Pipe inspection robot based on a controllable steering gear system

Abstract

The present invention discloses a pipeline inspection robot based on a controllable steering gear train. A vision mechanism is fixedly installed at the front of the fuselage main body, and the sensing detection module is fixedly installed outside the fuselage main body. Two steering drive gear train mechanisms are symmetrically installed on the left and right at the middle of the fuselage main body (1). The driven wheel assembly is fixedly installed at the rear of the fuselage main body (1), and the driven wheel assembly is arranged at intervals with both of the two steering drive gear train mechanisms. The two steering drive gear train mechanisms and the driven wheel assembly form the traveling mechanism of the pipeline inspection robot. Through the control of the two steering drive gear train mechanisms, the pipeline inspection robot can walk and avoid obstacles in the pipeline. The present invention can adapt to different pipeline pavement conditions and achieve obstacle crossing and shock absorption; it can enable the robot to travel smoothly in the pipeline well, realize the pipeline inspection work, and has the advantages of good universality and high working efficiency.

Description

Technical Field

[0001] The present invention relates to an inspection robot in the field of pipeline inspection, and more particularly to a pipeline inspection robot based on a controllable steering gear system. Background Art

[0002] With the rapid development of China's economy and the steady progress of infrastructure construction, pipelines are widely used in infrastructure. Due to the chemical properties of the transported materials and the influence of external factors, pipelines will suffer wear and tear. In the face of a dense and huge pipeline system, it has become an important task to timely detect and deal with pipeline damage.

[0003] In order to avoid various safety hazards in the process of manual monitoring and solve the problem of manual detection accuracy, inspection robots manufactured by modern mechanical automation technology are often used to achieve pipeline inspection. Existing types of pipeline inspection equipment include: wheeled inspection robots, tracked inspection robots, rail inspection robots, etc. Using a rail inspection robot to inspect old pipelines requires laying rails on the pipelines. This not only increases the construction cost of the pipeline detection system, but also requires cutting the top wall of the pipeline to lay the rails, increasing the unstable factors in the pipeline environment. Secondly, the rail inspection robot can only travel along the rails, and its detection blind area is large, reducing the accuracy of detection data. Although the tracked inspection robot has good obstacle-crossing ability, the tracked inspection robot often adopts a multi-wheel drive structure, increasing the design difficulty of the overall structure. Moreover, the tracked inspection robot has a larger contact area with the ground, and the friction force during the traveling process is relatively large, requiring a larger driving power.

[0004] Compared with the above two types of inspection robots, the wheeled pipeline inspection robot is more widely used in the inspection task of old pipelines because of its relatively simple and reliable mechanical structure, relatively mature and perfect mechatronic control technology, and easy maintenance. However, due to the complex environment of old pipelines, there are often situations such as water accumulation and bricks on the pipeline surface. Ordinary wheeled pipeline inspection robots cannot well adapt to such pipeline environments and smoothly carry out detection work. To solve this problem, it is particularly important to improve the ordinary wheeled pipeline inspection robot to make it better adapt to the working environment. Summary of the Invention

[0005] In order to solve the problems and requirements in the background art, the purpose of the present invention is to propose a pipeline inspection robot based on a controllable steering gear system that can change its working state. Using a wheeled drive mode, it can achieve steering and obstacle crossing by improving the driving wheels. The camera is installed at the front end of the fuselage main body to facilitate better observation of the internal situation of the pipeline.

[0006] The technical solution of the present invention is as follows:

[0007] The present invention includes a fuselage main body, a steering drive wheel train mechanism, a vision mechanism, a sensing and detection module, and a driven wheel assembly;

[0008] A vision mechanism is fixedly installed at the front of the fuselage main body, the sensing and detection module is fixedly installed outside the fuselage main body, two steering drive wheel train mechanisms are symmetrically installed on the left and right sides of the middle part of the fuselage main body, the driven wheel assembly is fixedly installed at the rear of the fuselage main body, and there is an interval arrangement between the driven wheel assembly and the two steering drive wheel train mechanisms. The two steering drive wheel train mechanisms and the driven wheel assembly form the traveling mechanism of the pipeline inspection robot. The control of the two steering drive wheel train mechanisms enables the pipeline inspection robot to walk and avoid obstacles in the pipeline.

