipment, which has poor adaptability in complex pipeline environments. Pipelines are often laid in narrow spaces, high-altitude areas, or extreme working conditions (such as the presence of toxic gases, high temperatures, and high pressures). Manual detection is risky and difficult to implement. In recent years, with the development of robot technology, pipeline detection based on robot technology has matured and gradually become an innovative solution to replace traditional methods.

[0004] However, the widespread application of robot technology in pipeline detection still faces many technical challenges. Existing pipeline robots are mostly suitable for horizontal or small-angle pipelines, with limited load capacity, making it difficult to adapt to large-scale changes in pipe diameter or rough pipeline environments. Moreover, common pipeline installation scenarios often have many obstacles, such as sudden changes in pipe diameter, hangers for vertically suspended pipelines, protrusions on the pipeline surface, flanges, and other obstacles, which pose high requirements on the robot detection platform.

[0005] Currently, one of the main difficulties faced by pipeline external detection operations is the mobility of the robot in a narrow space. The commonly used wheel-type solution often makes the entire machine too large to enter the work area. In addition, due to the complexity of the outer surface of the pipeline, such as bending and connecting protrusions, existing robots often have difficulty in achieving obstacle crossing while ensuring adsorption stability. In addition, higher requirements are placed on the movement ability of the robot in many operation scenarios, requiring the robot to have axial and circumferential movement capabilities outside the pipeline. In many task scenarios, the robot needs to complete the detection task of the entire outer pipeline surface in a narrow working space. SUMMARY

[0006] The purpose of the present application is to overcome the defects of the prior art and provide an outer pipeline obstacle-carrying robot in a complex environment that can adapt to space inclination, curved pipeline configurations, and have the ability to handle obstacles such as sudden changes in pipe diameter, pipeline hangers, and protrusions, as well as a certain load capacity.

[0007] To achieve the above objectives, this application provides the following technical solution: A complex-environment pipeline obstacle-crossing transport robot includes an adaptive gripping unit, a centrally mounted motor joint bending obstacle-crossing unit, and a combined wheeled movement unit. The adaptive gripping unit is connected to both the front and rear of the centrally mounted motor joint bending obstacle-crossing unit, and the combined wheeled movement unit is connected to the adaptive gripping unit. The linkage body of the adaptive gripping unit uses a worm gear as the power source for active clamping of one arm. The centrally mounted motor joint bending obstacle-crossing unit enables the robot to perform inchworm-like axial movement in a certain posture. The combined wheeled movement unit uses a synchronous belt and Mecanum omnidirectional wheels to move back and forth and rotate in direction under clamping pressure, realizing the robot's axial and axial movement on the pipeline.

[0008] In some embodiments, the adaptive clamping unit has a clamping shaft main housing, a gripper body, and a worm motor. The gripper body is connected to the connecting rod body, the worm motor is connected to the clamping shaft main housing, and the worm wheel is connected to the worm motor.

[0009] In some embodiments, a torsion spring hinge is provided at the rotating joint connecting the gripper body and the connecting rod body.

[0010] In some embodiments, the worm gear and the worm motor are connected by a transmission pin, the aperture in the middle of the worm gear is fitted onto the rotating shaft, and is fixed to the side plate of the main housing of the clamping rotating shaft by a bearing.

[0011] In some embodiments, the connecting rod body includes a worm gear connector and an aluminum column reinforcing plate. One end of the worm gear connector is fixed to the worm gear shaft through a mounting hole, and the other end is connected to the aluminum column reinforcing plate.

[0012] In some embodiments, the mid-mounted motor joint bending obstacle-crossing unit has an intermediate layer adapter plate and a rotating joint high-torque motor. The rotating joint high-torque motor connects the intermediate layer adapter plate and the clamping shaft main housing. By driving the rotating joint high-torque motor, the clamping shaft main housing and the intermediate layer adapter plate rotate around the shaft through the joint connection.

[0013] In some embodiments, the intermediate layer motherboard is connected to the intermediate layer adapter board via an M4 adapter block.

[0014] In some embodiments, the combined wheeled mobile unit has a wheel set bracket intermediate plate, a wheel set bracket and a wheel movement motor, the wheel movement motor is connected to the wheel set bracket intermediate plate, the synchronous belt is connected to the wheel movement motor, and the wheel set bracket is installed at the end grippers on both sides of the forearm and connected to the torsion spring hinge.

