A pipeline robot motion mechanism and a pipeline robot

Abstract

The present invention discloses a motion mechanism of a pipeline robot and the pipeline robot, belonging to the technical field of pipeline robots. A structure that can be telescoped and bent is arranged in the middle of the robot, and then through a uniquely designed driving mechanism, any two adjacent ones among the four traction ropes inside the telescopic part are controlled to be wound to shorten their lengths, thereby controlling the bending and turning of the pipeline robot, or the driving mechanism is used to select the four traction ropes to be wound or released simultaneously, thereby controlling the telescopic action of the pipeline robot; The present invention solves at least the problem that the existing pipeline robot cannot turn or the turning is not flexible.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline robots, and in particular, to a motion mechanism of a pipeline robot and a pipeline robot. Background Art

[0002] Pipelines play an important role in various aspects such as oil, natural gas, chemical raw materials, and municipal water supply and drainage projects. With the increase in the service time of in-service pipelines, various problems will occur, such as corrosion, cracks, siltation, etc., which will seriously affect the normal use of the pipelines. In order to improve the service efficiency of pipelines and extend the lifespan of pipelines, it is necessary to regularly detect or perform other operations on in-service pipelines. The detection device itself cannot enter the pipeline. In the existing technology, the most commonly used method is to use a robot to enter the pipeline and detect the pipeline using various non-destructive testing methods. As an intelligent carrier moving inside the pipeline, a pipeline robot can usually carry various detection devices or working tools. In recent years, with the continuous in-depth research, the field of pipeline robots has entered a new stage. Pipeline robots are mainly applied in fields such as oil, chemical industry, natural gas, and nuclear industry to complete the work of detecting flaws, cleaning, and maintaining pipelines.

[0003] Currently, according to different driving modes of pipeline robots, they can be roughly divided into the following eight types: flow-type robots, wheel-type robots, crawler-type robots, abdominal-wall type robots, walking-type robots, peristaltic robots, screw-driven robots, and snake-type robots; among them, the peristaltic robot moves forward by stretching and contracting its body like an earthworm. There are currently the following implementation forms for the moving mechanism in the peristaltic robot, such as using pneumatic expansion and contraction drive, using shape memory alloy expansion and contraction drive, using electromagnetic suction drive, etc. The movement mechanism of the peristaltic moving mechanism is that one action cycle makes the mechanism move forward one step. In the prior art, the Chinese Utility Model Patent Publication No. CN202708464U discloses a moving traction mechanism of a peristaltic pipeline robot. This mechanism drives the lead screw to rotate forward and backward by a motor, so that the front and rear groups of wall supports alternately support on the pipe wall to realize the peristaltic forward movement of the robot. In similar technologies, the pipeline robot cannot turn or has inflexible turning. Summary of the Invention

[0004] The purpose of the present invention is to provide a motion mechanism of a pipeline robot and a pipeline robot, which can at least solve the problem that the existing pipeline robot cannot turn or has inflexible turning.

[0005] The technical solution adopted by the present invention is as follows:

[0006] According to the first aspect of the present disclosure, the present invention provides a pipeline robot motion mechanism, including a first base, a telescopic part, and a second base connected in sequence; a driving mechanism is installed inside the first base; a first elastic member is provided inside the telescopic part, and the first elastic member can axially extend and contract and freely bend; four traction ropes are annularly arranged inside the telescopic part, one end of each of the four traction ropes is connected to the second base, and the other end is connected to the driving mechanism inside the first base; the driving mechanism is used to select any two adjacent ones of the four traction ropes for winding to shorten their lengths, control the bending of the pipeline robot, or select to wind or release the four traction ropes simultaneously to control the telescopic movement of the pipeline robot.

[0007] In an exemplary embodiment of the present disclosure, the driving mechanism includes a first driving motor, a second driving motor, a cam direction selection mechanism, a gear transmission mechanism, four sets of wire winding disc mechanisms, and four traction ropes.

[0008] The cam direction selection mechanism includes an internal gear cam, a first driving gear, and four clamping members; the internal gear cam is composed of a ring gear part and a ring cam part arranged in parallel; the inner ring surface of the ring gear part is formed with teeth, and the teeth are meshed with the first driving gear, and the first driving gear is connected to the first driving motor; five spaced convex parts are formed on the base circle of the ring cam part and are on the same virtual circle; four clamping members are annularly arranged around the internal gear cam, the clamping members are L-shaped, each clamping member is connected to the cavity wall of the first base through a spring and is in sliding contact with the edge of the ring cam part at the same time.

[0009] The gear transmission mechanism includes a second driving gear, a main shaft, a central transmission gear, and four sets of planetary gear mechanisms; the main shaft is installed on the central axis of the internal gear cam, the root of the main shaft is installed with the central transmission gear, the central transmission gear is meshed with the second driving gear, and the second driving gear is installed on the driving shaft of the second driving motor; four sets of planetary gear mechanisms are installed on the main shaft.

[0010] Each set of planetary gear mechanisms includes a sun gear, a gear ring, a plurality of planetary gears, and a planetary carrier; the sun gear is installed on the main shaft, the gear ring is coaxially and coplanarly installed with the sun gear, and planetary gears are annularly arranged equidistantly between the gear ring and the sun gear; a plurality of clamping slots are provided on the outer edge of the gear ring, and the clamping slots cooperate with the L-shaped clamping members; specifically, as the ring cam part rotates, when the clamping member moves to the base circle on the ring cam part, the spring pushes the clamping member close to the center point of the ring cam part, and at this time, the end of the clamping member is clamped into the clamping slot; when the clamping member moves to the convex part on the ring cam part, the clamping member is pushed radially away from the center point of the ring cam part, and at this time, the end of the clamping member is disengaged from the clamping slot; the planetary carrier is installed parallel to the gear ring; a circle of teeth is provided on the outer edge of the planetary carrier, and the teeth are used to mesh with the worm and gear mechanism in the wire winding disc mechanism.

[0011] Four sets of planetary gear mechanisms are each equipped with a set of wire winding disc mechanisms, and the four sets of wire winding disc mechanisms are distributed in an annular array; each set of wire winding disc mechanisms includes a transmission gear and a worm and worm gear mechanism; the worm in the worm and worm gear mechanism is arranged parallel to the main shaft, the worm wheel is installed on one side of the worm and meshes with it, and a wire winding groove is formed on the worm wheel, and the wire winding groove is used to wind one end of the traction rope; the transmission gear is installed on the worm and meshes with the teeth on the corresponding planet carrier.

[0012] In an exemplary embodiment of the present disclosure, the telescopic part includes a corrugated sleeve installed between the first base and the second base, and a spiral spring arranged inside the corrugated sleeve; both ends of the spiral spring are respectively connected to the first base and the second base.

[0013] In an exemplary embodiment of the present disclosure, the dimensions of the annular cam part are as follows: the base circle radius is 26 cm, the radius of the central circular through hole is 22 cm, and the virtual circle radius is 28 cm; the central angle subtended by the arc of the first protrusion is 23°, and the two sides are transition curves with a central angle of 13°; in the clockwise direction, the central angle subtended by the arc of the second protrusion is 5°, and the two sides are transition curves with a central angle of 13°; between the first protrusion and the second protrusion is a base circle segment with a central angle of 5°; the central angle subtended by the arc of the third protrusion is 5°, and the two sides are transition curves with a central angle of 13°; between the third protrusion and the second protrusion is a base circle segment with a central angle of 23°; the central angle subtended by the arc of the fourth protrusion is 23°, and the two sides are transition curves with a central angle of 13°; between the fourth protrusion and the third protrusion is a base circle segment with a central angle of 5°; the central angle subtended by the arc of the fifth protrusion is 23°, and the two sides are transition curves with a central angle of 13°; between the fifth protrusion and the fourth protrusion is a base circle segment with a central angle of 59°.