[0009] The two steering drive wheel train mechanisms have the same structure, and each includes a lifting assembly, a driving wheel assembly, a steering assembly, a driving wheel component, a fixed cam, a steering motor box, a motor box lifter, a lifting motor, a steering rotating shaft bearing, a driving rotating shaft bearing, a first steering cylindrical gear, and a first-stage steering rotating shaft;

[0010] A lifting motor is fixedly installed on one side inside the middle part of the fuselage main body. A steering motor box is arranged below the lifting motor. The lifting motor is fixedly connected to the steering motor box through the motor box lifter. A fixed cam is fixedly installed on the other side inside the middle part of the fuselage main body. A steering assembly is arranged below the fixed cam. The upper end of the steering assembly is in close contact with the cam edge of the fixed cam. A driving wheel component is arranged below the steering motor box. The middle part of the steering assembly is connected to the driving wheel component through a steering rotating shaft bearing. The lower end of the steering assembly passes through the steering motor box and then extends into the driving wheel component and is arranged in the driving wheel component;

[0011] The output shaft of the steering motor in the steering motor box is arranged on the upper surface of the steering motor box. The output shaft of the steering motor is coaxially fixed to the first-stage steering rotating shaft. The first-stage steering rotating shaft is coaxially fixed to the first steering cylindrical gear. The first steering cylindrical gear is connected to the steering assembly;

[0012] A driving wheel assembly is also arranged between the lifting motor and the fixed cam. The middle part of the driving wheel assembly is connected to the driving wheel component through a driving rotating shaft bearing. The upper end of the driving wheel assembly is fixedly installed inside the middle part of the fuselage main body between the lifting motor and the fixed cam. The lower end of the driving wheel assembly passes through the steering motor box and then extends into the driving wheel component; Driven by the lifting motor, the output shaft of the lifting motor lifts the steering motor box through the motor box lifter, so that the steering motor box rotates circumferentially with the output shaft of the lifting motor as the rotation axis, and further drives the steering assembly, the driving wheel assembly, and the driving wheel component in the steering motor box to rotate circumferentially together. The steering assembly controls the steering of the driving wheel in the driving wheel component, and the driving wheel assembly controls the rolling of the driving wheel in the driving wheel component.

[0013] The steering assembly includes a secondary steering rotating shaft, a second steering cylindrical gear, and a third steering gear;

[0014] The upper end of the secondary steering rotating shaft is in close contact with the cam edge of the fixed cam. The middle part of the secondary steering rotating shaft is connected to the driving wheel assembly through a steering rotating shaft bearing. The lower end of the secondary steering rotating shaft passes through the steering motor box and the steering rotating shaft bearing and is coaxially connected to the third steering gear. The upper part of the secondary steering rotating shaft is also coaxially fixed with a second steering cylindrical gear, and the second steering cylindrical gear is always meshed with the first steering cylindrical long gear to form a first steering gear pair.

[0015] The driving wheel assembly includes a secondary hollow driving rotating shaft, a first driving bevel gear, a primary driving rotating shaft, and a rotatable driving motor box;

[0016] The rotatable driving motor box is fixedly installed in the middle of the fuselage main body between the lifting motor and the fixed cam. The motor output shaft of the rotatable driving motor box is coaxially fixed to the upper end of the primary driving rotating shaft. The lower end of the primary driving rotating shaft is telescopically connected to the upper part of the secondary hollow driving rotating shaft. The lower part of the secondary hollow driving rotating shaft passes through the steering motor box and is connected to the driving wheel assembly through a driving rotating shaft bearing. The lower end of the secondary hollow driving rotating shaft is coaxially fixed with the first driving bevel gear, and the first driving bevel gear is arranged in the driving wheel assembly.

