A pipeline robot

Abstract

The present invention discloses a pipeline robot, which includes two relatively rotatable shells; a fixing plate is fixedly connected to the rear end inside each shell, and two symmetrically arranged driven wheel sets are rotatably connected to the lower part of the fixing plate; the axes of the driven wheel sets are arranged in the front-rear direction; each driven wheel set includes a driven wheel whose axis of rotation connected to the front end of the fixing plate is arranged in the front-rear direction, and a driven roller whose axis is perpendicular to the axis of the driven wheel and can rotate synchronously with the driven wheel and is arranged on the driven wheel; a longitudinal sliding frame for driving the rotation of the driven wheel is slidably connected to the front end of the fixing plate in the up-down direction; a driving wheel set is arranged on the upper part of the fixing plate; the driving wheel set includes a driving wheel frame rotatably connected to the upper part of the fixing plate for driving the longitudinal sliding frame to move, and a driving roller rotatably connected to the end of the driving wheel frame far from the axis; 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] 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 reduced-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 reduced-diameter area.

[0003] 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 the ground, unable 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 fixed plate is fixedly connected to the rear end inside each of the shells, and two symmetrically arranged driven wheel sets are rotatably connected to the lower part of the fixed plate; the axes of the driven wheel sets are arranged in the front-rear direction; each driven wheel set includes a driven wheel whose axis is arranged in the front-rear direction and is rotatably connected to the front end of the fixed plate, and a driven roller whose axis is perpendicular to the axis of the driven wheel and is arranged on the driven wheel and can rotate synchronously with the driven wheel.

[0007] A longitudinal sliding frame for driving the driven wheel to rotate is slidably connected to the front end of the fixed plate in the up-down direction.

[0008] A driving wheel set is arranged on the upper part of the fixed plate; the driving wheel set includes a driving wheel frame rotatably connected to the upper part of the fixed plate for driving the longitudinal sliding frame to move, and a driving roller rotatably connected to the end of the driving wheel frame far from the axis; the axes of the driving wheel frame and the driving roller are both arranged in the left-right direction.

[0009] A switching motor for driving the driving wheel frame to rotate is fixedly connected to the upper part of the fixed plate.

[0010] When the driving wheel frame is in the first position, the longitudinal sliding frame is located at the upper limit position, and the two driven rollers are in a vertical state. At this time, the contact area between the driven rollers and the ground is the largest, and the grip on the ground is the largest when moving on the ground, and the driving roller is located inside the shell.

[0011] When the driving wheel frame is in the second position, the longitudinal sliding frame is located at the lower limit position, and the two driven rollers rotate to an inclined state, and the radii of the driven rollers and the shells coincide. At this time, the contact area between the driven rollers, the driving rollers and the inner wall of the pipeline is the largest, and the grip is the largest when moving in the pipeline.

[0012] As a preferred solution: The driven wheel set further includes a driven wheel frame rotatably connected to the driven wheel and rotatably connected to the driven roller; the axis of the driven wheel frame is perpendicular to the axis of the driven wheel; a transverse sliding frame for driving the driven wheel frame to rotate is slidably connected to the front of the fixed plate in the front-rear direction.

[0013] A connecting rod is provided between the driven wheel frame and the transverse sliding frame; a connecting rod chute is formed on the outer wall of the driven wheel frame, and a connecting rod sliding column that is slidably connected to the connecting rod chute is formed at one end of the connecting rod close to the driven wheel frame; a switching plate is formed at the lower part of the transverse sliding frame, and a switching chute that penetrates through in the front and rear directions is formed on the switching plate. The switching chute is an arc-shaped groove, and the center of the circle coincides with the axis of the driven wheel; a connecting rod clamping column that is slidably connected to the switching chute and moves synchronously with the switching plate in the front and rear directions is formed at one end of the connecting rod close to the transverse sliding frame.

[0014] When the driving wheel frame is in the second position, the two driven rollers are in an inclined state, the transverse sliding frame moves backward, the connecting rod sliding column moves in the connecting rod chute, and the driven wheel frame rotates outward, so that the driving roller and the driven roller can move towards the outside of the housing to adapt to pipelines with different diameters.

[0015] As a preferred solution: a driven gear ring is formed on the outer wall of the driven wheel, longitudinal driving racks that mesh with the driven gear rings on the same side are formed on the left and right sides at the lower part of the longitudinal sliding frame; a longitudinal driven rack is formed at the front end of the upper part of the longitudinal sliding frame, a first driving wheel is formed at the coaxial position of the driving wheel frame and the axis of the driving wheel frame, and a first driving gear ring that meshes with the longitudinal driven rack is formed on the outer wall of the first driving wheel; the central angle of the first driving gear ring is less than 360°.

[0016] When the driving wheel frame is in the first position, the longitudinal sliding frame is at the upper limit position, the longitudinal driving rack just meshes with the driven gear ring, the longitudinal driven rack just meshes with the first driving gear ring, and the driven roller is in a vertical state.

[0017] When the driving wheel frame is in the second position, the longitudinal sliding frame is at the lower limit position, the longitudinal driving rack just ends meshing with the driven gear ring, the continuous rotation of the driving wheel frame does not drive the longitudinal sliding frame to continue to move, the longitudinal driven rack just ends meshing with the first driving gear ring, and the driven roller rotates to an inclined state.

[0018] As a preferred solution: a driving rod arranged in the front and rear direction is formed at the upper end of the transverse sliding frame, and a transverse driving rack is formed at the lower end of the driving rod; a second driving wheel is formed at the coaxial position of the driving wheel frame and the axis of the driving wheel frame, and a second driving gear ring that can mesh with the transverse driving rack is formed on the outer wall of the second driving wheel; the central angle of the second driving gear ring is less than 360°.

[0019] When the driving wheel frame is in the first position, the second driving gear ring does not mesh with the transverse driving rack.

[0020] When the driving wheel frame is in the second position, the second driving gear ring just meshes with the transverse driving rack. The continuous rotation of the driving wheel frame causes the transverse driving rack to move, and further causes the driven wheel frame to rotate outwards.

