A peristaltic pipeline robot

Abstract

The present invention relates to a peristaltic pipeline robot, which comprises: two peristaltic guide rail mechanisms and a turning drive mechanism, both ends of the peristaltic guide rail mechanism are provided with supporting walking arm assemblies, the peristaltic walking arm assemblies are slidably provided on the peristaltic guide rail mechanism, the supporting walking arm assemblies comprise walking arm fixing seats provided at the ends of the peristaltic guide rail mechanism and several groups of telescopic walking arms provided on the walking arm fixing seats, the walking arms abut against the inner wall of the pipeline after being extended, the peristaltic guide rail mechanism comprises a guide rail base, a walking arm fixing slider and a slider driving assembly, and the peristaltic walking arm assembly comprises several groups of walking arms. The turning drive mechanism comprises a telescopic rod mounting plate and two movable plates, one side of the movable plate is connected to the telescopic rod mounting plate through a movable plate adjusting mechanism, the other end of the movable plate is connected to the peristaltic guide rail mechanism, and the movable plate adjusting mechanism is used to drive the movable plate to face different directions so that the turning drive mechanism is in a bent state.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline robots, and in particular to a peristaltic pipeline robot. Background Art

[0002] A pipeline robot is an integrated system of machinery, electricity and instrumentation that can automatically walk along the inside or outside of a small pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the remote control of the staff or the automatic control of the computer. Pipeline robots are roughly divided into mobile robots, wheeled robots, crawler robots, abdominal wall robots, walking robots, creeping robots, spiral drive robots and snake robots.

[0003] The existing peristaltic pipeline robot, such as a peristaltic pipeline robot with authorization announcement number CN209839486U, includes: "at least two feet, each foot includes: a first telescopic unit and a plurality of support parts detachably hinged to the first telescopic unit, the first telescopic unit controls the plurality of support parts to telescope along the radial direction of the pipeline to apply radial force to the pipeline wall to achieve the fixation or separation of the foot and the inner wall of the pipeline; a propulsion part, connected between the two feet, including a second telescopic unit and a universal rotation mechanism, the second telescopic unit is used to control the peristaltic pipeline robot to telescope along the axial direction of the pipeline, and one end of the universal rotation mechanism is connected to the first telescopic unit. The robot is connected to the second telescopic unit, and the other end is connected to one of the feet so that the two feet can rotate relative to each other. Although the creeping pipeline robot with this structural design can adapt to pipelines of different diameters (within a certain range) and slide and turn along the bends of the pipeline, when walking in the actual pipeline, if it encounters a pipeline that needs to turn upward, its universal rotation mechanism and the rear foot cannot stably support its front foot to tilt upward, making the turning process unstable. In addition, in some bad working conditions, such as muddy and dirty pipelines, its creeping forward mode cannot adapt well to the environment inside the pipeline and is easy to get stuck in the pipeline. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a peristaltic pipeline robot in which the peristaltic mechanism and turning drive mechanism at the rear end can stably support the peristaltic mechanism at the front end when turning, so that the turning process of the robot is stable and controllable; and the mechanism of the walking arm can adapt to different working conditions.

[0005] To solve the above problems, the technical solution adopted by the present invention is:

[0006] A peristaltic pipeline robot, comprising: two peristaltic guide rail mechanisms arranged at intervals and a turning drive mechanism connected and arranged between the two peristaltic guide rail mechanisms, both ends of the peristaltic guide rail mechanisms are provided with supporting walking arm assemblies, and the peristaltic walking arm assembly is slidably arranged on the peristaltic guide rail mechanism;

[0007] The supporting walking arm assembly comprises a walking arm fixing seat arranged at the end of the creeping guide rail mechanism and a plurality of groups of retractable walking arms arranged on the walking arm fixing seat at equal distances in the circumferential direction, and the walking arms are extended to abut against the inner wall of the pipeline;

[0008] The peristaltic guide rail mechanism comprises a guide rail base, a walking arm fixed slider slidably arranged on the guide rail base, and a slider driving assembly for driving the walking arm fixed slider to reciprocate, and the peristaltic walking arm assembly comprises a plurality of groups of walking arms equidistantly arranged on the walking arm fixed slider in a circumferential direction;

[0009] The turning drive mechanism includes a telescopic rod mounting plate and two movable plates symmetrically arranged on both sides of the telescopic rod mounting plate. One side of the movable plate is connected to the telescopic rod mounting plate through a movable plate adjusting mechanism, and the other end of the movable plate is connected to the peristaltic guide rail mechanism. The movable plate adjusting mechanism is used to drive the movable plate to different directions so that the turning drive mechanism is in a bent state.

[0010] As a preferred embodiment, the movable plate adjustment mechanism includes a support rod, two active telescopic rods and a driven telescopic rod symmetrically arranged on both sides of the support rod;

[0011] One end of the support rod is fixedly mounted on the telescopic rod mounting plate, and the other end is connected to the movable plate ball hinge;

[0012] One end of the active telescopic rod is hinged to the plane of the telescopic rod mounting plate, and the other end is connected to the movable plate ball joint, and the rotation planes where the two active telescopic rods are located are perpendicular to each other;

[0013] The driven telescopic rod is arranged on the midpoint of the line connecting the two active telescopic rods and the extension line of the line connecting the support rods, and the two ends of the driven telescopic rod are respectively connected to the telescopic rod mounting plate and the movable plate ball joint.