[0017] The lower end of the primary driving rotating shaft is telescopically connected to the upper part of the secondary hollow driving rotating shaft, specifically as follows:

[0018] The upper part of the secondary hollow driving rotating shaft is hollow, and an axially arranged telescopic groove is formed on the circumferential side surface of the upper part of the secondary hollow driving rotating shaft. A convex block is arranged on the circumferential side surface of the lower end of the primary driving rotating shaft. After the lower part of the primary driving rotating shaft extends into the cavity of the upper part of the secondary hollow driving rotating shaft, the convex block of the primary driving rotating shaft is arranged in the telescopic groove of the secondary hollow driving rotating shaft. The primary driving rotating shaft and the secondary hollow driving rotating shaft can be telescoped, and the cooperation between the convex block and the telescopic groove is used for telescopic limit.

[0019] The driving wheel assembly includes a driving wheel, an upper support frame, a lower support frame, a driving wheel driving rotating shaft, a driving wheel fixing bolt, a driving wheel left fixing frame, a support frame fixing component, a second driving bevel gear, a fixing frame fixing bolt, a fixing frame fixing nut, a driving wheel right fixing frame, a driving wheel fixing nut, a driving wheel first driving gear, a driving wheel second driving gear, a fourth steering gear, and a fixing frame bearing;

[0020] The upper support frame and the lower support frame are fixedly connected by a plurality of support frame fixing components. A second through hole is formed on one side of the upper support frame. A steering rotation shaft bearing is fixedly installed on the upper support frame of the second through hole. The lower end of the steering component passes through the second through hole and is arranged on the lower support frame. A fourth steering gear is arranged on the lower support frame. The lower end of the steering component is connected to the fourth steering gear. A third through hole is formed in the middle of the lower support frame inside the fourth steering gear. A left driving wheel fixing frame and a right driving wheel fixing frame are fixedly installed inside the fourth steering gear. The left driving wheel fixing frame and the right driving wheel fixing frame are arranged in parallel and at intervals. The left driving wheel fixing frame and the right driving wheel fixing frame are arranged vertically through the lower support frame. The upper ends of the left driving wheel fixing frame and the right driving wheel fixing frame are connected by a fixing frame fixing nut and a fixing frame fixing bolt. Corresponding second driving bevel gears are coaxially sleeved in the fixing frame fixing bolts inside the left driving wheel fixing frame and the right driving wheel fixing frame respectively. The two second driving bevel gears are connected to the lower end of the driving wheel assembly;

[0021] A driving wheel is installed between the lower ends of the left driving wheel fixing frame and the right driving wheel fixing frame through a driving wheel fixing nut and a driving wheel driving rotating shaft. Corresponding first driving gears of the driving wheel are coaxially fixed at both ends of the driving wheel driving rotating shaft. A corresponding second driving gear of the driving wheel is also installed at the left driving wheel fixing frame or the right driving wheel fixing frame under the second driving bevel gear. The second driving bevel gear, the second driving gear of the driving wheel and the first driving gear of the driving wheel at one end of the driving wheel driving rotating shaft are arranged vertically in sequence. And the second driving bevel gear and the second driving gear of the driving wheel are meshed to form a second driving gear pair, and the second driving gear of the driving wheel and the first driving gear of the driving wheel are meshed to form a third driving gear pair; Driven by the steering motor of the steering motor box, the steering component is driven, and then the fourth steering gear is driven, and finally the left driving wheel fixing frame and the right driving wheel fixing frame inside the fourth steering gear and the components between the left driving wheel fixing frame and the right driving wheel fixing frame are driven to turn together; Driven by the driving wheel assembly, the two second driving bevel gears are driven, and then the two second driving gear pairs and the third driving gear pair are driven, and finally the rolling of the driving wheel is driven.

[0022] The driven wheel assembly includes a driven wheel stabilizing frame, a driven wheel fixing plate and a driven wheel; The driven wheel stabilizing frame is fixedly installed on the rear end face of the fuselage main body. The driven wheel is installed below the driven wheel stabilizing frame through two driven wheel fixing plates. The driven wheel rolls in the pipeline.