[0021] As a preferred solution: A locking groove is formed at the front end of the longitudinal sliding frame, and a locking rod capable of being clamped with the locking groove in the vertical direction is formed at the upper end of the transverse sliding frame.

[0022] When the driving wheel frame is in the second position, the locking rod and the locking groove are directly opposite in the front-back direction but not clamped. The continuous rotation of the driving wheel frame causes the locking rod to be clamped with the locking groove.

[0023] As a preferred solution: A rotating groove is formed at the rear end of the housing along the up-down direction, and a rotating rod arranged along the up-down direction is fixedly connected in the rotating groove; a fixed rotating block is rotatably connected to the lower end of the rotating rod, and a connecting slider capable of rotating circumferentially with the rotating rod is slidably connected to the rotating rod; The two housings are connected by two connecting rods; One end of the connecting rod is rotatably connected to the fixed rotating block on one housing, and the other end is rotatably connected to the connecting slider on the other housing; The middle parts of the two connecting rods are rotatably connected by a pin shaft; Each rotating shaft of the connecting rod is arranged along the horizontal direction and is parallel to each other; A fixed groove is formed at the upper end of the rotating groove; The width of the fixed groove is equivalent to the width of the connecting slider; The width of the rotating groove is greater than the width of the connecting slider; A transition arc surface is formed between the fixed groove and the rotating groove.

[0024] When the connecting slider is located in the fixed groove, the connecting slider cannot rotate on the rotating rod, and the two housings will not rotate relative to each other.

[0025] When the connecting slider is located in the rotating groove, the connecting slider can rotate on the rotating rod, and the two housings can rotate relative to each other, and thus can turn in the pipeline.

[0026] As a preferred solution: An active clamping head for restricting the movement of the connecting slider is slidably connected in the front-back direction at the position opposite to the fixed groove at the upper part of the fixing plate; A switching groove is formed on the outer wall of the connecting slider, and a switching block capable of being clamped with the switching groove in the vertical direction is formed at the rear end of the active clamping head; A clamping head inclined surface capable of pushing the active clamping head to move backward by being squeezed by the longitudinal sliding frame is formed at the lower end of the front part of the active clamping head, and a clamping head spring for pushing the active clamping head to move forward is arranged between the rear end of the active clamping head and the fixing plate.

[0027] When the longitudinal sliding frame is in the upper limit position, the longitudinal sliding frame abuts against the movable chuck, the movable chuck is in the rear limit position, the switching block is engaged with the switching groove, and the chuck spring contracts and stores energy. At this time, the connecting slider is fixed in the fixed groove, and the two shells cannot move away from each other or rotate relative to each other.

[0028] When the longitudinal sliding frame is in the lower limit position, the longitudinal sliding frame does not abut against the movable chuck. The movable chuck moves to the front limit position under the action of the chuck spring. The switching block is no longer engaged with the switching groove. The connecting slider can slide on the rotating rod, enabling the two shells to move away from each other. When the connecting slider is located in the rotating groove, the connecting slider and the fixed rotating block can rotate, thereby realizing a turn in the pipeline.

[0029] As a preferred solution: A driven motor for driving the driven roller to rotate is fixedly connected to the driven wheel frame; A driving motor for driving the driving roller to rotate is fixedly connected to the driving wheel frame; A camera with a searchlight is fixedly connected to the front end of the shell; A controller is fixedly connected inside the shell, and the camera, the switching motor, the driving motor, and the driven motor are electrically connected to the controller.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows: In the initial state, the two driven rollers are in the vertical state, the driving wheel frame is in the first position, the transverse sliding frame is in the front limit position, the longitudinal sliding frame is in the upper limit position, the movable chuck is in the rear limit position, the switching block on the movable chuck is engaged with the switching groove on the connecting slider in the vertical direction, and the connecting slider abuts against the inner wall of the fixed groove.

[0031] When using the present invention, place the present invention stably on the ground, and each driven roller abuts against the ground with the largest contact area. Then, start the driven motor through the controller to drive the driven roller to rotate, and observe through the camera to make the present invention move towards the pipeline on the ground.

[0032] When the present invention enters the pipeline, stop the driven motor through the controller and reverse-start the switching motor to drive the driving wheel frame to rotate in the reverse direction; During the reverse rotation of the driving wheel frame, the first driving gear ring on the first driving wheel meshes with the longitudinal driven rack on the longitudinal sliding frame, causing the longitudinal sliding frame to move downward; During the downward movement of the longitudinal sliding frame, the longitudinal driving rack meshes with the driven gear ring, driving the driven wheel to rotate, and further driving the driven wheel group connected to the driven wheel to rotate and tilt.

[0033] When the driving wheel frame rotates to the second position, the longitudinal sliding frame moves to the lower limit position, and the longitudinal driving rack and the driven gear ring just finish meshing. The driven wheel drives the driven wheel set to rotate to an inclined state. At this time, the driven rollers on the driven wheel set coincide radially with the housing, and the second driving gear ring of the second driving wheel on the driving wheel frame just meshes with the transverse driving rack on the driving rod. At this time, the movable chuck no longer abuts against the longitudinal sliding frame, and the movable chuck moves forward under the action of the chuck spring, and the switching block moves to a position where it is not engaged with the switching groove. At this time, the connecting slider can slide in the up and down directions.

[0034] Then the switching motor continues to reverse, driving the driving wheel frame to continue rotating. During the rotation of the driving wheel frame, the second driving gear ring meshes with the transverse driving rack, driving the transverse sliding frame to move backward. The backward movement of the transverse sliding frame drives the connecting rod to move backward synchronously. The connecting rod slide column on the connecting rod moves in the connecting rod chute, so that the movement of the connecting rod drives the driven wheel frame to rotate outward, that is, the driven roller and the driving roller move synchronously to the outside of the housing. At the same time, the transverse sliding frame moves to a position where the locking rod is engaged with the locking groove, and the driven wheel frame is fixed and cannot rotate axially at will.