[0014] According to the second aspect of the present disclosure, the present invention also provides a pipeline robot, including the movement mechanism described in any one of the above, and further including a head A and a tail C provided at both ends, and a set of wall support mechanisms are provided at the head A and the tail C respectively.

[0015] In an exemplary embodiment of the present disclosure, the wall support mechanism includes multiple sets of crank-slider mechanisms distributed in an annular array, and a circular crank disc driven by a third driving motor; each set of crank-slider mechanisms includes a crank connecting rod, a slider, a guide rod, a support rod, and a wall support foot; support rods are arranged in an annular array around the circular crank disc, the support rods extend radially, the slider is slidably connected to the support rod, the guide rod is arranged on the slider, and the outer end of the guide rod is connected to an arc-shaped wall support foot; one end of the crank connecting rod is rotatably connected to the slider through a connecting rod, and the other end is rotatably connected to the upper surface of the crank disc through a stud.

[0016] According to the third aspect of the present disclosure, the present invention also provides a linear crawling method for a pipeline robot, including the following steps:

[0017] Ⅰ. The telescopic and bending part B of the robot is in a relaxed state, and the supporting wall mechanisms F respectively arranged at the head A and the tail C are unfolded and tightly attached to and fixed on the pipe wall.

[0018] Ⅱ. The supporting wall mechanism at the tail of the robot retracts to release the fixed state of the tail.

[0019] Ⅲ. The telescopic and bending part B of the robot performs a contraction action, and the tail of the robot moves towards the head direction.

[0020] Ⅳ. The supporting wall mechanism at the tail of the robot is unfolded, and the tail is fixed to the pipe wall again.

[0021] Ⅴ. The supporting wall mechanism at the head of the robot retracts to release the fixed state of the head.

[0022] Ⅵ. The telescopic and bending part B of the robot is unfolded, and the head of the robot moves forward.

[0023] Ⅶ. The supporting wall mechanism at the head of the robot is unfolded to fix the head to the pipe wall again, and enters the next crawling cycle.

[0024] According to the fourth aspect of the present disclosure, the present invention further provides a steering method for a pipeline robot, including the following steps:

[0025] Ⅰ. When the robot travels to a fork, the supporting wall mechanism at the tail of the robot is unfolded, and the tail is fixed to the original pipe wall; the supporting wall mechanism at the head of the robot retracts to release the fixed state of the head, and enters the pipe after turning.

[0026] Ⅱ. Two adjacent traction ropes are wound and shortened to control the head of the robot to bend and turn into the pipe after turning.

[0027] Ⅲ. The supporting wall mechanism at the tail of the robot retracts to release the fixed state of the tail; the tail of the robot enters the pipe after turning.

[0028] Ⅳ. When the whole robot enters the pipe after turning, the supporting wall mechanism at the head of the robot is unfolded and fixed to the pipe wall; thus the turning action is completed.

[0029] The beneficial effects of the present invention are as follows: The present invention provides a movement mechanism of a pipeline robot and a pipeline robot, in which a structure that can be telescoped and bent is arranged in the middle of the robot, and then through a uniquely designed driving mechanism, any two adjacent ones among the four traction ropes inside the telescopic part are controlled to be wound to shorten their lengths, thereby controlling the bending and turning of the pipeline robot, or the driving mechanism is used to select to wind or release the four traction ropes simultaneously, thereby controlling the telescopic action of the pipeline robot; the present invention solves at least the problem that the existing pipeline robot cannot turn or the turning is not flexible. Description of the Drawings

[0030] Figure 1It is the external view of the pipeline robot of the present invention.

[0031] Figure 2 It is Figure 1 the structural explosion view of

[0032] Figure 3 the structural display view of the telescopic and bending part B.

[0033] Figure 4 It is Figure 3 the internal structural display view after moving the first housing and the corrugated sleeve upward in

[0034] Figure 5 the structural display view of the installation of the helical spring.

[0035] Figure 6 the structural display view of the disassembled first base.

[0036] Figure 7 the structural display view of the first inner end face of the first base.

[0037] Figure 8 the internal structural display view of the first housing.

[0038] Figure 9 the internal structural display view after the assembly of the first housing and the first base.

[0039] Figure 10 It is the structural display of the drive mechanism of the present invention Figure 1 .

[0040] Figure 11 It is the structural display of the drive mechanism of the present invention Figure 2 .

[0041] Figure 12 It is the structural display of the drive mechanism of the present invention Figure 3 .

[0042] Figure 13 It is the three-dimensional structural display of the internal gear cam Figure 1 .

[0043] Figure 14 It is the three-dimensional structural display of the internal gear cam Figure 2 .

[0044] Figure 15 It is the planar structural display view of the internal gear cam.

[0045] Figure 16 It is the dimension view of the annular cam part in a preferred implementation scheme.

[0046] Figure 17 It is the structural display view of the installation of the internal gear cam.

[0047] Figure 18 It is a detailed view of the installation structure of the internal gear cam.

[0048] Figure 19 It is a three-dimensional structure diagram of the clamping part.

[0049] Figure 20 It is a view of the structure on the main shaft.

[0050] Figure 21 It is a view of the structure of four sets of planetary gear mechanisms installed on the main shaft.

[0051] Figure 22 It is a view of the structure of a set of planetary gear mechanisms.

[0052] Figure 23 It is Figure 22 A view of the structure from another angle.

[0053] Figure 24 It is a schematic diagram of the first planetary gear mechanism corresponding to the first clamping part.

[0054] Figure 25 It is a schematic diagram of the second planetary gear mechanism corresponding to the second clamping part.

[0055] Figure 26 It is a view of the installation structure of the worm and worm gear mechanism.

[0056] Figure 27 It is a view of the structure of the second wire winding disc mechanism.

[0057] Figure 28 It is the mechanism principle diagram of the drive mechanism.

[0058] Figure 29 It is the first state diagram of the internal gear cam.

[0059] Figure 30 It is a step-by-step decomposition diagram of the robot's creeping forward movement.

[0060] Figure 31 It is the second state diagram of the internal gear cam.

[0061] Figure 32 A step-by-step decomposition diagram of the robot's turning movement.

[0062] Figure 33 It is the third state diagram of the internal gear cam.

[0063] Figure 34 It is the fourth state diagram of the internal gear cam.

[0064] Figure 35 It is the fifth state diagram of the internal gear cam.

[0065] Figure 36 They are four bending state diagrams.

[0066] Figure 37 It is an external view diagram of the head A of the pipeline robot.

[0067] Figure 38 It is an internal structure diagram of the third base.

[0068] Figure 39 It is a structural diagram of the end face of the third base.

[0069] Figure 40 The figure shows a structural diagram of the center of the circular end face of the third base after removing the crank disc.

[0070] Figure 41 The figure shows a detailed view diagram of the crank-slider mechanism.

[0071] Figure 42 It is a detailed view diagram of a group of crank-slider mechanisms.

[0072] Figure 43 It is a disassembled view of one end of the crank connecting rod rotatably connected to the bearing on the slider through the connecting rod.

[0073] Figure 44 The figure shows the mechanism schematic diagram of the wall support mechanism of the present invention.