[0023] The vision mechanism includes a camera support, a camera, a spherical moving motor, a rotating motor, a searchlight and a vision mechanism fixing table;

[0024] The rotating motor is fixedly installed on the front end face of the fuselage main body. The output shaft of the rotating motor is fixedly connected to the camera bracket. A spherical movable motor is fixedly installed in the camera bracket, and the output shaft of the spherical movable motor is fixedly connected to the camera. A vision mechanism fixing table is also fixedly installed on the front end face of the fuselage main body below the rotating motor, and a searchlight is fixedly installed in the vision mechanism fixing table.

[0025] The sensing and detection module includes a plurality of detection sensors, and the plurality of detection sensors are respectively fixedly installed on the front end face and the upper surface of the fuselage main body. A plurality of detection sensors arranged at intervals are provided on either the front end face or the upper surface of the fuselage main body.

[0026] The beneficial effects of the present invention are as follows:

[0027] 1. The pipeline inspection robot of the present invention has good adaptability to the pipeline environment. For relatively flat pipeline roads without large obstacles, the inspection robot can directly pass smoothly through the spring characteristics of the wheel system without the need to expand the robot; when encountering complex road conditions, the robot can make the active wheels on both sides of the robot expand and press against the wall through the cooperation of various mechanisms to form a second working state, and can also directly cross the complex road surface;

[0028] 2. The pipeline inspection robot of the present invention can collect a variety of information; a variety of sensors are installed on the fuselage, which can collect information such as the internal temperature of the pipeline, the concentration of harmful gases, and the temperature and humidity of the pipeline. The detection mechanism at the front end of the fuselage can be matched to improve the efficiency of pipeline detection and maintenance. Description of the Drawings

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the normal driving state of the present invention in the pipeline;

[0031] Figure 3 It is a schematic diagram of the structure of the internal mechanism of the fuselage main body;

[0032] Figure 4 It is a schematic diagram of the left side structure of the steering wheel system mechanism;

[0033] Figure 5 It is a schematic diagram of the structure of the spring in the present invention;

[0034] Figure 6 It is a schematic diagram of the right side structure of the steering wheel system mechanism;

[0035] Figure 7 It is a schematic diagram of the state of the present invention when it is unfolded in the pipeline.

[0036] In the figure: fuselage main body 1, driven wheel stabilizer 2, driven wheel fixing plate 3, driven wheel 4, detection sensor 5, camera bracket 6, camera 7, spherical movable motor 8, rotating motor 9, searchlight 10, vision mechanism fixing table 11, driving wheel 12, steering motor box 13, motor box lifter 14, lifting motor 15, secondary hollow drive rotating shaft 16, first driving bevel gear 17, primary drive rotating shaft 18, rotatable drive motor box 19, fixed cam 20, first steering cylindrical gear 21, primary steering rotating shaft 22, secondary steering rotating shaft 23, second steering cylindrical gear 24, spring glass cover 25, spring 26, steering rotating shaft bearing 27, upper support frame 28, lower support frame 29, driving wheel drive rotating shaft 30, driving wheel fixing bolt 31, left driving wheel fixing frame 32, support frame fixing bolt 33, support frame fixing nut 34, drive rotating shaft bearing 35, second driving bevel gear 36, fixing frame fixing nut 37, right driving wheel fixing frame 38, driving wheel fixing nut 39, first driving gear of driving wheel 40, second driving gear of driving wheel 41, third steering gear 42, fourth steering gear 43, fixing plate 44, fixing frame bearing 45. Detailed implementation manner

[0037] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0038] As Figure 1 and Figure 2 shown, the present invention includes a fuselage main body 1, a steering driving wheel system mechanism, a vision mechanism, a sensing and detection module, and a driven wheel assembly; a vision mechanism is fixedly installed at the front of the fuselage main body 1, the sensing and detection module is fixedly installed outside the fuselage main body 1, two steering driving wheel system mechanisms are symmetrically installed on the left and right sides of the middle of the fuselage main body 1, the driven wheel assembly is fixedly installed at the rear of the fuselage main body 1 and the driven wheel assembly is arranged on the symmetry line between the two steering driving wheel system mechanisms, and the driven wheel assembly and the two steering driving wheel system mechanisms are arranged at intervals. The two steering driving wheel system mechanisms and the driven wheel assembly form a traveling mechanism of the pipeline inspection robot, and the control of the two steering driving wheel system mechanisms enables the pipeline inspection robot to walk and avoid obstacles in the pipeline.

