A pipeline robot

Abstract

The present invention discloses a pipeline robot, which comprises two relatively rotatable shells, a fixing frame fixedly connected inside the shells, two driving crawler groups rotatably connected to the lower part of the fixing frame, and a driving assembly arranged in the fixing frame for driving the two driving crawler groups on both sides to rotate synchronously; each driving crawler group comprises a connecting rod rotatably connected to the lower part of the fixing frame; a connecting rod sliding column rotatably connected to the connecting rod is formed on the fixing frame; the driving assembly comprises two driven wheels arranged left and right and rotatably connected to the lower part of the fixing frame, and a driving block located between the two driven wheels and slidably connected to the inside of the fixing frame in the up and down direction and capable of driving the two driven wheels on both sides to rotate simultaneously; an eccentric column slidably connected to the connecting rod is formed at an eccentric position at one end of the driven wheel close to the connecting rod; an electric push rod for driving the driving block to move is fixedly connected to the fixing frame; the present invention can automatically switch between the pipeline use mode and the flat ground use mode.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline detection, and particularly relates to a pipeline robot. Background Art

[0002] A Chinese patent document with the document number CN111288246B discloses a pipeline robot, belonging to the field of pipeline detection. The pipeline robot includes a body, a plurality of axial frames, a plurality of circumferential frames, a plurality of support components, a plurality of drive wheels and a motor; when the pipeline robot provided by the embodiment of the present application is used for pipeline detection, since both ends of the support arm included in each support component of the plurality of support components are respectively connected to one of the plurality of drive wheels, and both ends of the support arm are respectively connected to one end of at least one of at least two spring groups, therefore, when the pipeline robot passes through a variable diameter area, the contact position between the drive wheel and the pipe wall can be individually changed by controlling the telescopic movement of the spring group at the end where each drive wheel is located, so that each of the plurality of drive wheels can contact the pipe wall, enhancing the driving ability of the pipeline robot and making it easier for the pipeline robot to pass through the variable diameter area.

[0003] A Chinese patent document with the document number CN112204294A discloses a pipeline robot, including a moving mechanism, a telescopic arm and an elastic mechanism. The telescopic arm is arranged on the elastic mechanism, and the moving mechanism is arranged at one end of the telescopic arm away from the elastic mechanism. The moving mechanism can move along the inner wall of the pipeline to drive the telescopic arm and the elastic mechanism to move along the pipeline. When the moving mechanism moves to a position with a smaller pipeline diameter, the inner wall of the pipeline squeezes the moving mechanism, and the moving mechanism squeezes the telescopic arm to make the telescopic arm contract, so that the pipeline robot can move at a position with a smaller pipeline diameter. When the moving mechanism moves to a position with a larger pipeline diameter, the telescopic arm extends under the action of the elastic mechanism to drive the moving mechanism to move towards the inner wall of the pipeline until the moving mechanism contacts the inner wall of the pipeline, so that the pipeline robot can move at a position with a larger pipeline diameter.

[0004] During the use of the above patents, the robot can only be used inside the pipeline and cannot move well on flat ground, failing to meet the requirements of the actual environment. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: aiming at the deficiencies existing in the prior art, to provide a pipeline robot capable of automatically switching between the use modes in pipelines and on flat ground.

[0006] To achieve the object of the present invention, the following technical solutions are adopted: A pipeline robot includes two relatively rotatable shells, a fixing frame fixedly connected inside each of the shells, two symmetrically arranged driving track groups rotatably connected to the lower part of the fixing frame for driving the shells to move back and forth, and a driving component arranged in each of the fixing frames for driving the two driving track groups on both sides to rotate synchronously.

[0007] Each of the driving track groups includes a connecting rod arranged along the front-back direction and rotatably connected to the lower part of the fixing frame for driving the driving track group to rotate; a connecting rod sliding column rotatably connected to the connecting rod is formed on the fixing frame.

[0008] The driving component includes two left-right arranged rotating shafts arranged along the front-back direction and rotatably connected to the lower part of the fixing frame for driving the connecting rod on the same side to rotate, and a driving block slidably connected to the inside of the fixing frame in the up-down direction and located between the two driven wheels for simultaneously driving the two driven wheels on both sides to rotate; an eccentric column slidably connected to the connecting rod is formed at an eccentric position at one end of the driven wheel close to the connecting rod; an electric push rod for driving the driving block to move is fixedly connected to the fixing frame.

[0009] When the driving block is in the first position, the driven wheel is in the forward limit position, and the two driving track groups are in a vertical state. At this time, the contact area of the driving track groups with the ground is the largest, and the grip on the ground is the largest when moving on the ground.

[0010] When the driving block is in the second position, the driven wheel is in the reverse limit position, and the two driving track groups coincide with the radius of the shell. At this time, the contact area of the driving track groups with the inner wall of the pipeline is the largest, and the grip in the pipeline is the largest when moving in the pipeline.