[0074] In the figure: head A, telescopic bending part B, tail C;

[0075] First base 100, first base 101, first main shaft mounting hole 101.1, first through hole 101.2, inner ring positioning hole 101.3, outer ring positioning hole 101.4, first limit card slot 101.5, stop part 101.6;

[0076] First housing 102, second main shaft mounting hole 102.1, second limit card slot 102.2, support part 102.3, worm mounting hole 102.4, worm positioning groove 102.5, worm gear mounting part 102.6;

[0077] Telescopic part 200, second base 300, corrugated sleeve 400, first elastic part 500; third base 600,

[0078] Third housing 601, third base 602, third end cover 603,

[0079] Drive motor G

[0080] First drive motor G1, second drive motor G2, third drive motor G3;

[0081] Drive mechanism D

[0082] Cam steering mechanism D1,

[0083] Internal gear cam D100,

[0084] Annular gear part D100.1, annular cam part D100.2, first limiting surface D100.3, second limiting surface D100.4, virtual circle D100.5, first protruding part D100.6, second protruding part D100.7, third protruding part D100.8, fourth protruding part D100.9, fifth protruding part D100.10;

[0085] First driving gear D102, first clamping part D103, second clamping part D104, third clamping part D105, fourth clamping part D106, first limiting gear D107, gear meshing part D107.1, circular limiting plate D107.2, first bearing D108, sliding clamping groove D109, spring installation hole D1010;

[0086] Gear transmission mechanism D2,

[0087] Second driving gear D201, main shaft D202, central driving gear D203, sun gear D204, gear ring D205, clamping position groove D205.1, planetary gear D206, planetary carrier D207, first planetary gear mechanism D208, second planetary gear mechanism D209, third planetary gear mechanism D2010, fourth planetary gear mechanism D2011;

[0088] Stranding reel mechanism D3

[0089] Driving gear D301, worm gear D302, worm D303, stranding groove D304, first stranding reel mechanism D305, second stranding reel mechanism D306, third stranding reel mechanism D307, fourth stranding reel mechanism D308;

[0090] Traction rope E

[0091] First traction rope E101, second traction rope E102, third traction rope E103, fourth traction rope E104;

[0092] Wall support mechanism F

[0093] Crank-slider mechanism F100, crank connecting rod F101, slider F102, guide rod F103, support rod F104, wall support foot F105, crank disk F106, annular support body F107. Detailed implementation mode

[0094] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0095] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention.

[0096] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0097] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0098] As Figure 1 shown is the external view of the pipeline robot of the present application. Figure 2 What is described is Figure 1 the structural explosion diagram; please refer to Figure 1 、 Figure 2 Understand that a pipeline robot provided by the present application includes a head A on the right side, a telescopic and bending part B in the middle, and a tail C on the left side; wherein, a set of wall support mechanisms F are respectively arranged on the head A and the tail C. When moving forward, the front and rear sets of wall support mechanisms F alternately support on the pipe wall; in order to solve the problem that the existing pipeline robot cannot turn or has inflexible turning, the present application provides a motion mechanism, which is arranged in the telescopic and bending part B in the middle, and cooperates with the wall support mechanisms F on both sides to realize the peristaltic forward movement and turning action of the robot.

[0099] As Figure 3The figure shows the external structure diagram of the telescopic and bending part B of the present application; externally, the middle telescopic and bending part B includes the first base 100 on the left, the telescopic part 200 in the middle, and the second base 300 on the right. Among them, the first base 100 is cylindrical and consists of the first base 101 and the first shell 102; the first shell 102 and the first base 101 are installed and combined to form a cylinder with a cavity structure inside. The second base 300 is cylindrical, and its diameter is preferably equal to that of the first base 100. The first base 100 and the second base 300 are connected by a tubular corrugated sleeve 400. The corrugated sleeve 400 is preferably made of elastic rubber. The corrugated sleeve 400 can extend or shorten axially and can also bend freely; one end of the corrugated sleeve 400 is connected to the circular end face of the first shell 102, and the other end is connected to the circular end face of the second base 300; a cavity structure is formed inside the corrugated sleeve 400.

[0100] As Figure 4 shown is Figure 3 the internal structure diagram after moving the first shell 102 and the corrugated sleeve 400 upward; among them, a driving mechanism D is installed in the cavity structure of the first base 100, and a first elastic member 500 is installed in the corrugated sleeve 400. The first elastic member 500 can extend or shorten axially and can also bend freely; in the present invention, the first elastic member 500 specifically adopts a helical spring.

[0101] As Figure 5 shown is the installation structure diagram of the helical spring; one end of the helical spring is installed on the circular end face of the first shell 102. In order to fix the position of the helical spring, a circular limiting portion protrudes from the edge of the circular end face of the first shell 102, and a circular groove is formed in the center of the limiting portion. The helical spring fits the diameter of the groove, and one end of the helical spring is stuck in the groove; the helical spring and the circular end face of the first shell 102 can be further fixed by welding; the other end of the helical spring is installed on the circular end face of the second base 300. Similarly, a circular limiting portion protrudes from the edge of the circular end face of the second base 300, and a circular groove is formed in the center of the limiting portion. The helical spring fits the diameter of the groove, and the other end of the helical spring is stuck in the groove. The other end of the helical spring and the circular end face of the second base 300 can be further fixed by welding.

[0102] The driving mechanism D in the present invention will be introduced in detail below. First, the structure of the first base 100 will be introduced to facilitate understanding of the installation of the driving mechanism D.

[0103] As Figure 6The following is a structural display diagram of the disassembled first base 100; the first base 100 is composed of a circular first base 101 and a cylindrical first housing 102; the first base 100 has two circular end faces, and circular groove structures are formed on the two circular end faces; for the convenience of description, in this application, the connection end face of the first base 100 and the first housing 102 is named the first inner end face, and the other opposite circular end face is named the first outer end face.

[0104] As Figure 7 The following is a structural display diagram of the first inner end face of the first base 101. A first main shaft mounting hole 101.1 is provided at the center of the first base 101, and two first through holes 101.2 are provided at non-center positions of the first base 101; a plurality of inner ring positioning holes 101.3 and outer ring positioning holes 101.4 are also provided around the center; in addition, four first limiting card slots 101.5 are equidistantly and annularly arrayed at the edge of the first inner end face; specifically, as Figure 7 shown in, each first limiting card slot 101.5 is an opening structure formed by two stoppers 101.6 arranged oppositely, and the opening structure faces the center of the first inner end face.

[0105] As Figure 8 The following is a structural display diagram of the interior of the first housing 102. The first housing 102 is cylindrical and is composed of a circular end cover and a cylindrical wall. The circular end face of the first housing 102 facing the first base 101 is an opening structure; more specifically, a second main shaft mounting hole 102.1 is provided at the center of the end cover, and the second main shaft mounting hole 102.1 is aligned with the first main shaft mounting hole 101.1 at the center of the first base 101 for mounting both ends of the main shaft D202. Secondly, four second limiting card slots 102.2 are equidistantly and annularly arrayed on the cylindrical wall of the first housing 102; the second limiting card slot 102.2 is also an opening structure formed by two stoppers 101.6 arranged oppositely, and the opening structure faces the center of the first housing 102. In addition, four worm D303 mounting structures are equidistantly and annularly arrayed inside the first housing 102, including four support portions 102.3 extending from the opening of the first housing 102 towards the center, and four worm positioning grooves 102.5 provided on the end cover; a worm mounting hole 102.4 is opened on the support portion 102.3, and the worm mounting hole 102.4 is aligned with the worm positioning groove 102.5. Further, four worm gear mounting portions 102.6 are equidistantly and annularly arrayed on the cylindrical wall of the first housing 102. Specifically, the worm gear mounting portion 102.6 protrudes from the cylindrical wall and a rotation connection hole is provided at the center.