[0039] As Figure 3 、 Figure 4 、 Figure 5 and Figure 6 shown, the two steering driving wheel system mechanisms have the same structure and both include a lifting assembly, a driving wheel assembly, a steering assembly, a driving wheel assembly, a fixed cam 20, a steering motor box 13, a motor box lifter 14, a lifting motor 15, a steering rotating shaft bearing 27, a drive rotating shaft bearing 35, a first steering cylindrical gear 21, and a primary steering rotating shaft 22;

[0040] The main body of the fuselage 1 is composed of an upper cover, a front end plate, and a rear end plate connected together. Both sides and the bottom surface in the middle of the main body of the fuselage 1 are open. On one side surface inside the middle of the main body of the fuselage 1, a lifting motor 15 is fixedly installed. Below the lifting motor 15, a steering motor box 13 is provided. The output shaft of the lifting motor 15 is fixedly connected to the steering motor box 13 through a motor box lifter 14. On the other side surface inside the middle of the main body of the fuselage 1, a fixed cam 20 is fixedly installed. Below the fixed cam 20, a steering assembly is provided. The upper end of the secondary steering rotating shaft 23 of the steering assembly is always in close contact with the cam edge of the fixed cam 20. Below the steering motor box 13, a driving wheel assembly is provided. The middle of the secondary steering rotating shaft 23 of the steering assembly is connected to the upper support frame 28 of the driving wheel assembly through a steering rotating shaft bearing 27. The lower end of the secondary steering rotating shaft 23 of the steering assembly passes through the steering motor box 13 and extends into the driving wheel assembly and is arranged in the driving wheel assembly; the third steering gear 42 at the lower end of the secondary steering rotating shaft 23 meshes with the fourth steering gear 43 to form a second steering gear pair.

[0041] The output shaft of the steering motor in the steering motor box 13 is arranged on the upper surface of the steering motor box 13. The output shaft of the steering motor is coaxially fixedly connected to the primary steering rotating shaft 22. The primary steering rotating shaft 22 is coaxially fixedly connected to the first steering cylindrical gear 21. The first steering cylindrical gear 21 is meshed and connected to the second steering cylindrical gear 24 of the steering assembly;

[0042] Between the lifting motor 15 and the fixed cam 20, a driving wheel assembly is also provided. The middle of the driving wheel assembly is connected to the upper support frame 28 of the driving wheel assembly through a driving rotating shaft bearing 35. The rotatable driving motor box 19 at the upper end of the driving wheel assembly is fixedly installed on the upper bottom surface inside the middle of the main body of the fuselage 1 between the lifting motor 15 and the fixed cam 20. The first driving bevel gear 17 at the lower end of the driving wheel assembly passes through the steering motor box 13 and then extends into the driving wheel assembly, and finally meshes with two second driving bevel gears 36 to form a first driving gear pair; driven by the lifting motor 15, the output shaft of the lifting motor 15 lifts the steering motor box 13 through the motor box lifter 14, so that the steering motor box 13 rotates circumferentially with the output shaft of the lifting motor 15 as the rotation axis, and then drives the steering assembly, the driving wheel assembly, and the driving wheel assembly in the steering motor box 13 to rotate circumferentially together. The steering assembly controls the steering of the driving wheel 12 in the driving wheel assembly, and the driving wheel assembly controls the rolling of the driving wheel 12 in the driving wheel assembly. Finally, the driving wheels 12 are circumferentially unfolded from the side surface of the main body of the fuselage, and the two driving wheels 12 and the driven wheel 4 are closely attached to the inner wall of the pipeline to form a stable traveling structure. The lifting motor can control the driving wheel to lift 90° or lower 90°, as Figure 7 shown.