[0014] As a preferred embodiment, the active telescopic rod comprises a telescopic rod driving servo, a planar hinge seat hingedly arranged on a side away from the output rod of the telescopic rod driving servo, a telescopic rod driving screw arranged on the output rod of the telescopic rod driving servo, a driving rod sleeved on the telescopic rod driving screw and a driving rod guide sleeve sleeved on the driving rod, the cross section of the driving rod guide sleeve is polygonal, and the driving rod is provided with a key connection portion of variable shape corresponding to the cross section of the driving rod guide sleeve;

[0015] One end of the driving rod guide sleeve is connected to the telescopic rod driving steering gear, and the other end is provided with a driving rod guide sleeve end cover;

[0016] One end of the driving rod is threadedly connected to the telescopic rod driving screw through a driving rod nut, and the other end is fixedly provided with a driving rod ball joint component, and the driving rod ball joint component is ball-jointedly connected to a driving rod ball joint seat arranged on the movable plate.

[0017] As a preferred embodiment, the driven telescopic rod includes a driven rod guide sleeve, a driven rod slidably arranged in the driven rod guide sleeve, a driven rod ball joint component arranged at the end of the driven rod guide sleeve, and another driven rod ball joint component arranged at the free end of the driven rod; the two driven rod ball joint components are respectively connected to the driven rod ball joint seats on the telescopic rod mounting plate and the movable plate.

[0018] As a preferred embodiment, the guide rail base is generally rectangular in shape, and a sliding channel is provided therein for the sliding of a walking arm fixed slider. Long walking arm through holes are provided on the side surface of the guide rail base corresponding to the plurality of walking arms, and the walking arm slides relative to the guide rail base due to the sliding of the walking arm fixed slider.

[0019] As a preferred embodiment, a peristaltic screw-driven servo is provided at one end of the guide rail base corresponding to the sliding channel, a peristaltic screw is provided on the output rod of the peristaltic screw-driven servo, the other end of the peristaltic screw is connected to the other end of the guide rail base through a bearing, the peristaltic screw passes through the walking arm fixed slider, and a peristaltic nut is provided in the walking arm fixed slider corresponding to the peristaltic screw.

[0020] As a preferred embodiment, the walking arm includes a walking arm telescopic driving steering gear, a walking arm lead screw arranged on an output rod of the walking arm telescopic driving steering gear, a walking arm telescopic rod threadedly connected to the walking arm lead screw, a walking arm telescopic guide sleeve sleeved on the walking arm telescopic rod, and a telescopic rod end cap arranged at the end of the walking arm telescopic rod;

[0021] One end of the walking arm telescopic guide sleeve is connected to the walking arm telescopic drive servo through a sleeve bottom plate, and two telescopic rod guide holes are symmetrically opened on it. Two telescopic rod guide screws are symmetrically arranged on the walking arm telescopic rod. The telescopic rod guide screws are slidably arranged in the telescopic rod guide holes to limit the stroke and rotation of the walking arm telescopic rod.

[0022] As a preferred embodiment, a sensor support rod is provided on the sleeve bottom plate, a walking arm sensor is provided on the free end of the sensor support rod, a through support rod through hole is provided on the walking arm telescopic rod corresponding to the sensor support rod, a sensor protection component is provided on the end of the walking arm telescopic rod corresponding to the walking arm sensor, a gasket support plate and an elastic gasket are provided on the end of the telescopic rod end cap in sequence, and a through sensing through hole is provided on the gasket support plate and the elastic gasket corresponding to the walking arm sensor;

[0023] The walking arm is extended so that the sensor protection assembly closes the support rod through hole, so as to protect the walking arm sensor;

[0024] The contraction of the walking arm drives the sensor support rod to push open the sensor protection assembly, so that the walking arm sensor enters the sensing through hole.

[0025] As a preferred embodiment, the sensor protection assembly includes a hinge fixing seat fixedly mounted at the end of the telescopic rod of the walking arm and a hinge cover plate hingedly mounted on the hinge fixing seat, a torsion spring is arranged between the hinge cover plate and the hinge fixing seat, the torsion spring is used to drive the hinge cover plate to buckle at the end of the through hole of the support rod, and an accommodating cavity is arranged between the telescopic rod end cap and the end of the telescopic rod of the walking arm for flipping the hinge cover plate;

[0026] A support rod fillet is provided on the end of the sensor support rod toward the side of the hinge fixing seat, a cover plate boss is provided on the side of the hinge cover plate toward the support rod through hole, and a cover plate chamfer is provided on the cover plate boss corresponding to the support rod fillet, and the cover plate chamfer is used to avoid and protect the walking arm sensor when the sensor support rod pushes open the hinge cover plate.