[0035] When the driving wheel frame rotates to a position where the driving roller fits against the inner wall of the pipeline, the driven wheel frame rotates to a position where the driven roller fits against the inner wall of the pipeline, and then the controller controls the switching motor to stop running.

[0036] Then, the controller only controls the start of the two driven motors and one driving motor in the front to drive the two driven rollers and one driving roller in the front to rotate forward, driving the front housing to move forward. At this time, the rear housing remains stationary, and the connecting slider in the fixed groove slides downward into the rotating groove. At this time, the connecting slider does not fit against the inner wall of the fixed groove, and the connecting slider can rotate around the rotating rod. After the front housing moves a certain distance, control each driven motor and driving motor to start, driving each driven roller and driving roller to rotate, so that the present invention moves in the pipeline. At the same time, control the searchlight on the camera to turn on, and observe the situation inside the pipeline through the camera for adjustment.

[0037] When it is necessary to move into pipelines with different inner diameters, the controller controls the switching motor to rotate, driving the driving wheel frame to rotate, and driving the driven wheel frame to rotate synchronously through the transverse sliding frame, so that the driving roller and the driven roller move to fit against the inner wall of the new pipeline, thereby meeting the use requirements in pipelines with different inner diameters.

[0038] When it is necessary to turn in the pipeline, the controller controls the two driven motors and one driving motor to start at different speeds, so that one section of the present invention turns first. After the turning is completed, control the two driven motors and one driving motor of the next section to start at different speeds to turn.

[0039] When the use is finished and it is about to be removed from the pipeline, the two driven motors and one driving motor in the front stop running. At this time, only the housing at the rear moves forward. During the movement, the connecting rod contracts, causing the connecting slider located above to move upward on the rotating rod and move into the fixing groove under the action of the transition arc surface. The connecting slider abuts against the side wall of the fixing groove. When the connecting rod contracts to the limit, control the two driven motors and one driving motor at the rear to stop running. At this time, the switching groove on the connecting slider is aligned with the switching block on the movable chuck.

[0040] Then control the switching motor to rotate forward, driving the driving wheel frame to rotate forward. The transverse sliding frame moves forward under the action of the second driving gear ring, driving the driving wheel frame to rotate inward. When the driving wheel frame rotates to the second position, the continuous rotation of the driving wheel frame drives the longitudinal sliding frame to move upward and drives the driven wheel to rotate. When the driving wheel frame rotates to the first position, the longitudinal sliding frame moves to the upper limit position, abuts against the movable chuck and pushes the movable chuck to move until the switching block is clamped with the switching groove. At the same time, the driven wheel drives the driven wheel frame to rotate until the driven roller is vertical. At this time, each driven roller of the present invention abuts against the ground and has the largest contact area. The present invention can move on the ground and the two housings will not move away from each other.

[0041] By setting the driving wheel frame, during the rotation of the driving wheel frame, the present invention can not only drive the longitudinal sliding frame to move, change the direction of the driven roller, but also drive the transverse sliding frame to move, change the distance between the driven roller and the center of the housing, so as to meet the use in different environments.

[0042] By setting the longitudinal sliding frame, the present invention can not only drive the driven wheel to rotate, drive the driven wheel set to rotate, and change the direction of the driven roller, but also push the movable chuck to move to be clamped with the connecting slider when moving upward, preventing the two housings from moving away from each other when moving on the ground.

[0043] By setting the transverse sliding frame, the present invention can not only drive the driven wheel set to turn outward, but also make the locking groove and the locking rod clamped, preventing the outwardly turned driven wheel frame from rotating during the movement.

[0044] The present invention can not only arrange the driving roller and the driven roller radially, enabling it to move in the pipeline, but also turn the driven roller vertically, enabling it to move on the plane. By controlling the driven roller to rotate axially along the housing, the contact area between the driven roller and the pipeline or the ground can be maximized, increasing the grip of the driven roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is the schematic structural diagram of the whole of the present invention.

[0046] Figure 2 is the schematic cross-sectional structural diagram of the whole of the present invention.

[0047] Figure 3 It is a schematic exploded view of the whole of the present invention.

[0048] Figure 4 It is a schematic view of the structure of the driving wheel set of the present invention.

[0049] Figure 5 It is a schematic exploded view of the structure of the driven wheel set of the present invention.

[0050] Figure 6 、 7 It is a schematic view of the structure of the longitudinal sliding frame of the present invention.

[0051] Figure 8 It is a schematic view of the structure of the transverse sliding frame of the present invention.

[0052] Figure 9 It is a schematic view of the structure of the movable chuck of the present invention.

[0053] Figure 10 It is a schematic view of the structure of the fixed plate of the present invention.

[0054] Figure 11 It is a schematic sectional view of the structure of the housing of the present invention.

[0055] Figure 12 It is a schematic view of the structure of the connecting rod, connecting slider and fixed rotating block of the present invention.

[0056] Figure 13 It is a schematic view of the structure of the longitudinal sliding frame, driven wheel, connecting rod and driving wheel frame when the present invention moves on the ground.

[0057] Figure 14 It is a schematic view of the structure of the longitudinal sliding frame, driven wheel, connecting rod and driving wheel frame when the present invention moves in the pipeline.

[0058] Figure 15 It is a schematic view of the structure of the transverse sliding frame, driven wheel, connecting rod and driving wheel frame when the present invention moves in different pipelines.

[0059] Figure 16 It is a schematic view of the structure of the connecting rod, connecting slider, movable chuck and longitudinal sliding frame when the present invention moves on the ground.

[0060] Figure 17 It is a schematic view of the structure of the connecting rod, connecting slider, fixed rotating block, housing and longitudinal sliding frame when the present invention moves in the pipeline.