[0043] The steering assembly includes a secondary steering rotating shaft 23, a second steering cylindrical gear 24, a third steering gear 42, a spring glass cover 25, and a spring 26;

[0044] The upper end of the secondary steering rotating shaft 23 is set to be hemispherical. The hemispherical upper end of the secondary steering rotating shaft 23 is always in close contact with the cam edge of the fixed cam 20. The upper end of the secondary steering rotating shaft 23 rotates around the cam edge with the output shaft of the lifting motor 15 as the rotation axis. When the fixed cam 20 is set to be elliptical, the rotation of the secondary steering rotating shaft 23 around the cam edge can adjust the deployment length of the robot, achieving the double-wheel wall-pressing effect of the robot. In specific implementation, the shape of the fixed cam 20 can be set according to actual requirements. The middle part of the secondary steering rotating shaft 23 is connected to the upper support frame 28 of the driving wheel assembly through the steering rotating shaft bearing 27. The lower end of the secondary steering rotating shaft 23 passes through the inner ring of the steering motor box 13 and the steering rotating shaft bearing 27 and is coaxially connected to the third steering gear 42. The outer ring of the steering rotating shaft bearing 27 is fixedly installed on the upper support frame 28; the third steering gear 42 meshes with the fourth steering gear 43 to form a second steering gear pair. A second steering cylindrical gear 24 is also coaxially fixed to the upper part of the secondary steering rotating shaft 23. The second steering cylindrical gear 24 always meshes with the first steering cylindrical long gear 21 to form a first steering gear pair. A spring 26 is sleeved on the secondary steering rotating shaft 23 between the second steering cylindrical gear 24 and the steering rotating shaft bearing 27. In specific implementation, a nut is fixedly sleeved on the secondary steering rotating shaft 23 below the second steering cylindrical gear 24. Spring washers are respectively placed below the nut and on the steering rotating shaft bearing 27. The spring 26 is sleeved on the secondary steering rotating shaft 23 between the two spring washers. A spring glass cover 25 is sleeved on the spring 26. A spring 26 and a spring glass cover 25 are arranged between the secondary steering rotating shaft 23 and the steering motor box 13.

[0045] The driving wheel assembly includes a secondary hollow driving rotating shaft 16, a first driving bevel gear 17, a primary driving rotating shaft 18, and a rotatable driving motor box 19;

[0046] The rotatable drive motor box 19 can perform circumferential rotation with the output shaft of the lifting motor 15 as the rotation axis. The rotatable drive motor box 19 is fixedly installed on the upper bottom surface inside the main body 1 between the lifting motor 15 and the fixed cam 20. The motor output shaft of the rotatable drive motor box 19 is coaxially fixed to the upper end of the first-stage drive rotating shaft 18. The lower end of the first-stage drive rotating shaft 18 is telescopically connected to the upper part of the second-stage hollow drive rotating shaft 16. Specifically, the upper part of the second-stage hollow drive rotating shaft 16 is hollow, and an axially arranged telescopic groove is provided on the circumferential side surface of the upper part of the second-stage hollow drive rotating shaft 16. A raised block is provided on the circumferential side surface of the lower end of the first-stage drive rotating shaft 18. After the lower part of the first-stage drive rotating shaft 18 extends into the cavity of the upper part of the second-stage hollow drive rotating shaft 16, the raised block of the first-stage drive rotating shaft 18 is arranged in the telescopic groove of the second-stage hollow drive rotating shaft 16. The first-stage drive rotating shaft 18 and the second-stage hollow drive rotating shaft 16 are telescopic, and the cooperation between the raised block and the telescopic groove is used for telescopic limit. The lower part of the second-stage hollow drive rotating shaft 16 passes through the steering motor box 13 and is connected to the upper support frame 28 of the driving wheel assembly through the drive rotating shaft bearing 35. A first through hole is provided in the upper support frame 28, and the drive rotating shaft bearing 35 is fixedly installed in the first through hole of the upper support frame 28. The second-stage hollow drive rotating shaft 16 is coaxially connected to the drive rotating shaft bearing 35. The lower end of the second-stage hollow drive rotating shaft 16 is coaxially fixed to the first driving bevel gear 17. The first driving bevel gear 17 is arranged in the driving wheel assembly and meshes with two second driving bevel gears 36 to form a first driving gear pair.