[0027] As a preferred embodiment, the sensor protection assembly includes a slider accommodating box fixedly mounted at the end of the telescopic rod of the walking arm, a closed slider slidably disposed in the slider accommodating box, and a slider return compression spring;

[0028] The slider return compression spring drives the closing slider to slide vertically to the support rod through hole and press against the side wall of the support rod through hole to close the support rod through hole;

[0029] The end of the sensor support rod is provided with a support rod fillet on the side facing the slider accommodating box, and the closed slider is provided with a slider fillet corresponding to the support rod fillet. The sensor support rod and the slider fillet are abutted against each other to push open the closed slider and avoid protecting the walking arm sensor.

[0030] The beneficial effects of adopting the above technical solution are:

[0031] The present invention supports the peristaltic guide rail mechanism through the supporting walking arm assemblies at both ends of the peristaltic guide rail mechanism, and the peristaltic walking arm assembly performs the peristaltic forward movement of the robot as a whole. The specific steps are as follows: the walking arm of the supporting walking arm assembly is extended and abutted against the inner wall of the pipeline to stably support the peristaltic guide rail mechanism, the walking arm on the walking arm fixed slider slides from the rear of the peristaltic guide rail mechanism to the front of the peristaltic guide rail mechanism in a contracted state, the walking arm on the walking arm fixed slider is extended and abutted against the inner wall of the pipeline, the walking arm of the supporting walking arm assembly is contracted, and the walking arm on the walking arm fixed slider slides from the front of the peristaltic guide rail mechanism to the rear of the peristaltic guide rail mechanism in an extended state, completing one peristaltic forward movement, the supporting walking arm assemblies and the peristaltic walking arm assemblies on the two peristaltic guide rail mechanisms move synchronously, and the structural design of this peristaltic forward movement advances through the friction force generated by the extrusion between the free end of the walking arm and the inner wall of the pipeline, and can be applied to muddy, dirty and other working conditions, so that the pipeline robot of the present invention has strong adaptability.

[0032] The two creeping guide rail mechanisms of the present invention are provided with a turning drive mechanism, which includes a telescopic rod mounting plate and two movable plates symmetrically arranged on both sides of the telescopic rod mounting plate, the movable plates are connected to the telescopic rod mounting plate through a movable plate adjustment mechanism, and the movable plate adjustment mechanism adjusts the orientation of the movable plate relative to the telescopic rod mounting plate so that the creeping guide rail mechanism fixed on the other side of the movable plate rotates a certain angle relative to the telescopic rod mounting plate, and the turning drive mechanism enters a bending state. The design of the two movable plates increases the bending angle of the turning drive mechanism, thereby increasing the adaptability of the robot of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the state of the embodiment in the pipeline.

[0034] Figure 2 It is a schematic structural diagram of an embodiment.

[0035] Figure 3 2 is a schematic structural diagram of a turning drive mechanism of an embodiment.

[0036] Figure 4 It is a schematic structural diagram of a peristaltic guide rail mechanism, a supporting walking arm assembly and a peristaltic walking arm assembly of an embodiment.

[0037] Figure 5 yes Figure 4 Schematic diagram of the structure from another angle.

[0038] Figure 6 Schematic cross-sectional view of the support rod of the embodiment.

[0039] Figure 7 2 is a schematic cross-sectional view of an active telescopic rod of an embodiment.

[0040] Figure 82 is a schematic cross-sectional view of a driven telescopic rod of an embodiment.

[0041] Fig. 9 It is a schematic diagram of the structure of the walking arm of the embodiment after it is retracted.

[0042] Fig.10 It is a cross-sectional schematic diagram of the walking arm of the embodiment after being retracted.

[0043] Fig.11 is an exploded view of the walking arm of the embodiment.

[0044] Fig.12 Schematic diagram of the structure of the sensor protection assembly of the embodiment.

[0045] Fig.13 It is a structural schematic diagram of another sensor protection component of an embodiment.

[0046] Among them: 100 pipeline; 1 sensor assembly; 1-1 walking arm fixing seat; 2 creeping guide rail mechanism; 2-0 guide rail base; 2-1 creeping screw driving servo; 2-2 creeping screw; 2-3 guide rod; 3 walking arm fixing slider;

[0047] 4 Turning drive mechanism; 4-1 Telescopic rod mounting plate; 4-2 Movable plate; 4-3 Active telescopic rod; 4-31 Telescopic rod driving servo; 4-32 Planar hinge seat; 4-33 Telescopic rod driving screw; 4-34 Driving rod; 4-341 Driving rod nut; 4-35 Driving rod guide sleeve; 4-351 Driving rod guide sleeve end cover; 4-36 Driving rod ball joint component; 4-37 Driving rod ball joint seat;

[0048] 4-4 driven telescopic rod; 4-41 driven rod guide sleeve; 4-42 driven rod; 4-43 driven rod ball joint component; 4-44 driven rod ball joint seat;

[0049] 4-5 support rod; 4-50 support rod body; 4-51 ball joint component; 4-52 support rod ball joint seat; a plane angle;