[0061] 1. Housing; 10. Camera; 11. Driving wheel groove; 12. Driven wheel groove; 13. Fixed groove; 14. Rotating groove; 15. Transition arc surface; 16. Rotating rod; 17. Chuck through groove; 2. Fixed plate; 21. Movable chuck; 211. Chuck inclined surface; 212. Chuck spring; 213. Switching block; 22. Driving wheel group mounting seat; 23. Chuck sliding groove; 24. Motor bracket; 25. Longitudinal sliding frame sliding groove; 26. Driven wheel rotating shaft; 27. Transverse sliding frame sliding column; 3. Longitudinal sliding frame; 31. Longitudinal driving rack; 32. Longitudinal driven rack; 33. Locking groove; 34. Longitudinal sliding frame sliding column; 4. Transverse sliding frame; 41. Driving rod; 411. Transverse driving rack; 42. Locking rod; 43. Switching sliding groove; 44. Transverse sliding frame sliding groove; 45. Switching plate; 5. Switching motor; 6. Driven wheel group; 61. Driven roller; 62. Driven wheel frame; 621. Driven wheel frame rotating hole; 622. Link sliding groove; 63. Driven motor; 64. Link; 641. Link clamping column; 642. Link sliding column; 65. Driven wheel; 651. Driven gear ring; 652. Driven wheel frame mounting seat; 653. Driven wheel frame rotating shaft; 654. Driven wheel mounting hole; 7. Driving wheel group; 71. Driving roller; 72. Driving motor; 73. First driving wheel; 731. First driving gear ring; 74. Second driving wheel; 741. Second driving gear ring; 75. Driving wheel frame; 81. Connecting slider; 811. Switching groove; 812. Slider rotating hole; 82. Connecting rod; 83. Fixed rotating block; 831. Rotating block rotating hole. Detailed implementation mode

[0062] Embodiment 1

[0063] According to Figures 1 to 17 As shown, a pipeline robot in this embodiment includes two relatively rotatable housings 1; a fixed plate 2 is fixedly connected to the rear end inside each housing 1, and two symmetrically arranged driven wheel groups 6 are rotatably connected to the lower part of the fixed plate 2; the rotating shafts of the driven wheel groups 6 are arranged in the front-rear direction; two driven wheel grooves 12 are formed on the lower part of the outer wall of the housing 1, respectively, so that the driven wheel groups 6 on the same side extend out of the outer wall of the housing 1; the driven wheel group 6 includes a driven wheel 65 whose rotating shaft is arranged in the front-rear direction and is rotatably connected to the front end of the fixed plate 2, and a driven roller 61 whose rotating shaft is perpendicular to the rotating shaft of the driven wheel 65 and can rotate synchronously with the driven wheel; two driven wheel rotating shafts 26 respectively rotatably connected to the driven wheel 65 on the same side are formed at the front end of the fixed plate 2, and a driven wheel mounting hole 654 rotatably connected to the driven wheel rotating shaft 26 is formed at the center of the driven wheel 65.

[0064] A longitudinal sliding frame 3 for driving the driven wheel 65 to rotate is slidably connected to the front end of the fixed plate 2 in the vertical direction; a longitudinal sliding frame chute 25 is formed at the front end of the fixed plate 2 in the vertical direction, and a longitudinal sliding frame sliding column 34 slidably connected to the longitudinal sliding frame chute 25 is formed at the rear end of the longitudinal sliding frame 3.

[0065] A driving wheel set 7 is arranged on the upper part of the fixed plate 2; a driving wheel groove 11 rotatably connected to the driving wheel set 7 is formed on the upper part of the outer wall of the housing 1; the driving wheel set 7 includes a driving wheel frame 75 rotatably connected to the upper part of the fixed plate 2 for driving the longitudinal sliding frame 3 to move, and a driving roller 71 rotatably connected to one end of the driving wheel frame 75 away from the rotating shaft; the rotating shaft directions of the driving wheel frame 75 and the driving roller 71 are both arranged in the left-right direction.

[0066] A driving wheel set mounting seat 22 rotatably connected to the driving wheel frame 75 is formed at the front end of the fixed plate 2; a switching motor 5 for driving the driving wheel frame 75 to rotate is fixedly connected to the upper part of the fixed plate 2; a motor frame 24 fixedly connected to the switching motor 5 is formed at the front end of the fixed plate 2.

[0067] When the driving wheel frame 75 is in the first position, the longitudinal sliding frame 3 is located at the upper limit position, and the two driven rollers 61 are in the vertical state. At this time, the contact area between the driven rollers 61 and the ground is the largest, and the grip force is the largest when moving on the ground. The driving roller 71 is located inside the housing 1.

[0068] When the driving wheel frame 75 is in the second position, the longitudinal sliding frame 3 is located at the lower limit position, and the two driven rollers 61 rotate to an inclined state. The driven rollers 61 coincide with the radius of the housing 1. At this time, the contact area between the driven rollers 61 and the driving roller 71 and the inner wall of the pipeline is the largest, and the grip force is the largest when moving in the pipeline.

[0069] The driven wheel set 6 further includes a driven wheel frame 62 rotatably connected to the driven wheel 65 and rotatably connected to the driven rollers 61; the rotating shaft of the driven wheel frame 62 is perpendicular to the rotating shaft of the driven wheel 65; a driven wheel frame mounting seat 652 is formed at the front end of the driven wheel 65, a driven wheel frame rotating shaft 653 perpendicular to the rotating shaft of the driven wheel 65 is formed on the side wall of the driven wheel frame mounting seat 652, and a driven wheel frame rotating hole 621 rotatably connected to the driven wheel frame rotating shaft 653 is formed on the driven wheel frame 62; a transverse sliding frame 4 for driving the driven wheel frame 62 to rotate is slidably connected to the front of the fixed plate 2 in the front-rear direction; a transverse sliding frame chute 44 penetrating in the front-rear direction is formed at the lower part of the transverse sliding frame 4, and a transverse sliding frame sliding column 27 slidably connected to the transverse sliding frame chute 44 is formed at the lower front end of the fixed plate 2.