[0047] The driving wheel assembly includes a driving wheel 12, an upper support frame 28, a lower support frame 29, a driving wheel drive rotating shaft 30, driving wheel fixing bolts 31, a left driving wheel fixing frame 32, a support frame fixing assembly, second driving bevel gears 36, fixing bolts for the fixing frame, fixing nuts 37 for the fixing frame, a right driving wheel fixing frame 38, fixing nuts 39 for the driving wheel, a first driving gear 40 for the driving wheel, a second driving gear 41 for the driving wheel, a fourth steering gear 43, a fixing plate 44, and a fixing frame bearing 45;

[0048] The upper support frame 28 and the lower support frame 29 are fixedly connected by a plurality of support frame fixing components. The support frame fixing components are composed of support frame fixing bolts 33 and support frame fixing nuts 34. A second through hole is provided on one side of the upper support frame 28. A steering shaft bearing 27 is fixedly installed on the upper support frame 28 on the second through hole. The lower end of the secondary steering shaft 23 of the steering component passes through the second through hole and is arranged on the lower support frame 29. A fourth steering gear 43 is arranged on the lower support frame 29. The third steering gear 42 at the lower end of the steering component is meshed with the fourth steering gear 43 to form a second steering gear pair. The plurality of support frame fixing bolts 33 are parallel and arranged at intervals with the secondary steering shaft 23. A third through hole is provided in the middle of the lower support frame 29 inside the fourth steering gear 43. A left driving wheel fixing frame 32 and a right driving wheel fixing frame 38 are fixedly installed inside the fourth steering gear 43. The left driving wheel fixing frame 32 and the right driving wheel fixing frame 38 are parallel and arranged at intervals. The left driving wheel fixing frame 32 and the right driving wheel fixing frame 38 are arranged through the lower support frame 29 vertically. The middle parts of the left driving wheel fixing frame 32 and the right driving wheel fixing frame 38 are fixedly connected by two fixing plates 44; the upper ends of the left driving wheel fixing frame 32 and the right driving wheel fixing frame 38 are connected by a fixing frame fixing nut 37 and a fixing frame fixing bolt. Corresponding second driving bevel gears 36 are coaxially sleeved on the fixing frame fixing bolts inside the left driving wheel fixing frame 32 and the right driving wheel fixing frame 38 respectively through corresponding fixing frame bearings 45. The two second driving bevel gears 36 are meshed with the first driving bevel gear 17 at the lower end of the driving wheel assembly to form a first driving gear pair;

[0049] Between the lower ends of the left fixed bracket 32 and the right fixed bracket 38 of the driving wheel, a driving wheel 12 is installed through a driving wheel fixing nut 39 and a driving wheel driving rotating shaft 30. Corresponding first driving gears 40 of the driving wheel are coaxially fixed at both ends of the driving wheel driving rotating shaft 30. At the left fixed bracket 32 or the right fixed bracket 38 of the driving wheel under the second driving bevel gear 36, corresponding second driving gears 41 of the driving wheel are also installed. The second driving bevel gear 36, the second driving gear 41 of the driving wheel, and the first driving gear 40 of the driving wheel at one end of the driving wheel driving rotating shaft 30 are arranged in sequence from top to bottom at the left fixed bracket 32 or the right fixed bracket 38 of the driving wheel. And the second driving bevel gear 36 and the second driving gear 41 of the driving wheel are meshed to form a second driving gear pair, and the second driving gear 41 of the driving wheel and the first driving gear 40 of the driving wheel are meshed to form a third driving gear pair; the second driving bevel gear 36, the second driving gear 41 of the driving wheel, and the first driving gear 40 of the driving wheel form a driving gear assembly. Driven by the steering motor of the steering motor box 13, the third steering gear 42 of the steering assembly is driven, and then the fourth steering gear 43 is driven, that is, the second steering gear pair is driven, and finally the left fixed bracket 32 and the right fixed bracket 38 of the driving wheel in the fourth steering gear 43 and the components between the left fixed bracket 32 and the right fixed bracket 38 of the driving wheel are driven to turn together; Driven by the rotatable driving motor box 19 of the driving wheel assembly, two second driving bevel gears 36 are driven, that is, the first driving gear pair is driven, and then two second driving gear pairs and a third driving gear pair are driven, and finally the rolling of the driving wheel 12 is driven.