[0011] As a preferred solution: A connecting rod chute arranged along the length direction and slidably connected to the eccentric column is formed on one side of the connecting rod close to the fixing frame, and a connecting rod rotating groove rotatably connected to the connecting rod sliding column is formed at one end of the connecting rod chute far from the center of the shell; the diameter of the connecting rod rotating groove is larger than the width of the connecting rod chute; two parallel switching surfaces are formed on the outer wall of the connecting rod sliding column; the distance between the two switching surfaces is equal to the width of the connecting rod chute; a fixing plate is formed on one side of the driving block close to the connecting rod, and a pushing inclined surface for pushing the connecting rod to move away from the center of the shell is formed at the lower end of the fixing plate.

[0012] When the driving block is in the second position, the switching surface is parallel to the inner wall of the connecting rod chute, and the pushing inclined surface abuts against one end of the connecting rod close to the center of the shell.

[0013] When the driving block continues to move downward from the second position, the connecting rod slides the connecting rod stud into the connecting rod chute under the action of the pushing inclined surface, driving the crawler belt group to move away from the center of the housing. At this time, the connecting rod only slides relative to the connecting rod stud and does not rotate.

[0014] As a preferred solution: a driven crawler belt group is slidably connected to the upper part of the housing along the radial direction of the housing; synchronizing components for synchronously moving the driving crawler belt group and the driven crawler belt group are respectively arranged at the front and rear ends of the fixing frame; the synchronizing components include a synchronizing ring rotatably connected to the fixing frame, and two symmetrically arranged synchronizing rods slidably connected to the lower part of the fixing frame for driving the synchronizing ring to rotate; the synchronizing rods can be driven by the driving crawler belt group on the same side to synchronously move away from the center of the housing; a return spring for pushing the synchronizing rods in the direction close to the center of the housing is arranged between the synchronizing rods and the fixing frame.

[0015] When the driving block continues to move downward from the second position, the driving crawler belt group moves away from the center of the housing, the synchronizing rods move synchronously, and the synchronizing ring rotates under the action of the synchronizing rods, driving the driven crawler belt group above to synchronously move away from the center of the housing.

[0016] When the driving block moves upward to the second position, the pushing inclined surface no longer abuts against the connecting rod, and the return spring pushes the synchronizing rods to move in the direction close to the center of the housing. The movement of the synchronizing rods drives the driving crawler belt group to move synchronously and drives the synchronizing ring to rotate, so that the driven crawler belt group synchronously moves in the direction close to the center of the housing.

[0017] As a preferred solution: a synchronizing stop block is formed at one end of the synchronizing rod away from the center of the housing; the driving crawler belt group further includes a driving crawler belt frame fixedly connected to one end of the connecting rod away from the center of the housing; a driving crawler belt stud capable of abutting against one end of the synchronizing stop block close to the center of the housing is formed on the driving crawler belt frame; three inclined chutes are formed on the synchronizing ring along the circumferential direction; the upper chute is a synchronizing chute, and the two lower chutes are driving chutes; the driven crawler belt group includes a driven crawler belt frame slidably connected to the synchronizing ring, and a driven crawler belt stud slidably connected to the synchronizing chute is formed on the driven crawler belt frame; a synchronizing rod stud slidably connected to the driving chute on the same side is formed on one side of the synchronizing rod close to the synchronizing ring.

[0018] When the driving block is at the second position, the driving crawler belt stud abuts against one end of the synchronizing stop block close to the center of the housing; when the driving block does not move to the second position, the driving crawler belt stud does not abut against one end of the synchronizing stop block close to the center of the housing.

[0019] As a preferred solution: a driven gear ring is formed on the outer wall of the driven wheel along the circumference, and the circumferential angle corresponding to the driven gear ring is less than 360°; racks capable of meshing with the driven gear ring on the same side are formed on both sides of the lower part of the driving block.

[0020] When the driving block is in the second position, the rack disengages from the driven gear ring, and the continuous descent of the driving block will not drive the driven wheel to rotate.

[0021] As a preferred solution: a section of rotation limiting groove arranged along the circumference is formed at one end of the driven wheel close to the fixed frame, and a rotation limiting column slidably connected to the rotation limiting groove is formed on the fixed frame.

[0022] When the driving block is in the second position, the rotation limiting column is located at one end of the rotation limiting groove, and the driven wheel cannot rotate further.

[0023] As a preferred solution: a connecting buckle is fixedly connected to the rear end of the housing, and the connecting buckle can be rotatably connected to the connecting buckle on the adjacent housing.

[0024] As a preferred solution: the driven crawler group further includes a driven roller rotatably connected to the driven crawler frame, a driven crawler arranged on the roller, and a driven motor arranged on the driven crawler frame for driving the driven roller to rotate; the driving crawler group further includes a driving roller rotatably connected to the driving crawler frame, a driving crawler arranged on the roller, and a driving motor arranged on the driving crawler frame for driving the driving roller to rotate.

[0025] As a preferred solution: a camera for receiving images is fixedly connected to the front end of one housing, and a searchlight is installed on the camera; a controller is fixedly connected inside the housing; the camera, the electric push rod, the driving motor, and the driven motor are electrically connected to the controller.