[0015] In some embodiments, one end of the timing belt is fitted onto the shaft of the wheel motor, and the other end is fitted onto the timing belt fixing sleeve. The timing belt fixing sleeve is mounted on a stepped shaft, which passes through the shaft hole on the wheel set bracket and is connected by a rolling bearing.

[0016] In some embodiments, the Mecanum omnidirectional wheel is mounted on the left and right ends of the stepped shaft and connected by a clamping coupling.

[0017] Compared with existing technologies, the external pipeline obstacle-crossing transport robot for complex environments provided in this application has the following advantages: This application possesses compliant motion capability along the pipeline axis and rotation capability along the pipeline circumferential direction. Furthermore, to address complex obstacles in the pipeline environment, the robot can adapt to changes in pipe diameter and inclination angle, effectively improving its passage performance at typical obstacles such as bends, flanges, and hangers. Utilizing two adaptive gripping units in the front and rear arms, as well as a centrally located motor joint bending obstacle-crossing unit, the robot possesses the ability to perform multi-degree-of-freedom deformation and obstacle-crossing motion in complex pipeline spaces.

[0018] The robot has a high degree of environmental adaptability. The worm gear and connecting rod body can ensure that the gripper can adapt to and fit the arc surface of the outer pipe wall, so as to achieve a tight clamping between the robot and the outer pipe wall, which greatly improves the stability of the robot's operation in the outer pipe transport process.

[0019] Furthermore, the centrally mounted motor joint bending obstacle-crossing unit adopts an inchworm-like motion, utilizing a high-torque motor at the rotating joint to control the rotation of the main housing of the clamping shaft, enabling the robot to achieve different pitch variations on the outer surface of the pipe. The motion process is simple and stable, allowing the robot to move inchworm-like along the pipe axis in a certain posture and to overcome obstacles at bends and pipe connections.

[0020] Furthermore, the robot's linkage body and gripper body are connected by a hinge, which to some extent counteracts the force of the wheel assembly naturally drooping under gravity. At the same time, it can also ensure that the gripping mechanism can better adapt to changes in different pipe diameters during operation. Moreover, the hinge connection structure is simple, easy to install, and can be easily disassembled and assembled when maintenance or replacement of connecting parts is required.

[0021] Furthermore, the robot's ring-shaped combined wheel mobile unit adopts a synchronous belt drive. The wheel motor rotates, driving the Mecanum omnidirectional wheel to rotate, thereby enabling the robot to move on the external pipeline. The synchronous belt drive achieves a compact structure and stable and smooth transmission for the combined wheel mobile unit. Attached Figure Description

[0022] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the technical description will be briefly introduced below.

[0023] Figure 1 A front and side view of the external pipeline obstacle-crossing transport robot for complex environments provided in this application; Figure 2 Right side view of the external pipeline obstacle-crossing transport robot for complex environments provided in this application; Figure 3 A posture diagram of the forearm adaptive gripping unit being raised on the external pipe of the obstacle-crossing transport robot in the complex environment provided in this application; Figure 4 A posture diagram of the external pipeline obstacle-crossing transport robot provided in this application after its forearm has crossed an obstacle on the external pipeline; Figure 5 for Figure 4 A posture diagram of a complex environment external pipeline obstacle crossing transport robot with a circumferential rotation. Figure 6 The posture diagram of the external pipeline obstacle-crossing transport robot provided in this application, showing the rear arm adaptive gripping unit lifting on the external pipeline.

[0024] Explanation of reference numerals in the attached figures: 1. Intermediate layer adapter plate; 2. Shaft bolts and nuts; 3. Main housing for clamping shaft; 4. Worm gear connector; 5. Aluminum column reinforced aluminum plate; 6. Gripper body; 7. Torsion spring hinge; 8. Wheel set bracket intermediate plate; 9. Worm motor; 10. Rotary joint high torque motor; 11. Mecanum omnidirectional wheel; 12. Wheel set bracket; 13. M4 adapter block; 14. Intermediate layer main plate; 15. Worm gear; 16. Wheel movement motor; 17. Clamping coupling; 18. Synchronous belt. Detailed Implementation

[0025] The following detailed description provides further details on specific implementation methods.