[0050] 5 walking arm; 5a rear end creeping walking arm; 5b rear end supporting walking arm; 5c front end creeping walking arm; 5d front end supporting walking arm; 5-1 walking arm telescopic driving servo; 5-11 walking arm lead screw;

[0051] 5-2 telescopic guide sleeve of walking arm; 5-21 telescopic rod guide hole; 5-22 sleeve bottom plate; 5-23 sensor support rod; 5-231 support rod fillet; 5-24 walking arm sensor;

[0052] 5-3 telescopic rod of walking arm; 5-31 through hole of supporting rod; 5-32 screw receiving cavity; 5-33 nut of telescopic rod of walking arm; 5-34 hinge fixing seat; 5-35 hinge cover plate; 5-351 chamfer of cover plate; 5-36 torsion spring; 5-37 slider receiving box; 5-38 closed slider; 5-381 slider fillet; 5-39 slider return compression spring;

[0053] 5-4 Telescopic rod end cap; 5-41 Gasket support plate; 5-42 Elastic gasket; 5-43 Sensing channel; 5-5 Telescopic rod guide screw. DETAILED DESCRIPTION

[0054] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is clearly and completely described below in conjunction with specific embodiments.

[0055] like Figures 1 to 13 A peristaltic pipeline robot is shown, which includes two peristaltic guide rail mechanisms 2 arranged at intervals and a turning drive mechanism 4 connected between the two peristaltic guide rail mechanisms 2, both ends of the peristaltic guide rail mechanism 2 are provided with supporting walking arm assemblies, and a peristaltic walking arm assembly is slidably arranged on the peristaltic guide rail mechanism 2. In this embodiment, a sensor assembly 1 is arranged at the front end of the front peristaltic guide rail mechanism 2, which is composed of sensors such as cameras, lasers and thermal imaging, and is used to detect the environmental conditions in the pipeline. The rear end of the rear peristaltic guide rail mechanism 2 is connected to a cable.

[0056] See also Figure 1 , Figure 4 and Figure 5 The supporting walking arm assembly includes a walking arm fixing seat 1-1 arranged at the end of the peristaltic guide rail mechanism 2 and four groups of retractable walking arms 5 arranged on the walking arm fixing seat 1-1 at equal distances in the circumferential direction. The four groups of walking arms 5 are distributed in a "cross" shape. After the walking arms 5 are extended, they abut against the inner wall of the pipeline 100. The peristaltic guide rail mechanism 2 includes a guide rail base 2-0, a walking arm fixing slider 3 slidably arranged on the guide rail base 2-0, and a slider driving assembly for driving the walking arm fixing slider 3 to reciprocate. The peristaltic walking arm assembly includes four groups of walking arms 5 arranged on the walking arm fixing slider 3 at equal distances in the circumferential direction. The four groups of walking arms 5 on the peristaltic walking arm assembly (i.e. Figure 2 The rear end peristaltic walking arm 5a and the front end peristaltic walking arm 5c) and the four groups of walking arms 5 on the supporting walking arm assembly (i.e. the rear end supporting walking arm 5b and the front end supporting walking arm 5d) are cross-arranged. When the peristaltic walking arm and the supporting walking arm are alternately extended and retracted forward, the robot as a whole remains stable, that is, when walking, the vibration amplitude of the intersection of the four groups of walking arms 5 is reduced.

[0057] See also Figure 2 and Figure 3 , the turning drive mechanism 4 includes a telescopic rod mounting plate 4-1 and two movable plates 4-2 symmetrically arranged on both sides of the telescopic rod mounting plate 4-1. One side of the movable plate 4-2 is connected to the telescopic rod mounting plate 4-1 through a movable plate adjustment mechanism, and the other end of the movable plate 4-2 is connected to the creeping guide rail mechanism 2. The movable plate adjustment mechanism is used to drive the movable plate 4-2 to different directions so that the turning drive mechanism 4 is in a bent state. Specifically, the movable plate adjustment mechanism includes a support rod 4-5, two active telescopic rods 4-3 and a driven telescopic rod 4-4 symmetrically arranged on both sides of the support rod 4-5. One end of the support rod 4-5 is fixed on the telescopic rod mounting plate 4-1, and the other end thereof is ball-jointed to the movable plate 4-2 through a support rod ball joint seat 4-52. One end of the active telescopic rod 4-3 is plane-hinged to the telescopic rod mounting plate 4-1, and the other end thereof is ball-jointed to the movable plate 4-2. The rotation planes where the two active telescopic rods 4-3 are located are perpendicular to each other (see Figure 3 The driven telescopic rod 4-4 is arranged on the midpoint of the line connecting the two active telescopic rods 4-3 and the extension line of the line connecting the support rods 4-5, and the two ends of the driven telescopic rod 4-4 are respectively connected with the telescopic rod mounting plate 4-1 and the movable plate 4-2 by ball joints.