[0026] Compared with the prior art, the beneficial effects of the present invention are: in the initial state, the electric push rod is in the extended state, the driving block is in the first position, the driven wheel is in the forward limit position, the connecting rod sliding column is in the connecting rod rotating groove, and the two driving crawler groups are in the vertical state.

[0027] When using the present invention, place the present invention stably on the ground, and then control the driving motor in the driving crawler group to start through the controller, so that the driving crawler group operates, and observe the movement towards the pipeline direction on the ground through the camera.

[0028] When the present invention moves from flat ground into a pipeline, turn on the searchlight on the camera, and control the electric push rod to contract through the controller, so that the driving block connected to the output end of the electric push rod moves downward. The downward movement of the driving block causes the rack to engage with the driven gear ring, thereby causing the driven wheel to rotate in the reverse direction; during the rotation of the driven wheel, the eccentric column moves in the connecting rod chute and drives the connecting rod to rotate, thereby driving the driving crawler group to rotate.

[0029] When the driving block moves downward to the second position, the rack just ends its engagement with the driven gear ring. At this time, the driven wheel rotates to the reverse limit position, and the driving crawler group rotates to coincide radially with the housing. The pushing inclined surface on the driving block abuts against the end of the connecting rod close to the center of the housing, and the switching surface on the connecting rod sliding column coincides with the inner wall of the connecting rod chute; at the same time, the driving crawler sliding column abuts against the end of the synchronization block on the synchronization rod close to the center of the housing.

[0030] Then the driving block continues to move downward. At this time, the driven wheel does not rotate. The pushing inclined surface pushes the connecting rod to move away from the center of the housing. The connecting rod sliding column moves from the connecting rod rotating groove into the connecting rod chute. The movement of the connecting rod drives the driving crawler group to move synchronously. The driving crawler sliding column on the driving crawler group presses the synchronization block, thereby driving the synchronization rod to move synchronously, and the return spring on the synchronization rod contracts and stores energy; during the movement of the synchronization rod, the synchronization rod sliding column moves in the driving chute, driving the synchronization ring to rotate, so that the driven crawler group connected to the synchronization chute moves synchronously away from the center of the housing.

[0031] When the driving block moves downward until each driving crawler group and driven crawler group are driven to abut against the inner wall of the pipeline, control the electric push rod to stop running through the controller, and then control the driving motor in the driving crawler group and the driven motor in the driven crawler group to start through the controller, so that the driving crawler group operates, thereby enabling the present invention to move in the pipeline.

[0032] When the present invention needs to move into pipelines with different inner diameters, control the electric push rod to extend or contract through the controller, drive the driving crawler group to move again to abut against the inner wall of the new pipeline, and drive the driven crawler group to move synchronously to abut against the inner wall of the new pipeline through the synchronization component, thereby meeting the use in occasions with different inner diameters in the pipeline.

[0033] When it is necessary to turn in the pipeline, control the driving motors in the two driving crawler groups and the driven motors in the driven crawler groups to start at different speeds through the controller, so that one section of the present invention turns first. After the turning is completed, control the next section to turn, meeting the turning at the bent part in the pipeline.

[0034] When the present invention is moved out of the pipeline, the electric push rod is controlled by the controller to extend, so that the driving block connected to the output end of the electric push rod moves upward. During the upward movement of the driving block, the pushing inclined surface no longer abuts against the connecting rod, and the synchronous rod drives the driving crawler group to move towards the center of the housing under the action of the reset spring, and the connecting rod also moves towards the center of the housing synchronously.

[0035] When the driving block moves to the second position, the connecting rod sliding column moves from the connecting rod sliding groove to the connecting rod rotating groove, and the driving block rack meshes with the driven gear ring; the driving block continues to move upward so that the rack meshes with the driven gear ring, thereby causing the driven wheel to rotate forward, and the connecting rod connected to the driven wheel rotates synchronously, driving the driving crawler group to rotate to the vertical state. When the electric push rod extends to the limit, the driving block moves to the first position. At this time, the driving crawler group rotates to the vertical state and is in full contact with the ground. The electric push rod is controlled to stop, and then the driving motor in the driving crawler group is controlled by the controller to start, so that the driving crawler group operates, and thus the present invention moves on the flat ground for recovery.

[0036] By providing the driving block, during the downward movement of the driving block, it can not only drive the driven wheel to rotate reversely through the meshing of the rack and the driven gear ring, so that the connecting rod and the driving crawler group rotate synchronously, changing the orientation of the driving crawler group, but also drive the connecting rod to move away from the center of the housing through the pushing inclined surface, thereby changing the usage scenario of the present invention.

[0037] By providing the driving crawler group, the driving crawler group can not only drive the present invention to move during operation, but also abut against the inner wall of the pipeline in the pipeline, drive the synchronous ring to rotate through the synchronous rod, so that the driven crawler group moves synchronously with the driving crawler group, enabling the driven crawler group and the driving crawler group to abut against different inner walls of the pipeline to meet the use in pipelines with different inner diameters.