[0026] like Figures 1 to 6 As shown, this application provides a complex environment external pipeline obstacle-crossing transport robot, including an adaptive gripping unit, a centrally mounted motor joint bending obstacle-crossing unit, and a combined wheeled movement unit. The adaptive gripping unit includes a forearm adaptive gripping unit and a rear arm adaptive gripping unit. The forearm adaptive gripping unit and the rear arm adaptive gripping unit have the same structure, only their installation positions are different. The forearm adaptive gripping unit is located on the front side of the robot, and the rear arm adaptive gripping unit is located on the rear side of the robot.

[0027] The adaptive clamping unit adopts a worm gear driven clamping method, the central motor joint bending obstacle crossing unit adopts an inchworm-like motion method, and the combined wheel-type moving unit adopts a belt drive + Mecanum omnidirectional wheel drive method.

[0028] The adaptive clamping unit includes a clamping shaft main housing 3, a worm gear connector 4, an aluminum column reinforcing plate 5, a gripper body 6, a torsion spring hinge 7, a worm motor 9, and a worm gear 15. The worm motor 9 and the upper machined parts of the clamping shaft main housing 3 are connected by threads. The worm gear 15 is connected to the worm motor 9 by a drive pin. The open hole in the middle of the worm gear is fitted onto the shaft and fixed to the side plate of the clamping shaft main housing 3 by bearings. The worm gear connector 4 is connected to the clamping shaft main housing 3 via the worm gear shaft and is fastened to the aluminum column reinforcing plate 5 by threads. The worm gear connector 4 and the aluminum column reinforcing plate 5 form a connecting rod body. The torsion spring hinge 7 is located at the rotating joint connecting the connecting rod body and the gripper body 6.

[0029] Preferably, the connecting rod body relies on the worm gear 15 as the power source for the active clamping of the single-sided arm. The torsion spring hinge 7 can, to a certain extent, counteract the force of the wheel assembly naturally sagging under gravity, while also ensuring that the adaptive clamping unit can better adapt to changes in pipe diameter during operation. The worm gear 15 can achieve a large transmission ratio while maintaining smooth transmission, and its compact structure reduces vibration and noise, ensuring the motion performance of the clamping mechanism.

[0030] The forearm adaptive clamping unit and the rear arm adaptive clamping unit are driven by a motor to drive the worm gear 15, so that the main body of the connecting rod rotates around the worm gear shaft, realizing the adaptive clamping and pressing of the robot arm on pipes of different diameters, and providing sufficient clamping and pressing force.

[0031] The mid-mounted motor joint bending obstacle-crossing unit includes an intermediate layer adapter plate 1, a shaft bolt and nut 2, a high-torque rotating joint motor 10, an M4 adapter block 13, and an intermediate layer main board 14. The intermediate layer adapter plate 1 and the upper-layer machined part of the main housing 3 holding the rotating shaft are connected at two joints. At one joint, the high-torque rotating joint motor 10 is threadedly connected to the intermediate layer adapter plate 1, and the high-torque rotating joint motor 10 is threadedly fastened to the upper-layer machined part of the main housing 3 holding the rotating shaft using a coupling. At the other joint, the shaft bolt and nut 2 connect the two. The intermediate layer main board 14 is indirectly connected to the intermediate layer adapter plate 1 via the M4 adapter block 13, and is fastened using a threaded connection.

[0032] Preferably, the intermediate layer main board 14 and the intermediate layer adapter plate 1 form the intermediate layer body. The main housing 3 of the clamping shaft and the intermediate layer body can rotate smoothly around the shaft through the joint connection. This allows the central motor joint bending obstacle crossing unit to move along the pipe axis in a certain posture and to cross obstacles at the connection protrusion between the bend and the pipe, so that the robot has strong movement and obstacle crossing performance.

[0033] The central motor joint bending obstacle-crossing unit relies on the rotation of the high-torque motor 10 of the rotating joint to enable the main housing 3 of the clamping shaft and the intermediate layer adapter plate 1 to rotate smoothly around the shaft through the joint connection. The robot can move along the pipe axis in a certain posture like an inchworm and can cross the obstacles at the connection between the bend and the pipe.

[0034] The combined wheeled mobile unit includes a wheel set support intermediate plate 8, Mecanum omnidirectional wheels 11, a wheel set support 12, a wheel motion motor 16, a clamping coupling 17, and a timing belt 18. The combined wheeled mobile unit ensures that the robot can still move axially and longitudinally on the pipeline even under large clamping pressure.