[0070] A connecting rod 64 is provided between the driven wheel frame 62 and the transverse sliding frame 4; a connecting rod chute 622 is formed on the outer wall of the driven wheel frame 62, and a connecting rod sliding column 642 which is slidably connected with the connecting rod chute 622 is formed at one end of the connecting rod 64 close to the driven wheel frame 62; a switching plate 45 is formed at the lower part of the transverse sliding frame 4, and a switching chute 43 which penetrates through in the front and back directions is formed on the switching plate 45. The switching chute 43 is an arc-shaped groove, and the center of the circle coincides with the axis of the driven wheel 65; a connecting rod clamping column 641 which is slidably connected with the switching chute 43 and moves synchronously with the switching plate 45 in the front and back directions is formed at one end of the connecting rod 64 close to the transverse sliding frame 4.

[0071] When the driving wheel frame 75 is in the second position, the two driven rollers 61 are in an inclined state, the transverse sliding frame moves backward, the connecting rod sliding column 642 moves in the connecting rod chute 622, and the driven wheel frame 62 rotates outward, so that the driving roller 71 and the driven roller 61 can move towards the outside of the housing to adapt to pipelines with different diameters.

[0072] A driven gear ring 651 is formed on the outer wall of the driven wheel 65, and longitudinal driving racks 31 which are meshed with the driven gear rings 651 on the same side are formed on the left and right sides of the lower part of the longitudinal sliding frame 3; a longitudinal driven rack 32 is formed at the front end of the upper part of the longitudinal sliding frame 3, a first driving wheel 73 is formed at the position coaxial with the rotating shaft of the driving wheel frame 75 on the driving wheel frame 75, and a first driving gear ring 731 which is meshed with the longitudinal driven rack 32 is formed on the outer wall of the first driving wheel 73; the central angle of the first driving gear ring 731 is less than 360°.

[0073] When the driving wheel frame 75 is in the first position, the longitudinal sliding frame 3 is located at the upper limit position, the longitudinal driving rack 31 is just meshed with the driven gear ring 651, the longitudinal driven rack 32 is just meshed with the first driving gear ring 731, and the driven rollers 61 are in a vertical state.

[0074] When the driving wheel frame 75 is in the second position, the longitudinal sliding frame 3 is located at the lower limit position, the longitudinal driving rack 31 just ends meshing with the driven gear ring 651, the continuous rotation of the driving wheel frame 75 does not drive the longitudinal sliding frame 3 to move continuously, the longitudinal driven rack 32 just ends meshing with the first driving gear ring 731, and the driven rollers 61 rotate to an inclined state.

[0075] At the upper end of the horizontal sliding frame 4, a driving rod 41 is formed and arranged in the front-rear direction. At the lower end of the driving rod 41, a horizontal driving rack 411 is formed. At the position coaxial with the rotating shaft of the driving wheel frame 75 on the driving wheel frame 75, a second driving wheel 74 is formed. On the outer wall of the second driving wheel 74, a second driving tooth ring 741 capable of meshing with the horizontal driving rack 411 is formed. The central angle of the second driving tooth ring 741 is less than 360°.

[0076] When the driving wheel frame 75 is in the first position, the second driving tooth ring 741 does not mesh with the horizontal driving rack 411.

[0077] When the driving wheel frame 75 is in the second position, the second driving tooth ring 741 just meshes with the horizontal driving rack 411. The continuous rotation of the driving wheel frame 75 causes the horizontal driving rack 411 to move, and further causes the driven wheel frame 62 to rotate outwards.

[0078] At the front end of the longitudinal sliding frame 3, a locking groove 33 is formed. At the upper end of the horizontal sliding frame 4, a locking rod 42 capable of being clamped with the locking groove 33 in the up-down direction is formed.

[0079] When the driving wheel frame 75 is in the second position, the locking rod 42 and the locking groove 33 are directly opposite in the front-rear direction but not clamped. The continuous rotation of the driving wheel frame 75 causes the locking rod 42 to be clamped with the locking groove 33.

[0080] At the rear end of the housing 1, a rotating groove 14 is formed and arranged in the up-down direction. In the rotating groove 14, a rotating rod 16 arranged in the up-down direction is fixedly connected. At the lower end of the rotating rod 16, a fixed rotating block 83 is rotatably connected. On the rotating rod 16, a connecting slider 81 capable of rotating circumferentially with the rotating rod is slidably connected. The two housings are connected by two connecting rods 82. One end of the connecting rod 82 is rotatably connected to the fixed rotating block 83 on one housing 1, and the other end is rotatably connected to the connecting slider 81 on the other housing 1. The middle parts of the two connecting rods 82 are rotatably connected by a pin shaft. Each rotating shaft of the connecting rod 82 is arranged in the horizontal direction and is parallel to each other. On the connecting slider 81, a slider rotating hole 812 slidably connected to the rotating rod 16 is formed. On the fixed rotating block 83, a rotating block rotating hole 831 slidably connected to the rotating rod 16 is formed. At the upper end of the rotating groove 14, a fixed groove 13 is formed. The width of the fixed groove is equivalent to the width of the connecting slider. The width of the rotating groove is greater than the width of the connecting slider. A transition arc surface 15 is formed between the fixed groove 13 and the rotating groove 14.

[0081] When the connecting slider 81 is located in the fixed groove 13, the connecting slider 81 cannot rotate on the rotating rod 16, and the two housings 1 do not rotate relative to each other.

[0082] When the connecting slider 81 is located within the rotating groove 14, the connecting slider 81 can rotate on the rotating rod 16, and the two shells 1 can rotate relative to each other, and thus can turn within the pipeline.