[0058] See also Figure 3 In this embodiment, the active telescopic rod 4-3 can change the angle between the line connecting the driving rod ball joint seat 4-37 and the supporting rod ball joint seat 4-52 and the supporting rod 4-5. When the active telescopic rod 4-3 is equal to the supporting rod 4-5, the angle between the line connecting the driving rod ball joint seat 4-37 and the supporting rod ball joint seat 4-52 and the supporting rod 4-5 is 90 degrees. At this time, the movable plate 4-2 and the telescopic rod mounting plate 4-1 are relatively parallel; the active telescopic rod 4-3 is shorter than the supporting rod 4-5. When the active telescopic rod 4-3 is longer than the support rod 4-5, the angle between the line connecting the driving rod ball joint seat 4-37 and the supporting rod ball joint seat 4-52 and the supporting rod 4-5 is an acute angle, and the movable plate 4-2 is retracted toward the shortened active telescopic rod 4-3; when the active telescopic rod 4-3 is longer than the support rod 4-5, the angle between the line connecting the driving rod ball joint seat 4-37 and the supporting rod ball joint seat 4-52 and the supporting rod 4-5 is an obtuse angle, and the movable plate 4-2 deflects away from the extended active telescopic rod 4-3. The rotation planes of the two active telescopic rods 4-3 are perpendicular to each other, and the direction of the movable plate 4-2 can be adjusted arbitrarily within a certain range by adjusting the length of the two active telescopic rods 4-3.

[0059] After the front walking arm 5 (front end peristaltic walking arm 5c and front end supporting walking arm 5d) is retracted, a probe is formed at the front end of the robot. The size of the probe is smaller than the inner diameter of the pipe 100 and the probe can turn under the peristaltic drive of the rear end of the robot. During the turning process, the probe can reduce the collision with the inner wall of the pipe 100 with the support of the rear end of the robot and the turning drive mechanism 4, thereby increasing the service life of the parts on the robot.

[0060] See Figure 7 The active telescopic rod 4-3 includes a telescopic rod driving servo 4-31, a planar hinge seat 4-32 hingedly arranged on a side away from the output rod of the telescopic rod driving servo 4-31, a telescopic rod driving screw 4-33 arranged on the output rod of the telescopic rod driving servo 4-31, a driving rod 4-34 sleeved on the telescopic rod driving screw 4-33 and a driving rod guide sleeve 4-35 sleeved on the driving rod 4-34, the cross-section of the driving rod guide sleeve 4-35 is polygonal, and the driving rod 4-34 is provided with a key connection part of variable shape corresponding to the cross-section of the driving rod guide sleeve 4-35, so that the driving rod 4-34 will not rotate synchronously with the telescopic rod driving screw 4-33 when sliding in the driving rod guide sleeve 4-35. One end of the driving rod guide sleeve 4-35 is connected to the telescopic rod driving servo 4-31, and the other end is provided with a driving rod guide sleeve end cover 4-351, which is annular in shape and used to limit the displacement of the driving rod 4-34. One end of the driving rod 4-34 is threadedly connected to the telescopic rod driving screw 4-33 through a driving rod nut 4-341, and the other end is fixed with a driving rod ball joint component 4-36, which is connected to the driving rod ball joint seat 4-37 provided on the movable plate 4-2.

[0061] See Figure 8 The driven telescopic rod 4-4 includes a driven rod guide sleeve 4-41, a driven rod 4-42 slidably arranged in the driven rod guide sleeve 4-41, a driven rod ball joint component 4-43 arranged at the end of the driven rod guide sleeve 4-41, and another driven rod ball joint component 4-43 arranged at the free end of the driven rod 4-42; the two driven rod ball joint components 4-43 are respectively connected with the driven rod ball joint seat 4-44 on the telescopic rod mounting plate 4-1 and the movable plate 4-2. In this embodiment, the driven telescopic rod 4-4 is extended and retracted with the turning of the movable plate 4-2, and the driven telescopic rod 4-4 and the two active telescopic rods 4-3 are distributed in a triangle around the support rod 4-5 to increase the strength of the turning drive mechanism 4.

[0062] See also Figure 4 and Figure 5The guide rail base 2-0 is in the shape of a rectangular parallelepiped as a whole, and a sliding channel for the sliding of the walking arm fixed slider 3 is provided therein. Long walking arm through holes are provided on the side of the guide rail base 2-0 corresponding to the walking arms 5. The walking arms 5 slide relative to the guide rail base 2-0 through the sliding of the walking arm fixed slider 3. A peristaltic screw driving servo 2-1 is provided at one end of the guide rail base 2-0 corresponding to the sliding channel, and a peristaltic screw 2-2 is provided on the output rod of the peristaltic screw driving servo 2-1. The other end of the peristaltic screw 2-2 is connected to the other end of the guide rail base 2-0 through a bearing. The peristaltic screw 2-2 is provided through the walking arm fixed slider 3, and a peristaltic nut is provided in the walking arm fixed slider 3 corresponding to the peristaltic screw 2-2. In this embodiment, the walking arm through hole is located on both sides of the walking arm 5 and is connected to an accordion cover for isolating the peristaltic screw 2-2 and the pipeline 100, which has the effect of protecting the peristaltic screw 2-2 in a dirty and humid environment, and increases the service life of the peristaltic screw 2-2 and the peristaltic screw-driven servo 2-1.