[0106] As Figure 9The figure shows the internal structure diagram after the first housing 102 and the first base 101 are assembled. After assembly, the first main shaft mounting hole 101.1 at the center of the first base 101 is aligned with the second main shaft mounting hole 102.1, for installing both ends of the main shaft D202; the first limiting card slot 101.5 and the second limiting card slot 102.2 are communicated, for installing a clamping member, and the clamping member will be described in detail when introducing the driving mechanism D later.

[0107] Next, the driving mechanism D of the present invention and its mounting structure will be introduced.

[0108] As Figures 10 - 12 The figure shows the structural diagram of the driving mechanism D of the present invention; the driving mechanism D is the power source of the robot of the present invention, and the driving mechanism D mainly includes two driving motors, a cam steering mechanism D1, a gear transmission mechanism D2, four sets of wire winding disc mechanisms D3, and four traction ropes E; for the convenience of description, the four traction ropes are respectively named the first traction rope E101, the second traction rope E102, the third traction rope E103, and the fourth traction rope E104. The structures and working principles of each part will be introduced below.

[0109] First of all, one of the two driving motors in the present invention is used to drive the cam steering mechanism D1, and for the convenience of description, it is named the first driving motor G1; the other is used to drive the gear transmission mechanism D2, and for the convenience of description, it is named the second driving motor G2.

[0110] The cam steering mechanism D1 further includes an internal gear cam D100, a first driving gear D102, and four clamping members. For the convenience of description, the four clamping members are respectively named the first clamping member D103, the second clamping member D104, the third clamping member D105, and the fourth clamping member D106.

[0111] As Figure 13 And Figure 14 The figure shows the three-dimensional structural diagram of the internal gear cam D100, Figure 15 is the planar structural diagram of the internal gear cam D100; the internal gear cam D100 is integrally in a circular ring shape, with a circular through hole in the center, and is further composed of an annular gear portion D100.1 and an annular cam portion D100.2. The annular cam portion D100.2 is arranged parallel to the annular gear portion D100.1; among them, the inner ring surface of the annular gear portion D100.1 is formed with teeth for connecting the first driving gear D102 to transmit power; as Figure 14 shown, the inner edge of the annular gear portion D100.1 extends inward and exceeds the inner edge of the annular cam portion D100.2, thus forming a first limiting surface D100.3; as Figure 13 shown, the outer edge of the annular cam portion D100.2 exceeds the outer edge of the annular gear portion D100.1, thus forming a second limiting surface D100.4.

[0112] As Figure 15 shown, five protruding parts are formed on the base circle of the annular cam part D100.2. The five protruding parts are arranged at intervals and are on the same virtual circle D100.5. For the convenience of description, they are named as the first protruding part D100.6, the second protruding part D100.7, the third protruding part D100.8, the fourth protruding part D100.9, and the fifth protruding part D100.10 in clockwise order.

[0113] As Figure 15 and Figure 16 shown is the dimension diagram of the annular cam part D100.2 in a preferred implementation. The dimensions of the annular cam part D100.2 are as follows: the radius of the base circle is 26 cm, the radius of the central circular through-hole is 22 cm, and the radius of the virtual circle D100.5 is 28 cm; the central angle subtended by the arc of the first protruding part D100.6 is 23°, and the transition curves on both sides have a central angle of 13°; in clockwise order, the central angle subtended by the arc of the second protruding part D100.7 is 5°, and the transition curves on both sides have a central angle of 13°; the base circle segment between the first protruding part D100.6 and the second protruding part D100.7 has a central angle of 5°; the central angle subtended by the arc of the third protruding part D100.8 is 5°, and the transition curves on both sides have a central angle of 13°; the base circle segment between the third protruding part D100.8 and the second protruding part D100.7 has a central angle of 23°; the central angle subtended by the arc of the fourth protruding part D100.9 is 23°, and the transition curves on both sides have a central angle of 13°; the base circle segment between the fourth protruding part D100.9 and the third protruding part D100.8 has a central angle of 5°; the central angle subtended by the arc of the fifth protruding part D100.10 is 23°, and the transition curves on both sides have a central angle of 13°; the base circle segment between the fifth protruding part D100.10 and the fourth protruding part D100.9 has a central angle of 59°.

[0114] As Figure 17 shown is the installation structure display diagram of the internal gear cam D100. As Figure 18 shown is the detailed installation structure display diagram of the internal gear cam D100; the internal gear cam D100 is installed on the first inner end face side of the first base 101 and is surrounded by four first limit card slots 101.5 around it; a specific installation scheme of the internal gear cam D100 is as follows: the central through-hole side of the internal gear cam D100 is meshed and supported by a plurality of first limit gears D107; as Figure 18As shown, the first limiting gear D107 is composed of a gear meshing part D107.1 and a circular limiting plate D107.2. The circular limiting plate D107.2 has a clearance fit with the first limiting surface D100.3, and the gear meshing part D107.1 meshes with the annular gear part D100.1. The center of the first limiting gear D107 is rotatably installed at the inner ring positioning hole 101.3 through a positioning shaft. The outer periphery of the internal gear cam D100 is contact-supported by a plurality of first bearings D108. As Figure 18 shown, the first bearing D108 is rotatably installed at the outer ring positioning hole 101.4 through a positioning shaft. The outer peripheral surface of the first bearing D108 is in rolling contact with the outer peripheral surface of the annular gear part D100.1, and the end surface of the first bearing D108 has a clearance fit with the second limiting surface D100.4. As Figure 17 shown, the internal gear cam D100 is rotatably installed in the first base 101 through the first limiting gear D107 and the first bearing D108.

[0115] As Figure 17 shown, a first driving gear D102 is installed inside the annular gear part D100.1 of the internal gear cam D100. The first driving gear D102 meshes with the teeth of the annular gear part D100.1. The center of the first driving gear D102 is installed on the driving shaft of the first driving motor G1. The first driving motor G1 is installed on the first outer end face side of the first base 101 (as Figure 3 shown), and the driving shaft of the first driving motor G1 passes through the first through hole 101.2 located on the lower side of the first base 101. The internal gear cam D100 is driven to rotate forward or backward by the first driving motor G1.

[0116] The installation structures of the four clamping parts are introduced below. For the convenience of description, the four clamping parts are respectively named the first clamping part D103, the second clamping part D104, the third clamping part D105, and the fourth clamping part D106.

[0117] As Figure 19 shown is the three-dimensional structure diagram of the clamping part. The clamping part is L-shaped. A sliding clamping groove D109 is formed on the inner side surface of the clamping part, and a spring installation hole D1010 is formed on the outer side surface. A spring is installed in the spring installation hole D1010. As Figure 18As shown, one clamping member is installed in each of the four first limiting card slots 101.5 on the first base 101. The outer side surface of the clamping member is connected to the inner wall of the first limiting card slot 101.5 through a spring. The sliding card slot D109 on the inner side surface of the clamping member is clamped on the edge of the annular cam portion D100.2. As the annular cam portion D100.2 rotates, when the clamping member moves to the protruding portion on the annular cam portion D100.2, the clamping member is pushed radially away from the center point of the annular cam portion D100.2, and at the same time, the spring on the outer side surface of the clamping member is compressed. When the clamping member moves to the base circle on the annular cam portion D100.2, the spring pushes the clamping member close to the center point of the annular cam portion D100.2.

[0118] Next, the structure of the gear transmission mechanism D2 will be introduced.