[0083] At the position on the upper part of the fixed plate 2 facing the fixed groove 13, a movable clamping head 21 for restricting the movement of the connecting slider 81 is slidably connected in the front-rear direction; a clamping head sliding groove 23 for slidably connecting with the movable clamping head 21 is formed on the upper part of the fixed plate 2; a clamping head through groove 17 that is in communication with the fixed groove 13 and is slidably connected with the movable clamping head 21 is formed on the shell 1; a switching groove 811 is formed on the outer wall of the connecting slider 81, and a switching block 213 that can be clamped with the switching groove 811 in the up-down direction is formed at the rear end of the movable clamping head 21; a clamping head inclined surface 211 that can push the movable clamping head 21 to move backward by being extruded by the longitudinal sliding frame 3 is formed at the lower end of the front part of the movable clamping head 21, and a clamping head spring 212 for pushing the movable clamping head 21 to move forward is arranged between the rear end of the movable clamping head 21 and the fixed plate 2.

[0084] When the longitudinal sliding frame 3 is at the upper limit position, the longitudinal sliding frame 3 abuts against the movable clamping head 21, the movable clamping head 21 is at the rear limit position, the switching block 213 is clamped with the switching groove 811, and the clamping head spring 212 contracts and stores energy. At this time, the connecting slider 81 is fixed within the fixed groove 13, and the two shells 1 cannot move away from each other nor rotate relative to each other.

[0085] When the longitudinal sliding frame 3 is at the lower limit position, the longitudinal sliding frame 3 does not abut against the movable clamping head 21, the movable clamping head 21 moves to the front limit position under the action of the clamping head spring 212, the switching block 213 is no longer clamped with the switching groove 811, the connecting slider 81 can slide on the rotating rod 16, so that the two shells 1 can move away from each other. When the connecting slider 81 is located within the rotating groove 14, the connecting slider 81 and the fixed rotating block 83 can rotate, and thus turning within the pipeline is realized.

[0086] A driven motor 63 for driving the driven roller 61 to rotate is fixedly connected to the driven wheel frame 62; a driving motor 72 for driving the driving roller 71 to rotate is fixedly connected to the driving wheel frame 75; a camera 10 with a searchlight is fixedly connected to the front end of the shell 1; a controller is fixedly connected within the shell 1, and the camera 10, the switching motor 5, the driving motor 72, the driven motor 63 are electrically connected to the controller.

[0087] In the initial state, the two driven rollers 61 are in a vertical state, the driving wheel frame 75 is in the first position, the transverse sliding frame 4 is at the front limit position, the longitudinal sliding frame 3 is at the upper limit position, the movable chuck 21 is at the rear limit position, the switching block 213 on the movable chuck 21 is engaged with the switching groove 811 on the connecting slider 81 in the up and down direction, and the connecting slider 81 abuts against the inner wall of the fixed groove 13.

[0088] When using the present invention, place the present invention stably on the ground, with each driven roller 61 abutting against the ground and having the largest contact area, and then start the driven motor 63 through the controller to drive the driven roller 61 to rotate and operate, and observe through the camera 10 to move the present invention towards the pipeline on the ground.

[0089] When the present invention enters the pipeline, stop the driven motor 63 through the controller and reverse-start the switching motor 5 to drive the driving wheel frame 75 to rotate in the reverse direction; during the reverse rotation of the driving wheel frame 75, the first driving gear ring 731 on the first driving wheel 73 meshes with the longitudinal driven rack 32 on the longitudinal sliding frame 3, causing the longitudinal sliding frame 3 to move downward; during the downward movement of the longitudinal sliding frame 3, the longitudinal driving rack 31 meshes with the driven gear ring 651, driving the driven wheel 65 to rotate, and further driving the driven wheel group 6 connected to the driven wheel 65 to rotate and tilt.

[0090] When the driving wheel frame 75 rotates to the second position, the longitudinal sliding frame 3 moves to the lower limit position, the longitudinal driving rack 31 just ends meshing with the driven gear ring 651, the driven wheel 65 drives the driven wheel group 6 to rotate to an inclined state. At this time, the driven rollers 61 on the driven wheel group 6 coincide with the radial direction of the housing 1, and the second driving gear ring 741 of the second driving wheel 74 on the driving wheel frame 75 just meshes with the transverse driving rack 411 on the driving rod 41; at this time, the movable chuck 21 no longer abuts against the longitudinal sliding frame 3, and the movable chuck 21 moves forward under the action of the chuck spring 212, and the switching block 213 moves to not engage with the switching groove 811. At this time, the connecting slider 81 can slide in the up and down direction.

[0091] Then the switching motor 5 continues to reverse, driving the driving wheel frame 75 to continue rotating. During the rotation of the driving wheel frame 75, the second driving gear ring 741 meshes with the transverse driving rack 411, driving the transverse sliding frame 4 to move backward; the backward movement of the transverse sliding frame 4 drives the connecting rod 64 to move backward synchronously. The connecting rod sliding column 642 on the connecting rod 64 moves in the connecting rod chute 622, causing the movement of the connecting rod 64 to drive the driven wheel frame 62 to rotate outward, that is, the driven rollers and the driving rollers move outward to the outside of the housing synchronously. At the same time, the transverse sliding frame 4 moves to the position where the locking rod 42 engages with the locking groove 33, and the driven wheel frame 62 is fixed and cannot rotate freely along the axial direction.

[0092] When the driving wheel frame 75 rotates until the driving roller 71 fits against the inner wall of the pipeline, the driven wheel frame 62 rotates until the driven roller 61 fits against the inner wall of the pipeline, and then the controller controls the switching motor 5 to stop running.

[0093] Then, the controller only controls the start of the two driven motors 63 and one driving motor 72 in the front to drive the two driven rollers 61 and one driving roller 71 in the front to rotate forward, driving the front housing 1 to move forward. At this time, the rear housing 1 remains stationary, and the connecting slider 81 in the fixed slot 13 slides downward into the rotating slot 14. At this time, the connecting slider 81 does not fit against the inner wall of the fixed slot 13, and the connecting slider 81 can rotate around the rotating rod 16; after the front housing 1 moves a certain distance, control each driven motor 63 and the driving motor 72 to start, driving each driven roller 61 and the driving roller 71 to rotate, so that the present invention moves in the pipeline; at the same time, control the searchlight on the camera 10 to turn on, and observe the situation inside the pipeline through the camera for adjustment.