[0038] The present invention can not only arrange the driving crawler group radially so that it can move in the pipeline, but also rotate the driving crawler group vertically so that it can move on the plane. By controlling the driving crawler group to rotate along the axial direction of the housing, the contact area between the driving crawler group and the pipeline or the ground can be maximized, increasing the grip of the crawler. Description of the Drawings

[0039] Figure 1 is the overall structural schematic diagram of the present invention.

[0040] Figure 2 is the overall sectional structural schematic diagram of the present invention.

[0041] Figure 3 is the overall exploded structural schematic diagram of the present invention.

[0042] Figure 4It is a schematic structural diagram of the driving crawler set of the present invention.

[0043] Figure 5 It is a schematic structural diagram of the connecting rod of the present invention.

[0044] Figure 6 、 7 It is an exploded structural schematic diagram of the synchronization component of the present invention.

[0045] Figure 8 It is a sectional structural schematic diagram of the fixing frame of the present invention.

[0046] Figure 9 It is an exploded structural schematic diagram of the driving component of the present invention.

[0047] Figure 10 It is a sectional structural schematic diagram of the driving crawler set and the driving component at the second position of the present invention.

[0048] Figure 11 It is a sectional structural schematic diagram of the driving crawler set and the driving component when the present invention is used in a pipeline.

[0049] Figure 12 It is a sectional structural schematic diagram of the driving crawler set and the synchronization rod when the present invention is used in a pipeline.

[0050] 1. Housing; 10. Camera; 11. Driving crawler groove; 12. Driven crawler groove; 2. Fixing frame; 21. Connecting rod slide column; 211. Switching surface; 22. Synchronization rod limiting plate; 23. Spring baffle; 24. Synchronization ring limiting plate; 25. Driving block limiting groove; 26. Driven wheel mounting shaft; 27. Rotation limiting column; 3. Synchronization component; 31. Synchronization ring; 311. Driving chute; 312. Synchronization chute; 32. Synchronization rod; 321. Return spring; 322. Synchronization rod slide column; 323. Synchronization stop block; 324. Spring driving plate; 4. Driving component; 40. Electric push rod; 41. Driving block; 411. Rack; 412. Fixed plate; 413. Pushing inclined surface; 414. Driving block limiting column; 42. Driven wheel; 421. Eccentric column; 422. Rotation limiting groove; 423. Driven gear ring; 424. Driven wheel mounting hole; 5. Driven crawler set; 51. Driven crawler; 52. Driven crawler frame; 53. Driven crawler slide column; 6. Driving crawler set; 61. Driving crawler; 62. Driving crawler frame; 63. Driving crawler slide column; 64. Connecting rod; 641. Connecting rod chute; 642. Connecting rod rotation groove; 7. Connecting buckle. Detailed implementation manners

[0051] Embodiment 1

[0052] According to Figures 1 to 12As shown in the figure, a pipeline robot according to this embodiment includes two relatively rotatable cylindrical shells 1 with a hollow interior and an axial direction along the front-rear direction, a fixing frame 2 fixedly connected to the interior of each of the shells 1, two symmetrically arranged driving track groups 6 on the left and right that are rotatably connected to the lower part of the fixing frame 2 and are used to drive the shells 1 to move back and forth, and two sets of front-rear symmetrically arranged driving components 4 disposed in each of the fixing frames 2 and respectively used to drive the driving track groups 6 on both sides to rotate synchronously; the fixing frame 2 includes two front-rear symmetrically arranged mounting plates; a driving track groove 11 that is formed at the lower part of the shell 1 and is slidably connected to the driving track group 6.

[0053] Each of the driving track groups 6 includes a connecting rod 64 with a rotating shaft rotatably connected to the lower part of the fixing frame 2 and arranged along the front-rear direction and used to drive the driving track group 6 to rotate; a connecting rod sliding column 21 that is formed on the fixing frame 2 and is rotatably connected to the connecting rod 64.

[0054] The driving component 4 includes two left-right arranged rotating shafts rotatably connected to the lower part of the fixing frame 2 and arranged along the front-rear direction, driven wheels 42 used to drive the connecting rods 64 on the same side to rotate, and a driving block 41 that is slidably connected to the interior of the fixing frame 2 in the up-down direction and is located between the two driven wheels 42 and can drive the two driven wheels 42 to rotate simultaneously; an eccentric column 421 that is formed at an eccentric position at one end of the driven wheel 42 close to the connecting rod 64 and is slidably connected to the connecting rod 64; an electric push rod 40 fixedly connected to the fixing frame 2 and used to drive the driving block 41 to move.

[0055] A driving block limiting groove 25 is formed in the interior of the fixing frame 2 in the up-down direction, and a driving block limiting column 414 that is slidably connected to the driving block limiting groove 25 is formed on the driving block 41; a driven wheel mounting hole 424 is formed on the driven wheel 42, and a driven wheel mounting shaft 26 that is rotatably connected to the driven wheel mounting hole 424 is formed on the fixing frame 2.