[0035] The wheel assembly bracket 12 is installed at the end grippers on both sides of the clamping structure arm and is connected to the torsion spring hinge 7 via a wheel rod connector, for example, by a threaded connection. The wheel motion motor 16 is threadedly connected to the wheel assembly bracket intermediate plate 8. One end of the timing belt 18 is fitted onto the shaft of the wheel motion motor 16, and the other end is fitted onto the timing belt fixing sleeve, which is installed on the stepped shaft. The stepped shaft passes through the shaft hole on the wheel assembly bracket 12 and is connected by a rolling bearing. Mecanum omnidirectional pulleys 11 are installed at both ends of the stepped shaft and are connected by a clamping coupling 17.

[0036] Preferably, the wheel motor 16 can drive the stepped shaft to rotate via a synchronous belt drive. The couplings connected to both ends of the stepped shaft provide driving force to the Mecanum omnidirectional wheels 11 on both sides of the robot body, enabling the robot to perform axial and circumferential movements relative to the pipe while the two arms are clamping the pipe section. The synchronous belt fixing sleeve is radially fixed using a key connection, and axially fixed using the stepped shaft shoulder to prevent axial vibration of the synchronous belt 18 during robot movement.

[0037] This application relies on an adaptive gripping unit, a centrally located motor joint bending obstacle-crossing unit, and a combined wheeled movement unit to achieve compliant motion along the pipe's axial direction, circumferential rotation along the pipe, and obstacle-crossing capability to overcome obstacles at the pipe bends and pipe connection protrusions. It should be noted that the rollers of the Mecanum omnidirectional wheel 11 in this application are positioned at a 45° angle to the pipe's axial direction. When the wheels are in motion, their total speed can be decomposed into axial and circumferential components. Through different steering combinations of different wheels in the Mecanum omnidirectional wheel set, circumferential and axial speeds can be provided to the robot as a whole, thereby achieving movement in different directions.

[0038] During external pipeline transport operations, the robot clamps itself against the pipeline wall using two adaptive gripping units (front and rear arms). The worm gear mechanism within the robot's structure drives the left and right arms to open at different angles to adapt to pipelines of varying diameters. When the robot moves circumferentially along the pipeline, the wheel motor 16 of the combined wheeled movement unit drives the Mecanum omnidirectional wheel 11 via a synchronous belt 18, enabling circumferential movement while clamped.

[0039] like Figures 3 to 6 As shown, the robot's obstacle-crossing movement along the pipe axis adopts an inchworm-like motion. Its centrally located motor-jointed bending obstacle-crossing unit enables the robot to overcome obstacles at the junction of the bend and the pipe. When the robot moves axially in inchworm motion, the worm motor 9 first drives one end of the worm gear 15, causing the adaptive clamping unit at that end to release. The other adaptive clamping unit then acts as an anchor point, clamping itself onto the outer pipe. Next, the rotary joint high-torque motor 10 drives the intermediate layer adapter plate 1 to rotate relative to the clamping shaft main housing 3, raising the released adaptive clamping unit to an angle high enough to overcome the obstacle. Then, the wheel motion motor 16 rotates, driving the Mecanum omnidirectional wheel 11, causing the robot to move in the axial direction. After the released adaptive clamping unit overcomes the obstacle, the rotary joint high-torque motor 10 is driven in the opposite direction, causing the released adaptive clamping unit to re-adhere to the outer pipe wall and clamp again. At this point, using the adaptive gripping unit that has already passed the obstacle on this side as an anchor point, the gripper on the other side is released, causing the adaptive gripping unit on the other side to detach from the pipe wall. Then, the high-torque motor 10 of the rotary joint drives the intermediate layer adapter plate 1 to rotate relative to the main housing 3 of the gripping shaft, causing the released adaptive gripping unit to rise to an angle high enough to overcome the obstacle. The wheel motion motor 16 drives the Mecanum omnidirectional wheel 11, allowing the robot to completely pass through the obstacle. Finally, the released adaptive gripping unit is re-clamped onto the outer pipe wall. When the robot encounters obstacles at bends or protrusions connecting to the pipe, the above actions are required to overcome them.