[0119] The gear transmission mechanism D2 further includes a second driving gear D201, a main shaft D202, a central transmission gear D203, and four sets of planetary gear mechanisms. The structures and connection relationships of each part will be introduced in detail below.

[0120] In the present invention, the gear transmission mechanism D2 is driven by the second driving motor G2, as Figure 3 shown. The second driving motor G2 is installed on the side of the first outer end surface of the first base 101. As Figure 17 shown, the driving shaft of the second driving motor G2 passes through the first through hole 101.2 located on the upper side of the first base 101 and installs the second driving gear D201. A bearing is installed at the first main shaft installation hole 101.1 in the center of the first base 101. One end of the main shaft D202 is connected to the bearing, and the other end of the main shaft D202 is connected to the center of the end cover of the first housing 102. A bearing is also installed in the second main shaft installation hole 102.1 in the center of the end cover, and the other end of the main shaft D202 is installed on the bearing.

[0121] As Figure 20 shown is the structural display diagram of the main shaft D202. The central transmission gear D203 is installed at the root of the main shaft D202. The central transmission gear D203 meshes with the second driving gear D201. The second driving gear D201 transmits the power of the second driving motor G2 to the main shaft D202, driving the main shaft D202 to rotate forward or backward.

[0122] Next, the structures and connection relationships of the four sets of planetary gear mechanisms will be introduced.

[0123] As Figure 21 shown is the structural display diagram of the four sets of planetary gear mechanisms installed on the main shaft D202. Figure 22 is the structural display diagram of one set of planetary gear mechanisms. Figure 23 is Figure 22 the structural display diagram from another angle.

[0124] AsFigure 22 As shown, each set of planetary gear mechanisms includes a sun gear D204, a gear ring D205, three planetary gears D206, and a planet carrier D207; among them, the sun gear D204 is installed on the main shaft D202 (as Figure 20 shown), and rotates synchronously with the main shaft D202; the gear ring D205 is coaxially and coplanarly installed with the sun gear D204, and three planetary gears D206 are arranged in an equidistant annular array between the gear ring D205 and the sun gear D204; the planetary gears D206 and the adjacent sun gear and gear ring are always in a constant meshing state; bearings are installed in the center of the planetary gears D206, and a rotating shaft is installed in the center of the bearings; a number of clamping slots D205.1 are provided in a circle on the outer edge of the gear ring D205, and the clamping slots D205.1 cooperate with the L-shaped clamping parts; specifically, as the annular cam part D100.2 rotates, when the clamping part moves to the base circle on the annular cam part D100.2, the spring pushes the clamping part closer to the center point of the annular cam part D100.2, at this time, the end of the clamping part is clamped into the clamping slot D205.1; when the clamping part moves to the protruding part on the annular cam part D100.2, the clamping part is pushed radially away from the center point of the annular cam part D100.2, at this time, the end of the clamping part disengages from the clamping slot D205.1.

[0125] As Figure 22 shown, a circular planet carrier D207 is installed in parallel in front of the gear ring D205; the center of the planet carrier D207 is installed on the main shaft D202 through a bearing; a circle of teeth is provided on the outer edge of the planet carrier D207 for meshing with the worm and worm gear mechanism. In addition, the rotating shaft in the center of the planetary gear D206 is connected to the planet carrier D207.

[0126] As Figure 21 shown, four sets of planetary gear mechanisms are successively provided starting from the root of the main shaft D202, and are respectively named the first planetary gear mechanism D208, the second planetary gear mechanism D209, the third planetary gear mechanism D2010, and the fourth planetary gear mechanism D2011 for the convenience of description; each set of planetary gear mechanisms corresponds to a clamping part; specifically, as Figure 24 shown, the first clamping part D103 in the lower right corner corresponds to the first planetary gear mechanism D208; as Figure 25 shown, the second clamping part D104 in the lower left corner corresponds to the second planetary gear mechanism D209; the third clamping part D105 in the upper left corner corresponds to the third planetary gear mechanism D2010; as Figure 24 shown, the fourth clamping part D106 in the upper right corner corresponds to the fourth planetary gear mechanism D2011.

[0127] Next, four sets of stranding reel mechanisms D3 are introduced.

[0128] For the convenience of description, the four groups of stranding reel mechanisms D3 are respectively named as the first stranding reel mechanism D305, the second stranding reel mechanism D306, the third stranding reel mechanism D307, and the fourth stranding reel mechanism D308; the four groups of stranding reel mechanisms D3 are distributed in a 90° circular array, and each group of stranding reel mechanisms D3 further includes a transmission gear D301 and a worm and worm gear mechanism.

[0129] As Figure 24 shown, the first stranding reel mechanism D305 is arranged between the first clamping member D103 and the fourth clamping member D106, and the worm D303 in the worm and worm gear mechanism is arranged in parallel with the main shaft D202; for the specific installation structure of the worm and worm gear mechanism, see Figure 26 shown, both ends of the worm D303 are installed on the first housing 102 through bearings; specifically, as Figure 26 shown, in the previous introduction, four worm installation structures are equidistantly arranged in a circular array inside the first housing 102, including four support portions 102.3 extending from the opening of the first housing 102 towards the center, and four worm positioning grooves 102.5 arranged on the end cover; a worm installation hole 102.4 is opened on the support portion 102.3, the worm installation hole 102.4 is aligned with the worm positioning groove 102.5 and each installs a bearing, and both ends of the worm D303 are installed on the bearings; in addition, four worm wheel installation portions 102.6 are also equidistantly arranged in a circular array on the cylindrical wall of the first housing 102. Specifically, the worm wheel installation portion 102.6 protrudes from the cylindrical wall and has a rotation connection hole in the center; the worm wheel D302 in the worm and worm gear mechanism is installed on one side of the worm D303 through a positioning shaft, and the worm wheel D302 meshes with the worm D303; a stranding groove D304 is formed on the worm wheel D302 for winding the towing rope; a transmission gear D301 is installed at one end of the worm D303, and the transmission gear D301 in the first stranding reel mechanism D305 meshes with the planet carrier D207 in the first planetary gear mechanism D208; the stranding groove D304 formed on the worm wheel D302 winds the first towing rope E101.

[0130] The installation structures of the remaining stranding reel mechanisms D3 are the same as that of the first stranding reel mechanism D305, except for the installation positions; as Figure 27 shown is the structural display diagram of the second stranding reel mechanism D306. The second stranding reel mechanism D306 is arranged between the third clamping member D105 and the fourth clamping member D106, and the transmission gear D301 in the second stranding reel mechanism D306 meshes with the planet carrier D207 in the second planetary gear mechanism D209; the stranding groove D304 formed on the worm wheel D302 winds the second towing rope E102 (as Figure 11 shown). As Figure 25As shown in the figure, the third wire reel mechanism D307 is arranged between the second clamping member D104 and the third clamping member D105. The transmission gear D301 in the third wire reel mechanism D307 meshes with the planet carrier D207 in the third planetary gear mechanism D2010. The wire winding groove D304 formed on the worm gear D302 winds the third towing rope E103 (as Figure 11 shown). As Figure 25 shown, the fourth wire reel mechanism D308 is arranged between the first clamping member D103 and the second clamping member D104. The transmission gear D301 in the fourth wire reel mechanism D308 meshes with the planet carrier D207 in the fourth planetary gear mechanism D2011. The wire winding groove D304 formed on the worm gear D302 winds the fourth towing rope E104 (as Figure 11 shown).