[0056] When the driving block 41 is in the first position, the electric push rod 40 is in the extended state, the driven wheel 42 is in the forward limit position, and the two driving track groups 6 are in the vertical state. At this time, the contact area between the driving track group 6 and the ground is the largest, and the grip force when moving on the ground is the largest.

[0057] When the driving block 41 is in the second position, the electric push rod 40 contracts and has not reached the contraction limit position, the driven wheel 42 is in the reverse limit position, and the two driving track groups 6 coincide with the radius of the shell 1. At this time, the contact area between the driving track group 6 and the inner wall of the pipeline is the largest, and the grip force when moving in the pipeline is the largest.

[0058] On one side of the connecting rod 64 close to the fixed frame 2, a connecting rod chute 641 is formed along the length direction and is slidably connected to the eccentric column 421. At one end of the connecting rod chute 641 away from the center of the housing 1, a connecting rod rotating groove 642 is formed and is rotatably connected to the connecting rod sliding column 21. The diameter of the connecting rod rotating groove 642 is greater than the width of the connecting rod chute 641. On the outer wall of the connecting rod sliding column 21, two parallel switching surfaces 211 are formed. The distance between the two switching surfaces 211 is equal to the width of the connecting rod chute 641. On one side of the driving block 41 close to the connecting rod 64, a fixing plate 412 is formed. At the lower end of the fixing plate 412, a pushing inclined surface 413 is formed for pushing the connecting rod 64 to move away from the center of the housing 1.

[0059] When the driving block 41 moves from the first position to the second position, the connecting rod 64 rotates under the action of the driven wheel 42, and the connecting rod sliding column 21 only rotates relative to the connecting rod rotating groove 642.

[0060] When the driving block 41 is in the second position, the switching surface 211 is parallel to the inner wall of the connecting rod chute 641, and the pushing inclined surface 413 abuts against one end of the connecting rod 64 close to the center of the housing 1.

[0061] When the driving block 41 continues to move downward from the second position, the connecting rod 64 makes the connecting rod sliding column 21 slide into the connecting rod chute 641 under the action of the pushing inclined surface 413, driving the driving track group 6 to move away from the center of the housing 1, so that the driving track group 6 can be attached to the inner wall of the pipeline. At this time, the connecting rod only slides relative to the connecting rod sliding column 21 and does not rotate.

[0062] On the upper part of the housing 1, a driven track group 5 is slidably connected along the radial direction of the housing 1. On the housing 1, a driven track groove 12 is formed and is slidably connected to the driven track group 5. At the front and rear ends of the fixed frame 2, a synchronization component 3 is respectively arranged to make the driving track group 6 and the driven track group 5 move synchronously. The synchronization component 3 includes a synchronization ring 31 rotatably connected to the fixed frame 2, and two symmetrically arranged synchronization rods 32 slidably connected to the lower part of the fixed frame 2 and used for driving the synchronization ring 31 to rotate. The synchronization rod 32 can be driven by the driving track group 6 on the same side to move synchronously away from the center of the housing 1.

[0063] A synchronizing ring limiting plate 24 rotatably connected to the synchronizing ring 31 is formed on the fixing bracket 2; a synchronizing rod limiting plate 22 slidably connected to the synchronizing rod 32 is formed on the fixing bracket 2; a return spring 321 for pushing the synchronizing rod 32 in the direction of the center of the housing 1 is arranged between the synchronizing rod 32 and the fixing bracket 2; a spring baffle 23 connected to one end of the return spring 321 is formed on the fixing bracket 2, and a spring driving plate 324 connected to the other end of the return spring 321 is formed on the synchronizing rod 32.

[0064] When the driving block 41 continues to move downward from the second position, the driving track group 6 moves away from the center of the housing 1, the synchronizing rod 32 moves synchronously, and the synchronizing ring 31 rotates under the action of the synchronizing rod 32, driving the upper driven track group 5 to move away from the center of the housing 1 synchronously.

[0065] When the driving block 41 moves upward to the second position, the pushing inclined surface 413 no longer abuts against the connecting rod 64, and the return spring 321 pushes the synchronizing rod 32 to move in the direction of the center of the housing 1. The movement of the synchronizing rod 32 drives the driving track group 6 to move synchronously and drives the synchronizing ring 31 to rotate, so that the driven track group 5 moves synchronously in the direction of the center of the housing 1.

[0066] A synchronizing stop block 323 is formed at one end of the synchronizing rod 32 away from the center of the housing 1; the driving track group 6 further includes a driving track frame 62 fixedly connected to one end of the connecting rod 64 away from the center of the housing 1; a driving track sliding column 63 capable of abutting against one end of the synchronizing stop block 323 close to the center of the housing 1 is formed on the driving track frame 62.

[0067] Three inclined chutes are formed on the synchronizing ring 31 along the circumferential direction; the upper chute is a synchronizing chute 312, and the two lower chutes are driving chutes 311; the driven track group 5 includes a driven track frame 52 slidably connected to the synchronizing ring 31, and a driven track sliding column 53 slidably connected to the synchronizing chute 312 is formed on the driven track frame 52; a synchronizing rod sliding column 322 slidably connected to the driving chute 311 on the same side is formed on one side of the synchronizing rod 32 close to the synchronizing ring 31.