[0063] See also Figures 9 to 11 The walking arm 5 comprises a walking arm telescopic driving servo 5-1, a walking arm lead screw 5-11 arranged on the output rod of the walking arm telescopic driving servo 5-1, a walking arm telescopic rod 5-3 threadedly connected to the walking arm lead screw 5-11, a walking arm telescopic guide sleeve 5-2 sleeved on the walking arm telescopic rod 5-3, and a telescopic rod end cap 5-4 arranged at the end of the walking arm telescopic rod 5-3. One end of the walking arm telescopic guide sleeve 5-2 is connected to the walking arm telescopic driving servo 5-1 through a sleeve bottom plate 5-22, and two telescopic rod guide holes 5-21 are symmetrically opened on the sleeve. Two telescopic rod guide screws 5-5 are symmetrically arranged on the walking arm telescopic rod 5-3. The telescopic rod guide screws 5-5 are slidably arranged in the telescopic rod guide holes 5-21 to limit the travel and rotation of the walking arm telescopic rod 5-3.

[0064] See also Fig.11The sleeve bottom plate 5-22 is provided with a sensor support rod 5-23, and the free end of the sensor support rod 5-23 is provided with a walking arm sensor 5-24. The walking arm sensor 5-24 can be a laser sensor. The walking arm telescopic rod 5-3 is provided with a through support rod through hole 5-31 corresponding to the sensor support rod 5-23. The end of the walking arm telescopic rod 5-3 is provided with a sensor protection component corresponding to the walking arm sensor 5-24. The end of the telescopic rod end cap 5-4 is provided with a gasket support plate 5-41 and an elastic gasket 5-42 in sequence. The gasket support plate 5-41 and the elastic gasket 5-42 are provided with a through sensing through hole 5-43 corresponding to the walking arm sensor 5-24. The walking arm 5 is extended so that the sensor protection component closes the support rod through hole 5-31 to protect the walking arm sensor 5-24. The walking arm 5 contracts and drives the sensor support rod 5-23 to push open the sensor protection assembly, so that the walking arm sensor 5-24 enters the sensing through hole 5-43. This design allows the walking arm sensor 5-24 at the end of the walking arm 5 to be exposed and work after the walking arm 5 contracts into place. When turning or moving forward, the walking arm 5 is both a walking support assembly and a tentacle sensing assembly, which increases the overall sensing range of the robot. At the same time, when the walking arm 5 is extended and contacts the pipe 100, the walking arm sensor 5-24 is received in the support rod through hole 5-31, and the walking arm sensor 5-24 does not touch the pipe wall. The sensor protection assembly closes the support rod through hole 5-31, which reduces the contact between the walking arm sensor 5-24 and the environment inside the pipe 100 and increases the service life of the walking arm sensor 5-24.

[0065] The preferred sensor protection assembly can be used Fig.12The sensor protection assembly includes a hinge fixing seat 5-34 fixedly mounted at the end of the telescopic rod 5-3 of the walking arm and a hinge cover plate 5-35 hingedly mounted on the hinge fixing seat 5-34, and a torsion spring 5-36 is arranged between the hinge cover plate 5-35 and the hinge fixing seat 5-34, and the torsion spring 5-36 is used to drive the hinge cover plate 5-35 to buckle on the end of the support rod through hole 5-31. An accommodating cavity is provided between the telescopic rod end cap 5-4 and the end of the walking arm telescopic rod 5-3, which is used for the hinge cover plate 5-35 to flip over. The end of the sensor support rod 5-23 is provided with a support rod fillet 5-132 on the side facing the hinge fixing seat 5-34. The hinge cover plate 5-35 is provided with a cover plate boss on the side facing the support rod through hole 5-31. A cover plate chamfer 5-351 is provided on the cover plate boss corresponding to the support rod fillet 5-132. The cover plate chamfer 5-351 is used to avoid and protect the walking arm sensor 5-24 when the sensor support rod 5-23 pushes open the hinge cover plate 5-35. The hinge fixing seat 5-34, hinge cover plate 5-35 and torsion spring 5-36 of this design have a simple structure and are easy to replace and repair.

[0066] Alternatively, the sensor protection assembly can be Fig.13 The sensor protection assembly includes a slider housing box 5-37 fixedly mounted at the end of the walking arm telescopic rod 5-3, a closed slider 5-38 slidably mounted in the slider housing box 5-37, and a slider reset spring 5-39. The slider reset spring 5-39 drives the closed slider 5-38 to slide vertically to the support rod through hole 5-31, and presses against the side wall of the support rod through hole 5-31 to close the support rod through hole 5-31. A support rod fillet 5-231 is provided at the end of the sensor support rod 5-23 on the side facing the slider housing box 5-37, and a slider fillet 5-381 is provided on the closed slider 5-38 corresponding to the support rod fillet 5-231. The sensor support rod 5-23 abuts against the slider fillet 5-381 to push open the closed slider 5-38 and avoid protecting the walking arm sensor 5-24. The closed slider 5-38 of this design has good sealing performance and does not require a housing cavity, which simplifies the structure of the telescopic rod end cap 5-4 and eliminates the problem of dirt easily accumulating in the housing cavity.