[0131] As Figure 5 shown, one end of each of the four towing ropes is respectively connected to the wire winding groove D304 of the corresponding worm gear D302, and the other end passes through the first housing 102 and the middle telescopic part 200, reaches the second base 300 on the right side and is connected to the second base 300. The towing ropes are in a straightened state by the first elastic member 500 (i.e., a helical spring) installed in the corrugated sleeve 400.

[0132] In the present invention, the first driving motor G1 drives the cam steering mechanism D1 to rotate, thereby controlling the combination of different clamping members and the gear transmission mechanism D2. The planetary gear mechanism in the gear transmission mechanism D2 that combines with the clamping member drives the corresponding wire reel mechanism D3 to rotate, realizing the winding or unwinding of the corresponding towing rope.

[0133] The following combines the mechanism principle of the driving mechanism D Figure 28 , and different state diagrams of the internal gear cam D100 to introduce how the motion mechanism of the pipeline robot of the present invention realizes peristaltic forward movement and steering actions.

[0134] As Figure 28 shown, from right to left are the first planetary gear mechanism D208, the second planetary gear mechanism D209, the third planetary gear mechanism D2010, and the fourth planetary gear mechanism D2011; corresponding to the first clamping member D103, the second clamping member D104, the third clamping member D105, the fourth clamping member D106 respectively, and corresponding to the first wire reel mechanism D305, the second wire reel mechanism D306, the third wire reel mechanism D307, and the fourth wire reel mechanism D308 respectively.

[0135] The following introduces the process of the peristaltic forward movement of the pipeline robot.

[0136] As Figure 29Shown is the first state diagram of the internal gear cam D100; in this state, all four clamping members are on the base circle of the annular cam portion D100.2 of the internal gear cam D100, and the spring pushes the clamping members closer to the center point of the annular cam portion D100.2; at this time, the ends of the four clamping members are respectively caught in the outer edge clamping slots D205.1 of the gear ring D205 of the corresponding planetary gear mechanism; in this state, the second driving motor G2 drives the four groups of planetary gear mechanisms to rotate, thereby driving the four wire winding disc mechanisms D3 to wind or unwind the towing rope simultaneously. When the towing rope is wound, the telescopic bending portion B performs a contraction action, and when the towing rope is unwound, the telescopic bending portion B performs an unfolding action.

[0137] In the first state, further cooperate with a set of support wall mechanisms F provided at each of the head A and the tail C to achieve a peristaltic forward movement, and the peristaltic forward movement can be further divided into as Figure 30 shown in the steps.

[0138] As Figure 30 shown, the linear crawling cycle process of the pipeline robot is as follows:

[0139] Ⅰ. The telescopic bending portion B of the robot is in a relaxed state, and the support wall mechanisms F provided at each of the head A and the tail C are unfolded and tightly attached to the pipeline wall for fixation;

[0140] Ⅱ. The support wall mechanism F at the tail of the robot retracts to release the fixed state of the tail;

[0141] Ⅲ. The telescopic bending portion B of the robot performs a contraction action, and the tail of the robot moves towards the head direction;

[0142] Ⅳ. The support wall mechanism F at the tail of the robot is unfolded, and the tail is fixed to the pipe wall again;

[0143] Ⅴ. The support wall mechanism F at the head of the robot retracts to release the fixed state of the head;

[0144] Ⅵ. The telescopic bending portion B of the robot is unfolded, and the head of the robot moves forward;

[0145] Ⅶ. The support wall mechanism F at the head of the robot is unfolded to fix the head to the pipe wall again and enter the next crawling cycle.

[0146] The following introduces the steering action process of the pipeline robot.

[0147] As Figure 31The figure shows the second state of the internal gear cam D100; in this state, the third clamping member D105 and the fourth clamping member D106 are on the base circle of the annular cam portion D100.2 of the internal gear cam D100, and the first clamping member D103 and the second clamping member D104 are pushed outwardly away from the center point of the annular cam portion D100.2 by the protruding portion of the annular cam portion D100.2. At this time, the ends of the first clamping member D103 and the second clamping member D104 are disengaged from the outer edge clamping groove D205.1 of the gear ring D205 of each corresponding planetary gear mechanism; in this state, the second drive motor G2 drives the third and fourth planetary gear mechanisms to rotate, thereby driving the third and fourth winch drum mechanisms to simultaneously wind or unfold the traction rope, and the third traction rope E103 and the fourth traction rope E104 on the third and fourth winch drum mechanisms are wound and shortened (refer to Figure 11 Understanding), the first traction rope E101 and the second traction rope E102 on the first and second winch drum mechanisms keep their original lengths unchanged, and the head of the robot can be controlled to bend toward the third traction rope E103 and the fourth traction rope E104.

[0148] In the second state, the head A and the tail C are further coordinated with a set of wall support mechanisms F to achieve a turning action. The turning action can be further divided into the following Figure 32 Steps shown.

[0149] like Figure 32 As shown, the pipeline robot steering process is as follows:

[0150] Ⅰ. When the robot reaches the fork in the road, the wall-supporting mechanism F at the robot's tail is deployed, and the tail is fixed on the original pipe wall; the wall-supporting mechanism F at the robot's head is retracted, the head is released from the fixed state, and enters the pipe after the turn.

[0151] Ⅱ. The third traction rope E103 and the fourth traction rope E104 on the third and fourth winch drum mechanisms are wound and shortened, the first traction rope E101 and the second traction rope E102 on the first and second winch drum mechanisms keep their original lengths unchanged, and the head of the robot is controlled to bend toward the third traction rope E103 and the fourth traction rope E104, so that the head of the robot turns and enters the turned pipeline; (it is assumed here that the bending direction is consistent with the turning direction of the pipeline, which depends on the state of the pipeline robot when it is placed in the pipeline).

[0152] III. The wall-supporting mechanism F at the tail of the robot retracts, releasing the fixed state of the tail; the tail of the robot enters the rear pipe after the turn.

[0153] IV. When the robot completely enters the pipe after the turn, the robot head wall support mechanism F is unfolded and fixed to the pipe wall; the turning action is completed.

[0154] There are 4 traction ropes in the present invention, except Figure 31In addition to the second state of the internal gear cam D100 shown, there are three other steering states, which can achieve steering actions in the other three directions. The following is a detailed introduction with reference to the figures.

[0155] As Figure 33 shown is the third state diagram of the internal gear cam D100; in this state, the first engaging part D103 and the fourth engaging part D106 are on the base circle of the annular cam part D100.2 of the internal gear cam D100, and the second engaging part D104 and the third engaging part D105 are pushed away from the center point of the annular cam part D100.2 by the protruding part of the annular cam part D100.2. At this time, the ends of the second engaging part D104 and the third engaging part D105 are disengaged from the outer edge engaging slots D205.1 of the gear rings D205 of their respective corresponding planetary gear mechanisms; in this state, the second drive motor G2 drives the first and fourth planetary gear mechanisms to rotate, thereby driving the first and fourth wire winding mechanisms to wind or unwind the towing ropes simultaneously. The first towing rope E101 and the fourth towing rope E104 on the first and fourth wire winding mechanisms are wound and shortened, and the second towing rope E102 and the third towing rope E103 on the second and third wire winding mechanisms remain unchanged in length, and the head of the robot can be controlled to bend towards the side of the first towing rope E101 and the fourth towing rope E104.