[0068] When the driving block 41 is at the second position, the driving track sliding column 63 abuts against one end of the synchronizing stop block 323 close to the center of the housing 1; when the driving block 41 does not move to the second position, the driving track sliding column 63 does not abut against one end of the synchronizing stop block 323 close to the center of the housing 1.

[0069] On the outer wall of the driven wheel 42, a driven gear ring 423 is formed circumferentially, and the circumferential angle corresponding to the driven gear ring is less than 360°; on both sides of the lower part of the driving block 41, racks 411 are formed that can mesh with the driven gear ring 423 on the same side.

[0070] When the driving block 41 is in the second position, the rack 411 disengages from the driven gear ring 423, and the continuous descent of the driving block 41 will not drive the driven wheel 42 to rotate.

[0071] One end of the driven wheel 42 close to the fixed frame 2 is formed with a circumferentially arranged rotation limiting groove 422, and a rotation limiting post 27 that is slidably connected to the rotation limiting groove 422 is formed on the fixed frame 2.

[0072] When the driving block 41 is in the second position, the rotation limiting post 27 is located at one end of the rotation limiting groove 422, and the driven wheel 42 cannot rotate further.

[0073] A connecting buckle 7 is fixedly connected to the rear end of the housing 1, and the connecting buckle 7 can be rotatably connected to the connecting buckle 7 on the adjacent housing 1.

[0074] The driven crawler group 5 further includes a driven roller rotatably connected to the driven crawler frame 52, a driven crawler 51 provided on the roller, and a driven motor provided on the driven crawler frame 52 for driving the driven roller to rotate; the driving crawler group 6 further includes a driving roller rotatably connected to the driving crawler frame 62, a driving crawler 61 provided on the roller, and a driving motor provided on the driving crawler frame 62 for driving the driving roller to rotate.

[0075] A camera 10 for receiving images is fixedly connected to the front end of one housing 1, and a searchlight is installed on the camera 10; a controller is fixedly connected inside the housing 1; the camera 10, the electric push rod 40, the driving motor, and the driven motor are electrically connected to the controller.

[0076] In the initial state, the electric push rod 40 is in the extended state, the driving block 41 is in the first position, the driven wheel 42 is in the forward limit position, the connecting rod sliding column 21 is located in the connecting rod rotation groove 642, and the two driving crawler groups 6 are in the vertical state.

[0077] When using the present invention, place the present invention stably on the ground, and then control the driving motor in the driving crawler group 6 to start through the controller, so that the driving crawler group 6 operates, and observe the movement towards the pipeline direction on the ground through the camera 10.

[0078] When the present invention moves from flat ground into a pipeline, turn on the searchlight on the camera 10, and control the electric push rod 40 to contract through the controller, so that the driving block 41 connected to the output end of the electric push rod 40 moves downward. The downward movement of the driving block 41 causes the rack 411 to engage with the driven gear ring 423, thereby causing the driven wheel 42 to rotate in the reverse direction; during the rotation of the driven wheel 42, the eccentric column 421 moves in the connecting rod chute 641 and drives the connecting rod 64 to rotate, thereby driving the driving crawler group 6 to rotate.

[0079] When the driving block 41 moves downward to the second position, the rack 411 just finishes engaging with the driven gear ring 423. At this time, the driven wheel 42 rotates to the reverse limit position, and the driving crawler group 6 rotates to be radially coincident with the housing 1. The pushing inclined surface 413 on the driving block 41 abuts against one end of the connecting rod 64 close to the center of the housing 1, and the switching surface 211 on the connecting rod sliding column 21 coincides with the inner wall of the connecting rod chute 641; at the same time, the driving crawler sliding column 63 abuts against one end of the synchronous block 323 on the synchronous rod 32 close to the center of the housing 1.

[0080] Then the driving block 41 continues to move downward. At this time, the driven wheel 42 does not rotate. The pushing inclined surface 413 pushes the connecting rod 64 to move away from the center of the housing 1. The connecting rod sliding column 21 moves from the connecting rod rotating groove 642 into the connecting rod chute 641. The movement of the connecting rod 64 drives the driving crawler group 6 to move synchronously. The driving crawler sliding column 63 on the driving crawler group 6 squeezes the synchronous block 323, thereby driving the synchronous rod 32 to move synchronously. The return spring 321 on the synchronous rod 32 contracts and stores energy; during the movement of the synchronous rod 32, the synchronous rod sliding column 322 moves in the driving chute 311, driving the synchronous ring 31 to rotate, so that the driven crawler group 5 connected to the synchronous chute 312 moves synchronously away from the center of the housing 1.