[0094] When it is necessary to move into pipelines with different inner diameters, the controller controls the switching motor 5 to rotate, driving the driving wheel frame 75 to rotate, and driving the driven wheel frame 62 to rotate synchronously through the lateral sliding frame 4, so that the driving roller 71 and the driven roller 61 move to fit against the inner wall of the new pipeline, thereby meeting the use in occasions with different inner diameters in the pipeline.

[0095] When it is necessary to turn in the pipeline, the controller controls the two driven motors 63 and one driving motor 72 to start at different speeds, so that one section of the present invention turns first. After the turning is completed, control the two driven motors 63 and one driving motor 72 in the next section to start at different speeds to perform the turning.

[0096] When the use is over and it is about to move out of the pipeline, control the two driven motors 63 and one driving motor 72 in the front to stop running. At this time, only the rear housing 1 moves forward. During the movement, the connecting rod 82 contracts, so that the upper connecting slider 81 moves upward on the rotating rod 16 and moves into the fixed slot 13 under the action of the transition arc surface 15, and the connecting slider 81 abuts against the side wall of the fixed slot 13; when the connecting rod 82 contracts to the limit, control the two driven motors 63 and one driving motor 72 in the rear to stop running. At this time, the switching slot 811 on the connecting slider 81 is aligned with the switching block 213 on the movable chuck 21.

[0097] Then control the switching motor 5 to rotate forward, driving the driving wheel frame 75 to rotate forward. The transverse sliding frame 4 moves forward under the action of the second driving gear ring 741, driving the driving wheel frame 75 to rotate inward. When the driving wheel frame 75 rotates to the second position, the continuous rotation of the driving wheel frame 75 drives the longitudinal sliding frame 3 to move upward and drives the driven wheel 65 to rotate. When the driving wheel frame 75 rotates to the first position, the longitudinal sliding frame 3 moves to the upper limit position, and the longitudinal sliding frame 3 abuts against the movable chuck 21 and pushes the movable chuck 21 to move until the switching block 213 is engaged with the switching slot 811. At the same time, the driven wheel 65 drives the driven wheel frame 62 to rotate until the driven roller 61 is vertical. At this time, each driven roller 61 of the present invention abuts against the ground and has the largest contact area. The present invention can move on the ground, and the two shells will not move away from each other.

[0098] By providing the driving wheel frame 75, during the rotation of the driving wheel frame 75, the present invention can not only drive the longitudinal sliding frame 3 to move, change the direction of the driven roller 61, but also drive the transverse sliding frame 4 to move, change the distance between the driven roller 61 and the center of the shell 1, so as to meet the use in different environments.

[0099] By providing the longitudinal sliding frame 3, the present invention can not only drive the driven wheel 65 to rotate, drive the driven wheel set 6 to rotate, and change the direction of the driven roller 61, but also push the movable chuck 21 to move to engage with the connecting slider 81 when moving upward, preventing the two shells 1 from moving away from each other when moving on the ground.

[0100] By providing the transverse sliding frame 4, the present invention can not only drive the driven wheel set 6 to turn outward, but also make the locking groove 33 engage with the locking rod 42, preventing the outwardly turned driven wheel frame 62 from rotating during movement.

[0101] The present invention can not only arrange the driving roller 71 and the driven roller 61 radially, so that it can move in the pipeline, but also turn the driven roller 61 vertically, so that it can move on the plane. By controlling the driven roller 61 to rotate along the axial direction of the shell, the contact area between the driven roller 61 and the pipeline or the ground can be maximized, increasing the grip of the driven roller 61.

Claims

1. A pipeline robot, characterized in that: it includes two relatively rotatable shells; a fixing plate is fixedly connected to the rear end inside each of the shells, and two symmetrically arranged driven wheel sets are rotatably connected to the lower part of the fixing plate; the axes of the driven wheel sets are arranged in the front-rear direction; each driven wheel set includes a driven wheel whose axis of rotation is arranged in the front-rear direction and is rotatably connected to the front end of the fixing plate, and a driven roller whose axis is perpendicular to the axis of the driven wheel and can rotate synchronously with the driven wheel and is arranged on the driven wheel; a longitudinal sliding frame for driving the driven wheel to rotate is slidably connected to the front end of the fixing plate in the up-down direction; a driving wheel set is arranged on the upper part of the fixing plate; the driving wheel set includes a driving wheel frame rotatably connected to the upper part of the fixing plate for driving the longitudinal sliding frame to move, and a driving roller rotatably connected to one end of the driving wheel frame away from the axis; the axes of the driving wheel frame and the driving roller are both arranged in the left-right direction; a switching motor for driving the driving wheel frame to rotate is fixedly connected to the upper part of the fixing plate; when the driving wheel frame is in the first position, the longitudinal sliding frame is at the upper limit position, and the two driven rollers are in a vertical state, at this time the contact area between the driven rollers and the ground is the largest, and the grip on the ground is the largest when moving on the ground, and the driving roller is located inside the shell; when the driving wheel frame is in the second position, the longitudinal sliding frame is at the lower limit position, and the two driven rollers rotate to an inclined state, and the radius of the driven rollers coincides with that of the shell, at this time the contact area between the driven rollers and the driving roller and the inner wall of the pipeline is the largest, and the grip is the largest when moving in the pipeline; the driven wheel set further includes a driven wheel frame rotatably connected to the driven wheel and rotatably connected to the driven roller; the axis of the driven wheel frame is perpendicular to the axis of the driven wheel; a transverse sliding frame for driving the driven wheel frame to rotate is slidably connected to the front of the fixing plate in the front-rear direction; a connecting rod is arranged between the driven wheel frame and the transverse sliding frame; a connecting rod chute is formed on the outer wall of the driven wheel frame, and a connecting rod sliding column slidably connected to the connecting rod chute is formed at one end of the connecting rod close to the driven wheel frame; a switching plate is formed on the lower part of the transverse sliding frame, and a switching chute penetrating through the front and rear is formed on the switching plate, the switching chute is an arc-shaped groove, and the center of the circle coincides with the axis of the driven wheel; a connecting rod clamping column slidably connected to the switching chute and moving synchronously with the switching plate in the front-rear direction is formed at one end of the connecting rod close to the transverse sliding frame; a driven gear ring is formed on the outer wall of the driven wheel, and longitudinal driving racks meshing with the driven gear ring on the same side are formed on the left and right sides of the lower part of the longitudinal sliding frame; a longitudinal driven rack is formed at the front end of the upper part of the longitudinal sliding frame, a first driving wheel is formed at the coaxial position of the driving wheel frame and the axis of the driving wheel frame, and a first driving gear ring meshing with the longitudinal driven rack is formed on the outer wall of the first driving wheel; the central angle of the first driving gear ring is less than 360°.