[0156] As Figure 34 shown is the fourth state diagram of the internal gear cam D100; in this state, the first engaging part D103 and the second engaging part D104 are on the base circle of the annular cam part D100.2 of the internal gear cam D100, and the third engaging part D105 and the fourth engaging part D106 are pushed away from the center point of the annular cam part D100.2 by the protruding part of the annular cam part D100.2. At this time, the ends of the third engaging part D105 and the fourth engaging part D106 are disengaged from the outer edge engaging slots D205.1 of the gear rings D205 of their respective corresponding planetary gear mechanisms; in this state, the second drive motor G2 drives the first and second planetary gear mechanisms to rotate, thereby driving the first and second wire winding mechanisms to wind or unwind the towing ropes simultaneously. The first towing rope E101 and the second towing rope E102 on the first and second wire winding mechanisms are wound and shortened, and the third towing rope E103 and the fourth towing rope E104 on the third and fourth wire winding mechanisms remain unchanged in length, and the head of the robot can be controlled to bend towards the side of the first towing rope E101 and the second towing rope E102.

[0157] As Figure 35Shown is the fifth state diagram of the internal gear cam D100; in this state, the second engaging member D104 and the third engaging member D105 are on the base circle of the annular cam portion D100.2 of the internal gear cam D100. The first engaging member D103 and the fourth engaging member D106 are pushed away from the center point of the annular cam portion D100.2 by the protruding portion of the annular cam portion D100.2. At this time, the ends of the first engaging member D103 and the fourth engaging member D106 are disengaged from the outer edge engaging slots D205.1 of the gear ring D205 of their respective corresponding planetary gear mechanisms. In this state, the second driving motor G2 drives the second and third planetary gear mechanisms to rotate, thereby driving the second and third wire winding mechanisms to wind or unwind the towing ropes simultaneously. The second towing rope E102 and the third towing rope E103 on the second and third wire winding mechanisms D307 are wound and shortened, and the first towing rope E101 and the fourth towing rope E104 on the first and fourth wire winding mechanisms remain unchanged in their original lengths, and the head of the robot can be controlled to bend towards the side of the second towing rope E102 and the third towing rope E103.

[0158] As Figure 36 Shown is the three-dimensional structure display diagram of the above four bending states. In summary, the driving mechanism D in the present invention mainly includes two driving motors, a cam direction selection mechanism D1, a gear transmission mechanism D2, four groups of wire winding mechanisms D3, and four towing ropes. Among them, the cam direction selection mechanism D1 is driven by a stepping motor (i.e., the first driving motor G1) to rotate the internal gear cam D100 in the cam direction selection mechanism D1, so that the four engaging members distributed around the internal gear cam D100 present five different locking actions. One of them is that the four engaging members are simultaneously locked. In this case, the four towing ropes are simultaneously retracted or released, thereby controlling the telescopic bending portion in the middle to achieve shortening or elongation actions. The remaining four locking actions are the cases where two adjacent engaging members are locked, and the two towing ropes in two groups of the four groups of wire winding mechanisms D3 can be controlled to be retracted or released; thereby controlling the telescopic bending portion in the middle to be able to bend and move in four directions.

[0159] The present invention also provides a wall support mechanism F provided in the head A and the tail C. The structures of the wall support mechanisms F provided in the head A and the tail C are the same. In the present invention, the wall support mechanism F of the head A is taken as an example for detailed description. The wall support mechanism F in the tail C is centrosymmetric with the wall support mechanism F of the head A.

[0160] As Figure 37 Shown is the external view display diagram of the head A of the pipeline robot. As introduced above, the telescopic bending portion B in the middle of the present invention includes the first base 100 on the left, the middle telescopic portion 200, and the second base 300 on the right. The front end of the second base 300 is further provided with a third base 600, and the third base 600 further includes a third housing 601, a third base 602, and a third end cover 603.

[0161] As shown Figure 38 in the figure is a diagram showing the internal structure of the third base 600; the third base 602 is connected to the second base 300 through a cylindrical third housing 601, and a cavity is formed inside the third housing 601 for installing the third drive motor G3 and the control circuit board; as shown Figure 39 in the figure is a diagram showing the structure of the circular end face of the third base 602. The circular end face of the third base 602 is provided with a support wall mechanism F, and the support wall mechanism F includes six groups of crank-slider mechanisms F100 distributed in an annular array, and a circular crank disk F106 driven by a servo motor (i.e., the third drive motor G3). The crank disk F106 is installed at the center of the circular end face of the third base 602; as shown Figure 40 in the figure is a diagram showing the central structure of the circular end face of the third base 602 after removing the crank disk F106. A through hole is formed in the center of the circular end face of the third base 602 for passing through the drive shaft of the third drive motor G3, and the crank disk F106 is connected to the drive shaft. An annular support body F107 protruding from the surface is formed around the central through hole of the circular end face of the third base 602.

[0162] As shown Figure 41 in the figure is a detailed diagram showing the crank-slider mechanism F100. Each group of crank-slider mechanisms F100 further includes a crank connecting rod F101, a slider F102, a guide rod F103, a support rod F104, and a support wall foot F105; as shown Figure 42 in the figure is a detailed diagram showing a group of crank-slider mechanisms F100. Six support rods F104 are annularly arrayed around the circular crank disk F106, and the support rods F104 extend radially along the circular end face of the third base 602. As shown Figure 40 in the figure, the inner end of the support rod F104 is fixed to the outer wall of the annular support body F107 at the center of the circular end face of the third base 602, and the outer end of the support rod F104 is fixed to the protruding edge outside the circular end face of the third base 602 ( Figure 41 shown in the figure); as shown Figure 42 in the figure, a square slider F102 is slidably connected to the support rod F104. The support rod F104 passes through the through hole in the center of the square slider F102. One guide rod F103 is installed on each side of the square slider F102. The two guide rods F103 are arranged parallel to the central support rod F104, and the outer ends of the two guide rods F103 are connected to an arc-shaped support wall foot F105. The support wall foot F105 is preferably made of rubber material; the support wall foot F105 is located outside the edge of the circular end face of the third base 602; as shown Figure 43 in the figure; a bearing is installed at the center of the upper surface of the slider F102; one end of the crank connecting rod F101 is rotatably connected to the bearing on the slider F102 through a connecting rod, and the other end is rotatably connected to the upper surface of the crank disk F106 through a stud. As shown Figure 37 in the figure, the third end cover 603 covers the circular end face of the third base 602, and only six support wall feet F105 are exposed.

[0163] As Figure 44 shown is the schematic diagram of the support wall mechanism F of the present invention. The crank disk F106 is driven to rotate forward or backward by the third driving motor G3. By changing the rotation angle of the crank disk F106, six crank-slider mechanisms F100 can be controlled to expand and contract synchronously. When extended, it supports on the inner wall of the pipeline, and when shortened, the fixation is released.