[0081] When the driving block 41 moves downward until each driving crawler group 6 and driven crawler group 5 are driven to abut against the inner wall of the pipeline, control the electric push rod 40 to stop running through the controller, and then start the driving motor in the driving crawler group 6 and the driven motor in the driven crawler group 5 through the controller, so that the driving crawler group 6 operates, thereby enabling the present invention to move in the pipeline.

[0082] When the present invention needs to move into pipelines with different inner diameters, control the electric push rod 40 to extend or contract through the controller, drive the driving crawler group 6 to move again to abut against the inner wall of the new pipeline, and drive the driven crawler group 5 to move synchronously to abut against the inner wall of the new pipeline through the synchronous assembly 3, so as to meet the use in occasions with different inner diameters in the pipeline.

[0083] When a turn needs to be made inside the pipeline, the drive motors in the two drive track groups 6 and the driven motors in the driven track group 5 are controlled by the controller to start at different speeds, so that one section of the present invention makes a turn first. After the turn is completed, the next section is controlled to make a turn, meeting the turning requirements at the bent part inside the pipeline.

[0084] When the present invention is moved out of the pipeline, the electric push rod 40 is controlled by the controller to extend, so that the drive block 41 connected to the output end of the electric push rod 40 moves upward. During the upward movement of the drive block 41, the pushing inclined surface 413 no longer abuts against the connecting rod 64. The synchronizing rod 32 drives the drive track group 6 to move towards the center of the housing 1 under the action of the return spring 321, and the connecting rod 64 moves towards the center of the housing 1 synchronously.

[0085] When the drive block 41 moves to the second position, the connecting rod sliding column 21 moves from the connecting rod sliding groove 641 into the connecting rod rotating groove 642, and the rack 411 of the drive block 41 meshes with the driven gear ring 423; the drive block 41 continues to move upward so that the rack 411 meshes with the driven gear ring 423, thereby causing the driven wheel 42 to rotate forward. The connecting rod 64 connected to the driven wheel 42 rotates synchronously, driving the drive track group 6 to rotate to a vertical state. When the electric push rod 40 extends to the limit, the drive block 41 moves to the first position. At this time, the drive track group 6 rotates to a vertical state and makes full contact with the ground. The electric push rod 40 is controlled to stop, and then the drive motor in the drive track group 6 is controlled by the controller to start, so that the drive track group 6 operates, and further enables the present invention to move on the flat ground for recovery.

[0086] By setting the drive block 41, during the downward movement of the drive block 41, it can not only drive the driven wheel 42 to rotate reversely through the meshing of the rack 411 and the driven gear ring 423, causing the connecting rod 64 and the drive track group 6 to rotate synchronously and changing the orientation of the drive track group, but also drive the connecting rod 64 to move away from the center of the housing 1 through the pushing inclined surface 413, thereby changing the usage scenario of the present invention.

[0087] By setting the drive track group 6, the drive track group 6 can not only drive the present invention to move during operation, but also abut against the inner wall of the pipeline inside the pipeline. By driving the synchronizing ring 31 to rotate through the synchronizing rod 32, the driven track group 5 moves synchronously with the drive track group 6, enabling the driven track group 5 and the drive track group 6 to abut against different inner walls of the pipeline, meeting the usage requirements inside pipelines with different inner diameters.

[0088] The present invention can not only arrange the drive track group 6 radially, enabling it to move inside the pipeline, but also rotate the drive track group 6 vertically, enabling it to move on the plane. By controlling the drive track group 6 to rotate along the axial direction of the housing, the contact area between the drive track group 6 and the pipeline or the ground can be maximized, increasing the grip of the track.