[0067] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A peristaltic pipeline robot, characterized in that: It includes: Two peristaltic guide rail mechanisms (2) arranged at intervals and a turning drive mechanism (4) connected and arranged between the two peristaltic guide rail mechanisms (2), both ends of the peristaltic guide rail mechanisms (2) being provided with supporting walking arm assemblies, and the peristaltic walking arm assembly being slidably arranged on the peristaltic guide rail mechanisms (2); The supporting walking arm assembly comprises a walking arm fixing seat (1-1) arranged at the end of the creeping guide rail mechanism (2) and a plurality of groups of retractable walking arms (5) arranged on the walking arm fixing seat (1-1) at equal intervals in the circumferential direction, wherein the walking arms (5) abut against the inner wall of the pipe (100) when extended; The peristaltic guide rail mechanism (2) comprises a guide rail base (2-0), a walking arm fixed slider (3) slidably arranged on the guide rail base (2-0), and a slider driving assembly for driving the walking arm fixed slider (3) to reciprocate, the peristaltic walking arm assembly comprising a plurality of groups of walking arms (5) equidistantly arranged on the walking arm fixed slider (3) in a circumferential direction; The turning drive mechanism (4) comprises a telescopic rod mounting plate (4-1) and two movable plates (4-2) symmetrically arranged on both sides of the telescopic rod mounting plate (4-1); one side of the movable plate (4-2) is connected to the telescopic rod mounting plate (4-1) via a movable plate adjustment mechanism; the other end of the movable plate (4-2) is connected to the creeping guide rail mechanism (2); the movable plate adjustment mechanism is used to drive the movable plate (4-2) to face different directions so that the turning drive mechanism (4) is in a bent state; The movable plate adjustment mechanism comprises a support rod (4-5), two active telescopic rods (4-3) and a driven telescopic rod (4-4) symmetrically arranged on both sides of the support rod (4-5); One end of the support rod (4-5) is fixedly mounted on the telescopic rod mounting plate (4-1), and the other end is connected to the movable plate (4-2) by a ball joint; One end of the active telescopic rod (4-3) is connected to the telescopic rod mounting plate (4-1) by a plane hinge, and the other end is connected to the movable plate (4-2) by a ball joint, and the rotation planes where the two active telescopic rods (4-3) are located are perpendicular to each other; The driven telescopic rod (4-4) is arranged on the midpoint of the line connecting the two active telescopic rods (4-3) and the extension line of the line connecting the support rods (4-5), and the two ends of the driven telescopic rod (4-4) are respectively connected to the telescopic rod mounting plate (4-1) and the movable plate (4-2) by ball joints; The walking arm (5) comprises a walking arm telescopic driving steering gear (5-1), a walking arm lead screw (5-11) arranged on an output rod of the walking arm telescopic driving steering gear (5-1), a walking arm telescopic rod (5-3) threadedly connected to the walking arm lead screw (5-11), a walking arm telescopic guide sleeve (5-2) sleeved on the walking arm telescopic rod (5-3), and a telescopic rod end cap (5-4) arranged at the end of the walking arm telescopic rod (5-3); One end of the walking arm telescopic guide sleeve (5-2) is connected to the walking arm telescopic driving steering gear (5-1) via a sleeve bottom plate (5-22); A sensor support rod (5-23) is arranged on the sleeve bottom plate (5-22); a walking arm sensor (5-24) is arranged at the free end of the sensor support rod (5-23); a through support rod through hole (5-31) is provided on the walking arm telescopic rod (5-3) corresponding to the sensor support rod (5-23); a sensor protection component is arranged at the end of the walking arm telescopic rod (5-3) corresponding to the walking arm sensor (5-24); the walking arm (5) is extended so that the sensor protection component closes the support rod through hole (5-31) to protect the walking arm sensor (5-24); The sensor protection assembly comprises a hinge fixing seat (5-34) fixedly mounted at the end of the telescopic rod (5-3) of the walking arm and a hinge cover plate (5-35) hingedly mounted on the hinge fixing seat (5-34); a torsion spring (5-36) is arranged between the hinge cover plate (5-35) and the hinge fixing seat (5-34); the torsion spring (5-36) is used to drive the hinge cover plate (5-35) to buckle at the end of the support rod through hole (5-31); and an accommodating cavity is arranged between the telescopic rod end cap (5-4) and the end of the telescopic rod (5-3) of the walking arm for turning the hinge cover plate (5-35); The sensor protection assembly comprises a slider accommodating box (5-37) fixedly arranged at the end of the walking arm telescopic rod (5-3), a closed slider (5-38) slidably arranged in the slider accommodating box (5-37), and a slider return compression spring (5-39); The slider return compression spring (5-39) drives the closing slider (5-38) to slide vertically along the support rod through hole (5-31) and presses against the side wall of the support rod through hole (5-31) to close the support rod through hole (5-31).