[0164] It can be understood that the present invention is described through some embodiments. Those skilled in the art know that, without departing from the spirit and scope of the present invention, various changes or equivalent replacements can be made to these features and embodiments. Additionally, under the teaching of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A motion mechanism for a pipeline robot, characterized in that, It includes a first base (100), a telescopic part (200), and a second base (300) connected in sequence; a driving mechanism is installed inside the first base (100); a first elastic member (500) is provided inside the telescopic part (200), and the first elastic member (500) can axially expand and contract and freely bend; four traction ropes (E) are arranged in an annular array inside the telescopic part (200), one end of each of the four traction ropes (E) is connected to the second base (300), and the other end is connected to the driving mechanism inside the first base (100); the driving mechanism is used to select any two adjacent ones of the four traction ropes (E) for winding to shorten their lengths and control the bending of the pipeline robot, or select the four traction ropes (E) to wind or release simultaneously to control the telescopic movement of the pipeline robot; the driving mechanism includes a first driving motor (G1), a second driving motor (G2), a cam direction selection mechanism (D1), a gear transmission mechanism (D2), four sets of wire winding disc mechanisms (D3), and four traction ropes (E); The cam direction selection mechanism (D1) includes an internal gear cam (D100), a first driving gear (D102), and four clamping members; the internal gear cam (D100) is composed of a parallel annular gear part (D100.1) and an annular cam part (D100.2); the inner ring surface of the annular gear part (D100.1) is formed with teeth, and the teeth are meshed and connected to the first driving gear (D102), and the first driving gear (D102) is connected to the first driving motor (G1); five spaced protrusions are formed on the base circle of the annular cam part (D100.2) and are on the same virtual circle (D100.5); four clamping members are arranged in an annular array around the internal gear cam (D100), the clamping members are L-shaped, and each clamping member is connected to the cavity wall of the first base (100) through a spring and is in sliding contact with the edge of the annular cam part (D100.2) at the same time; The gear transmission mechanism (D2) includes a second driving gear (D201), a main shaft (D202), a central transmission gear (D203), and four sets of planetary gear mechanisms; the main shaft (D202) is installed on the central axis of the internal gear cam (D100), the root of the main shaft (D202) is installed with the central transmission gear (D203), the central transmission gear (D203) is meshed with the second driving gear (D201), and the second driving gear (D201) is installed on the driving shaft of the second driving motor (G2); four sets of planetary gear mechanisms are installed on the main shaft (D202); Each set of planetary gear mechanisms includes a sun gear (D204), a gear ring (D205), multiple planetary gears (D206), and a planet carrier (D207); among them, the sun gear (D204) is installed on the main shaft (D202), the gear ring (D205) is installed coaxially and coplanarly with the sun gear (D204), and planetary gears (D206) are arranged in an equidistant annular array between the gear ring (D205) and the sun gear (D204); a number of clamping slots are provided in a circle on the outer edge of the gear ring (D205), and the clamping slots cooperate with L-shaped clamping members; specifically, as the annular cam portion (D100.2) rotates, when the clamping member moves to the base circle on the annular cam portion (D100.2), the spring pushes the clamping member close to the center point of the annular cam portion (D100.2), and at this time, the end of the clamping member is caught in the clamping slot; when the clamping member moves to the protruding portion on the annular cam portion (D100.2), the clamping member is pushed radially away from the center point of the annular cam portion (D100.2), and at this time, the end of the clamping member is disengaged from the clamping slot; the planet carrier (D207) is installed parallel to the gear ring (D205); a circle of teeth is provided on the outer edge of the planet carrier (D207), and the teeth are used to mesh with the worm and worm gear mechanism in the wire winding disc mechanism (D3). Four sets of planetary gear mechanisms are each equipped with a set of wire winding disc mechanisms (D3), and the four sets of wire winding disc mechanisms (D3) are distributed in an annular array; each set of wire winding disc mechanisms (D3) includes a transmission gear (D301) and a worm and worm gear mechanism; the worm (D303) in the worm and worm gear mechanism is arranged parallel to the main shaft (D202), the worm wheel (D302) is installed on one side of the worm (D303) and meshes with it, a wire winding groove (D304) is formed on the worm wheel (D302), and the wire winding groove (D304) is used to wind one end of the towing rope (E); the transmission gear (D301) is installed on the worm (D303) and meshes with the teeth on the corresponding planet carrier (D207).

2. The pipeline robot motion mechanism according to claim 1, wherein The telescopic portion (200) includes a corrugated sleeve (400) installed between the first base (100) and the second base (300), and a helical spring provided in the corrugated sleeve (400); both ends of the helical spring are respectively connected to the first base (100) and the second base (300).

3. The pipeline robot motion mechanism according to claim 1, characterized in that, The dimensions of the annular cam portion (D100.2) are as follows: the base circle radius is 26 cm, the radius of the central circular through hole is 22 cm, and the radius of the virtual circle (D100.5) is 28 cm; the arc of the first protrusion corresponds to a central angle of 23°, and the two sides are transition curves with a central angle of 13°; in a clockwise direction, the arc of the second protrusion corresponds to a central angle of 5°, and the two sides are transition curves with a central angle of 13°; the middle of the first protrusion and the second protrusion is a base circle segment with a central angle of 5°; the arc of the third protrusion The central angle of the circle is 5°, and there are transition curves with a central angle of 13° on both sides; the middle part of the third protrusion and the second protrusion is a base circle segment with a central angle of 23°; the central angle of the arc of the fourth protrusion is 23°, and there are transition curves with a central angle of 13° on both sides; the middle part of the fourth protrusion and the third protrusion is a base circle segment with a central angle of 5°; the central angle of the arc of the fifth protrusion is 23°, and there are transition curves with a central angle of 13° on both sides; the middle part of the fifth protrusion and the fourth protrusion is a base circle segment with a central angle of 59°.

4. A pipeline robot, characterized in that, The invention comprises the motion mechanism described in any one of claims 1 to 3, and further comprises a head portion A and a tail portion C arranged at two ends, wherein the head portion A and the tail portion C are each provided with a set of wall supporting mechanisms (F).

5. The pipeline robot according to claim 4, characterized in that: The wall supporting mechanism (F) comprises a plurality of groups of crank slider mechanisms (F100) distributed in an annular array, and a circular crank disk (F106) driven by a third driving motor (G3); each group of crank slider mechanisms (F100) comprises a crank connecting rod (F101), a slider (F102), a guide rod (F103), a supporting rod (F104), and a wall supporting foot (F105); supporting rods (F104) are arranged in an annular array around the circular crank disk (F106), the supporting rods (F104) extend in a radial direction, the supporting rods (F104) are slidably connected to the slider (F102), the guide rod (F103) is arranged on the slider (F102), and the outer end of the guide rod (F103) is connected to the arc-shaped wall supporting foot (F105); one end of the crank connecting rod (F101) is rotatably connected to the slider (F102) through a connecting rod, and the other end is rotatably connected to the upper surface of the crank disk (F106) through a pin.

6. A linear crawling method for the pipeline robot according to claim 4, characterized in that, The steps include: Ⅰ. The telescopic bending part B of the robot is in a relaxed state, and the wall-supporting mechanisms F provided at the head A and the tail C are unfolded and fixed tightly to the pipe wall; Ⅱ. The wall-supporting mechanism at the tail of the robot retracts, releasing the fixed state of the tail; III. The robot's telescopic bending part B performs a contraction action, and the robot's tail moves toward the head; IV. The robot's tail wall support mechanism is deployed, and the tail is fixed to the pipe wall again; Ⅴ. The robot head wall support mechanism retracts, releasing the head fixed state; VI. The telescopic bending part B of the robot is unfolded, and the head of the robot moves forward; Ⅶ. The robot head wall-supporting mechanism unfolds, fixes the head to the pipe wall again, and enters the next crawling cycle.

7. A steering method for the pipeline robot according to claim 4, characterized in that The steps include: Ⅰ. The robot moves to the fork in the road, the wall-supporting mechanism at the robot's tail is deployed, and the tail is fixed on the original pipe wall; the wall-supporting mechanism at the robot's head is retracted, the head is released from the fixed state, and enters the pipe after the turn; Ⅱ. The two adjacent traction ropes are wound and shortened to control the robot's head to bend and turn into the pipe after turning; Ⅲ. The tail wall support mechanism of the robot retracts to release the fixed state of the tail; the tail of the robot enters the pipe after turning; Ⅳ. When the robot completely enters the pipe after turning, the head wall support mechanism of the robot unfolds and is fixed to the pipe wall; thus, the turning action is completed.

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