[0040] For pipeline inspection tasks in confined workspaces, the robot can conformally and tightly clamp itself to the outer surface of the pipeline through an adaptive gripping unit. At the same time, it can flexibly move axially and circumferentially on the outer surface of the pipeline by means of the inchworm-like posture adjustment of the central motor joint bending obstacle-crossing unit and the Mecanum omnidirectional wheels 11 of the combined wheel-type moving unit, and has a certain obstacle-crossing capability.

[0041] The above description is only a specific embodiment of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application.

Claims

1. A complex environment external pipeline obstacle-crossing transport robot, characterized in that, The system includes an adaptive clamping unit, a central motor joint bending obstacle-crossing unit, and a combined wheeled movement unit. The adaptive clamping unit is connected to both the front and rear of the central motor joint bending obstacle-crossing unit, and the combined wheeled movement unit is connected to the adaptive clamping unit. The linkage body of the adaptive clamping unit uses a worm gear (15) as the power source for active clamping of one arm. The central motor joint bending obstacle-crossing unit enables the robot to perform inchworm-like axial movement. The combined wheeled movement unit uses a synchronous belt (18) and a Mecanum omnidirectional wheel (11) to perform forward and backward movement and directional rotation under clamping pressure, thereby realizing the axial and axial movement of the robot on the pipeline.

2. The obstacle-crossing transport robot for complex environments via external pipelines according to claim 1, characterized in that, The adaptive clamping unit has a clamping shaft main housing (3), a gripper body (6) and a worm motor (9). The gripper body (6) is connected to the connecting rod body, the worm motor (9) is connected to the clamping shaft main housing (3), and the worm wheel (15) is connected to the worm motor (9).

3. The obstacle-crossing transport robot for complex environments via external pipelines according to claim 2, characterized in that, A torsion spring hinge (7) is provided at the rotating joint connecting the gripper body (6) and the connecting rod body.

4. The obstacle-crossing transport robot for complex environments via external pipelines according to claim 2, characterized in that, The worm gear (15) is connected to the worm motor (9) by a transmission pin. The light hole in the middle of the worm gear is fitted on the rotating shaft and fixed to the side plate of the main housing (3) of the clamping rotating shaft by a bearing.

5. The obstacle-crossing transport robot for complex environments via external pipelines according to claim 1, characterized in that, The main body of the connecting rod includes a worm gear connector (4) and an aluminum column reinforcing plate (5). One end of the worm gear connector (4) is fixed to the worm gear shaft through the mounting hole, and the other end is connected to the aluminum column reinforcing plate (5).

6. The obstacle-crossing transport robot for complex environments via external pipelines according to claim 1, characterized in that, The central motor joint bending obstacle crossing unit has an intermediate layer adapter plate (1) and a rotating joint high torque motor (10). The rotating joint high torque motor (10) connects the intermediate layer adapter plate (1) and the clamping shaft main housing (3). By driving the rotating joint high torque motor (10), the clamping shaft main housing (3) and the intermediate layer adapter plate (1) rotate around the shaft through the joint connection.

7. The obstacle-crossing transport robot for complex environments via external pipelines according to claim 6, characterized in that, The intermediate layer motherboard (14) is connected to the intermediate layer adapter board (1) via the M4 adapter block (13).

8. The obstacle-crossing transport robot for complex environments via external pipelines according to claim 1, characterized in that, The combined wheeled mobile unit has a wheel bracket intermediate plate (8), a wheel bracket (12) and a wheel motor (16). The wheel motor (16) is connected to the wheel bracket intermediate plate (8), and the synchronous belt (18) is connected to the wheel motor (16). The wheel bracket (12) is installed at the end grippers on both sides of the forearm and connected to the torsion spring hinge (7).

9. The obstacle-crossing transport robot for complex environments via external pipelines according to claim 8, characterized in that, One end of the timing belt (18) is fitted onto the shaft of the wheel motor (16), and the other end is fitted onto the timing belt fixing sleeve. The timing belt fixing sleeve is installed on the stepped shaft, which passes through the shaft hole on the wheel set bracket (12) and is connected by a rolling bearing.

10. The obstacle-crossing transport robot for complex environments via external pipelines according to claim 9, characterized in that, The Mecanum omnidirectional wheel (11) is installed at both ends of the stepped shaft and connected by a clamping coupling (17).

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