Claims

1. A pipeline robot, characterized in that: it includes two relatively rotatable shells, a fixed frame fixedly connected inside each of the shells, two symmetrically arranged driving track groups that are rotatably connected to the lower part of the fixed frame and are used to drive the shells to move back and forth, and a driving component arranged in each of the fixed frames and used to drive the two driving track groups on both sides to rotate synchronously; each of the driving track groups includes a rotating shaft rotatably connected to the lower part of the fixed frame, and a connecting rod arranged in the front-back direction and used to drive the driving track group to rotate; a connecting rod sliding column rotatably connected to the connecting rod is formed on the fixed frame; the driving component includes two rotating shafts arranged left and right and rotatably connected to the lower part of the fixed frame, a driven wheel arranged in the front-back direction and used to drive the connecting rod on the same side to rotate, and a driving block that is slidably connected to the inside of the fixed frame in the up-down direction and is located between the two driven wheels and can drive the two driven wheels on both sides to rotate simultaneously; an eccentric column slidably connected to the connecting rod is formed at an eccentric position at one end of the driven wheel close to the connecting rod; an electric push rod used to drive the driving block to move is fixedly connected to the fixed frame; when the driving block is in the first position, the driven wheel is in the forward limit position, and the two driving track groups are in a vertical state. At this time, the contact area of the driving track group with the ground is the largest, and the grip force when moving on the ground is the largest; when the driving block is in the second position, the driven wheel is in the reverse limit position, and the two driving track groups coincide with the radius of the shell. At this time, the contact area of the driving track group with the inner wall of the pipeline is the largest, and the grip force when moving in the pipeline is the largest; a connecting rod chute arranged along the length direction and slidably connected to the eccentric column is formed on one side of the connecting rod close to the fixed frame, and a connecting rod rotating groove rotatably connected to the connecting rod sliding column is formed at one end of the connecting rod chute far from the center of the shell; the diameter of the connecting rod rotating groove is larger than the width of the connecting rod chute; two parallel switching surfaces are formed on the outer wall of the connecting rod sliding column; the distance between the two switching surfaces is equal to the width of the connecting rod chute; a fixing plate is formed on one side of the driving block close to the connecting rod, and a pushing inclined surface used to push the connecting rod to move away from the center of the shell is formed at the lower end of the fixing plate; when the driving block is in the second position, the switching surface is parallel to the inner wall of the connecting rod chute, and the pushing inclined surface abuts against one end of the connecting rod close to the center of the shell; when the driving block continues to move down from the second position, the connecting rod makes the connecting rod sliding column slide into the connecting rod chute under the action of the pushing inclined surface, and the driving track group moves away from the center of the shell. At this time, the connecting rod only slides relative to the connecting rod sliding column and does not rotate; a driven gear ring is formed on the outer wall of the driven wheel along the circumference, and the circumferential angle corresponding to the driven gear ring is less than 360°; racks that can be meshed with the driven gear ring on the same side are formed on both sides of the lower part of the driving block; when the driving block is in the second position, the rack disengages from the driven gear ring, and the continuous descent of the driving block will not drive the driven wheel to rotate; One end of the driven wheel close to the fixed frame is formed with a rotation limiting groove arranged circumferentially, and a rotation limiting post slidably connected to the rotation limiting groove is formed on the fixed frame; when the driving block is in the second position, the rotation limiting post is at one end of the rotation limiting groove, and the driven wheel cannot rotate further.

2. The pipeline robot according to claim 1, characterized in that: A driven crawler group is slidably connected to the upper part of the housing along the radial direction of the housing; synchronous components for synchronously moving the driving crawler group and the driven crawler group are respectively arranged at the front and rear ends of the fixed frame; the synchronous components include a synchronous ring rotatably connected to the fixed frame, and two symmetrically arranged synchronous rods slidably connected to the lower part of the fixed frame for driving the synchronous ring to rotate; the synchronous rods can be driven by the driving crawler group on the same side to synchronously move away from the center of the housing; a return spring for pushing the synchronous rods towards the center of the housing is arranged between the synchronous rods and the fixed frame; when the driving block continues to move down from the second position, the driving crawler group moves away from the center of the housing, the synchronous rods move synchronously, the synchronous ring rotates under the action of the synchronous rods, and drives the driven crawler group above to synchronously move away from the center of the housing; when the driving block moves up towards the second position, the pushing inclined surface no longer abuts against the connecting rod, the return spring pushes the synchronous rods towards the center of the housing, the movement of the synchronous rods drives the driving crawler group to move synchronously, and drives the synchronous ring to rotate, so that the driven crawler group synchronously moves towards the center of the housing.

3. The pipeline robot according to claim 2, characterized in that: A synchronous stop block is formed at one end of the synchronous rod away from the center of the housing; the driving crawler group further includes a driving crawler frame fixedly connected to one end of the connecting rod away from the center of the housing; a driving crawler sliding column capable of abutting against one end of the synchronous stop block close to the center of the housing is formed on the driving crawler frame; three inclined chutes are formed on the synchronous ring circumferentially; the upper chute is a synchronous chute, and the two lower chutes are driving chutes; the driven crawler group includes a driven crawler frame slidably connected to the synchronous ring, and a driven crawler sliding column slidably connected to the synchronous chute is formed on the driven crawler frame; a synchronous rod sliding column slidably connected to the driving chute on the same side is formed on one side of the synchronous rod close to the synchronous ring; when the driving block is in the second position, the driving crawler sliding column abuts against one end of the synchronous stop block close to the center of the housing; when the driving block does not move to the second position, the driving crawler sliding column does not abut against one end of the synchronous stop block close to the center of the housing.

4. The pipeline robot according to claim 1, characterized in that: A connecting buckle is fixedly connected to the rear end of the housing, and the connecting buckle can be rotatably connected to the connecting buckle on the adjacent housing.

5. The pipeline robot according to claim 3, characterized in that: The driven crawler group further includes a driven roller rotatably connected to the driven crawler frame, a driven crawler disposed on the roller, and a driven motor disposed on the driven crawler frame for driving the driven roller to rotate; the driving crawler group further includes a driving roller rotatably connected to the driving crawler frame, a driving crawler disposed on the roller, and a driving motor disposed on the driving crawler frame for driving the driving roller to rotate.

6. A pipeline robot according to claim 5, characterized in that: A camera for receiving images is fixedly connected to the front end of one of the shells, and a searchlight is installed on the camera; a controller is fixedly connected inside the shell; the camera, the electric push rod, the driving motor, and the driven motor are electrically connected to the controller.

Images