2. A peristaltic pipeline robot according to claim 1, characterized in that: The active telescopic rod (4-3) comprises a telescopic rod driving servo (4-31), a planar hinge seat (4-32) hingedly arranged on a side away from an output rod of the telescopic rod driving servo (4-31), a telescopic rod driving lead screw (4-33) arranged on the output rod of the telescopic rod driving servo (4-31), a driving rod (4-34) sleeved on the telescopic rod driving lead screw (4-33), and a driving rod guide sleeve (4-35) sleeved on the driving rod (4-34), the cross section of the driving rod guide sleeve (4-35) being polygonal, and the driving rod (4-34) being provided with a key connection portion having a variable shape corresponding to the cross section of the driving rod guide sleeve (4-35); One end of the driving rod guide sleeve (4-35) is connected to the telescopic rod driving steering gear (4-31), and the other end is provided with a driving rod guide sleeve end cover (4-351); One end of the driving rod (4-34) is threadedly connected to the telescopic rod driving screw (4-33) via a driving rod nut (4-341), and the other end is fixedly provided with a driving rod ball joint component (4-36), and the driving rod ball joint component (4-36) is ball-jointedly connected to a driving rod ball joint seat (4-37) arranged on the movable plate (4-2).

3. The peristaltic pipeline robot according to claim 1, characterized in that: The driven telescopic rod (4-4) comprises a driven rod guide sleeve (4-41), a driven rod (4-42) slidably arranged in the driven rod guide sleeve (4-41), a driven rod ball joint component (4-43) arranged at the end of the driven rod guide sleeve (4-41), and another driven rod ball joint component (4-43) arranged at the free end of the driven rod (4-42); the two driven rod ball joint components (4-43) are respectively connected to the driven rod ball joint seats (4-44) on the telescopic rod mounting plate (4-1) and the movable plate (4-2) by ball joints.

4. The peristaltic pipeline robot according to claim 1, characterized in that: The guide rail base (2-0) is in the shape of a rectangular parallelepiped as a whole, and is provided with a sliding channel for sliding a walking arm fixing slider (3) therein; a plurality of long walking arm through holes are provided on the side surface of the guide rail base (2-0) corresponding to the walking arms (5); the walking arms (5) slide relative to the guide rail base (2-0) through the sliding of the walking arm fixing slider (3).

5. The peristaltic pipeline robot according to claim 4, characterized in that: A peristaltic screw drive servo (2-1) is arranged at one end of the guide rail base (2-0) corresponding to the sliding channel, a peristaltic screw (2-2) is arranged on the output rod of the peristaltic screw drive servo (2-1), the other end of the peristaltic screw (2-2) is connected to the other end of the guide rail base (2-0) via a bearing, the peristaltic screw (2-2) is arranged through the walking arm fixed slider (3), and a peristaltic nut is arranged in the walking arm fixed slider (3) corresponding to the peristaltic screw (2-2).

6. The peristaltic pipeline robot according to claim 1, characterized in that: Two telescopic rod guide holes (5-21) are symmetrically provided on the walking arm telescopic guide sleeve (5-2), and two telescopic rod guide screws (5-5) are symmetrically provided on the walking arm telescopic rod (5-3). The telescopic rod guide screws (5-5) are slidably provided in the telescopic rod guide holes (5-21) and are used to limit the travel and rotation of the walking arm telescopic rod (5-3).

7. The peristaltic pipeline robot according to claim 6, characterized in that: A gasket support plate (5-41) and an elastic gasket (5-42) are sequentially arranged at the end of the telescopic rod end cap (5-4), and a through sensing through hole (5-43) is provided on the gasket support plate (5-41) and the elastic gasket (5-42) corresponding to the walking arm sensor (5-24); The walking arm (5) contracts so that the sensor support rod (5-23) pushes open the sensor protection component, and the walking arm sensor (5-24) enters the sensing through hole (5-43).

8. The peristaltic pipeline robot according to claim 7, characterized in that: A support rod fillet (5-231) is provided on the side of the end of the sensor support rod (5-23) facing the hinge fixing seat (5-34), a cover plate boss is provided on the side of the hinge cover plate (5-35) facing the support rod through hole (5-31), and a cover plate chamfer (5-351) is provided on the cover plate boss corresponding to the support rod fillet (5-231), and the cover plate chamfer (5-351) is used to avoid and protect the walking arm sensor (5-24) when the sensor support rod (5-23) pushes open the hinge cover plate (5-35).

9. The peristaltic pipeline robot according to claim 7, characterized in that: A support rod fillet (5-231) is provided at one side of the end of the sensor support rod (5-23) facing the slider accommodating box (5-37), and a slider fillet (5-381) is provided on the closed slider (5-38) corresponding to the support rod fillet (5-231); the sensor support rod (5-23) and the slider fillet (5-381) are abutted against each other to push open the closed slider (5-38) and avoid protecting the walking arm sensor (5-24).

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