2. A pipeline robot according to claim 1, characterized in that: When the driving wheel frame is in the second position, the two driven rollers are in an inclined state, the transverse sliding frame moves backward, the connecting rod sliding column moves in the connecting rod chute, and the driven wheel frame rotates outward, so that the driving roller and the driven roller can move towards the outside of the housing to adapt to pipelines with different diameters.

3. A pipeline robot according to claim 2, wherein: When the driving wheel frame is in the first position, the longitudinal sliding frame is located at the upper limit position, the longitudinal driving rack just meshes with the driven gear ring, the longitudinal driven rack just meshes with the first driving gear ring, and the driven rollers are in a vertical state; when the driving wheel frame is in the second position, the longitudinal sliding frame is located at the lower limit position, the longitudinal driving rack just stops meshing with the driven gear ring, the continuous rotation of the driving wheel frame does not drive the longitudinal sliding frame to move continuously, the longitudinal driven rack just stops meshing with the first driving gear ring, and the driven rollers rotate to an inclined state.

4. A pipeline robot according to claim 3, wherein: A driving rod arranged in the front-back direction is formed at the upper end of the transverse sliding frame, and a transverse driving rack is formed at the lower end of the driving rod; a second driving wheel is formed at the position coaxial with the rotating shaft of the driving wheel frame on the driving wheel frame, and a second driving gear ring capable of meshing with the transverse driving rack is formed on the outer wall of the second driving wheel; the central angle of the second driving gear ring is less than 360°; when the driving wheel frame is in the first position, the second driving gear ring does not mesh with the transverse driving rack; when the driving wheel frame is in the second position, the second driving gear ring just meshes with the transverse driving rack, and the continuous rotation of the driving wheel frame makes the transverse driving rack move, thereby making the driven wheel frame rotate outward.

5. A pipeline robot according to claim 4, wherein: A locking groove is formed at the front end of the longitudinal sliding frame, and a locking rod capable of being clamped with the locking groove in the up-down direction is formed at the upper end of the transverse sliding frame; when the driving wheel frame is in the second position, the locking rod and the locking groove are directly opposite in the front-back direction but not clamped, and the continuous rotation of the driving wheel frame makes the locking rod and the locking groove clamped.

6. A pipeline robot according to claim 1, wherein: A rotating groove is formed at the rear end of the housing and arranged vertically. A rotating rod is fixedly connected in the rotating groove and arranged vertically. The lower end of the rotating rod is rotatably connected with a fixed rotating block. A connecting slider that can rotate circumferentially with the rotating rod is slidably connected to the rotating rod. The two housings are connected by two connecting rods. One end of each connecting rod is rotatably connected with the fixed rotating block on one housing, and the other end is rotatably connected with the connecting slider on the other housing. The middle parts of the two connecting rods are rotatably connected by a pin shaft. Each rotating shaft of the connecting rod is arranged horizontally and parallel to each other. A fixed groove is formed at the upper end of the rotating groove. The width of the fixed groove is equivalent to the width of the connecting slider. The width of the rotating groove is greater than the width of the connecting slider. A transition arc surface is formed between the fixed groove and the rotating groove. When the connecting slider is located in the fixed groove, the connecting slider cannot rotate on the rotating rod, and the two housings cannot rotate relative to each other. When the connecting slider is located in the rotating groove, the connecting slider can rotate on the rotating rod, and the two housings can rotate relative to each other, so as to turn in the pipeline.

7. A pipeline robot according to claim 6, characterized in that: An active chuck for restricting the movement of the connecting slider is slidably connected in the front-rear direction at the position where the upper part of the fixed plate faces the fixed groove. A switching groove is formed on the outer wall of the connecting slider. A switching block that can be clamped with the switching groove in the up-down direction is formed at the rear end of the active chuck. A chuck inclined surface that can be pushed by the longitudinal sliding frame to move the active chuck backward is formed at the lower end of the front part of the active chuck. A chuck spring for pushing the active chuck forward is arranged between the rear end of the active chuck and the fixed plate. When the longitudinal sliding frame is located at the upper limit position, the longitudinal sliding frame abuts against the active chuck, the active chuck is located at the rear limit position, the switching block is clamped with the switching groove, and the chuck spring contracts and stores energy. At this time, the connecting slider is fixed in the fixed groove, and the two housings cannot move away from each other or rotate relative to each other. When the longitudinal sliding frame is located at the lower limit position, the longitudinal sliding frame does not abut against the active chuck, the active chuck moves to the front limit position under the action of the chuck spring, the switching block is no longer clamped with the switching groove, the connecting slider can slide on the rotating rod, so that the two housings can move away from each other. When the connecting slider is located in the rotating groove, the connecting slider and the fixed rotating block can rotate, so as to realize turning in the pipeline.

8. A pipeline robot according to claim 2, characterized in that: A driven motor for driving the driven roller to rotate is fixedly connected to the driven wheel frame. A driving motor for driving the driving roller to rotate is fixedly connected to the driving wheel frame.

9. A pipeline robot according to claim 8, characterized in that: A camera with a searchlight is fixedly connected to the front end of the housing; a controller is fixedly connected inside the housing, and the camera, the switching motor, the driving motor, and the driven motor are electrically connected to the controller.

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