[0050] The driven wheel assembly includes a driven wheel stabilizer 2, a driven wheel fixing plate 3, and a driven wheel 4; the driven wheel stabilizer 2 is fixedly installed on the rear end face of the fuselage main body 1, and the driven wheel 4 is installed below the driven wheel stabilizer 2 through two driven wheel fixing plates 3, and the driven wheel 4 rolls in the pipeline.

[0051] The vision mechanism includes a camera bracket 6, a camera 7, a spherical movable motor 8, a rotating motor 9, a searchlight 10, and a vision mechanism fixing table 11;

[0052] The rotating motor 9 is fixedly installed on the front end face of the fuselage main body 1. The output shaft of the rotating motor 9 is fixedly connected to the camera bracket 6. A spherical movable motor 8 is fixedly installed in the camera bracket 6. The output shaft of the spherical movable motor 8 is fixedly connected to the camera 7. A vision mechanism fixing table 11 is also fixedly installed on the front end face of the fuselage main body 1 below the rotating motor 9, and a searchlight 10 is fixedly installed in the vision mechanism fixing table 11.

[0053] The sensing and detection module includes multiple detection sensors 5, and the multiple detection sensors 5 are respectively fixedly installed on the front surface and the upper surface of the fuselage main body 1. A plurality of detection sensors 5 arranged at intervals are provided on either the front surface or the upper surface of the fuselage main body 1. The camera 7 is specifically a thermal imaging sensor and a camera. With a variety of sensors installed on the fuselage, information such as the internal temperature of the pipeline, the concentration of harmful gases, and the temperature and humidity of the pipeline can be collected.

[0054] The two working states of the robot are as Figure 2 and Figure 7 shown:

[0055] As Figure 2 shown, when the pipeline inspection robot is traveling normally in the pipeline, only the drive motor 19 operates, driving the first-stage drive rotating shaft 18 to rotate. Then, through the telescopic groove of the second-stage drive rotating shaft 16, the second-stage drive rotating shaft 16 is driven to rotate, and then the first drive bevel gear 17 at the lower end of the second-stage drive rotating shaft 16 is driven to rotate. Through the meshing relationship with the first drive bevel gear 17, the second drive bevel gears 36 on both the left and right sides also rotate accordingly. Then, the driving wheel second drive gear 41 engaged below is driven to rotate, and then the driving wheel first drive gear 40 is driven to rotate. Finally, through the cooperation of the driving wheel drive rotating shaft 30, the driving wheel 12 is driven to move. The driving methods of the two driving wheels 12 on both sides of the robot are the same. Therefore, when the two driving wheels 12 move, the rear driven wheels 4 are driven, enabling the pipeline inspection robot to move forward normally;

[0056] During the process of the pipeline inspection robot traveling in the pipeline, the detection mechanism operates. By the operation of the rotary motor 9, the camera support 6 is driven to rotate, and at the same time, the operation of the spherical movable motor 8 drives the camera 7 to swing and work, so that the detection mechanism can achieve the purpose of detecting the inner wall of the pipeline and the road conditions ahead of the pipeline;

[0057] As Figure 7 shown, when the detection mechanism discovers that the road conditions ahead of the pipeline are complex, that is, there are many obstacles, the steering motor operates. Through the first-stage steering rotating shaft 22, the first steering cylindrical gear 21 is driven to rotate, and the second steering cylindrical gear 24 engaged with the first steering cylindrical gear 21 also rotates accordingly. Thus, through the second-stage steering rotating shaft 23, the third steering gear 42 is driven to rotate, and the fourth steering gear 43 rotates through meshing cooperation. The two fixed brackets fixed inside the fourth steering gear 43 are driven to rotate along with the gear. Finally, the driving wheels 12 fixed to the lower sides of the left driving wheel fixed plate 32 and the right driving wheel fixed plate 38 are driven to turn 90 degrees;

[0058] After that, the lifting motor 15 operates, and the lifter of the lifting motor box rotates 90° to be parallel, forcibly lifting the drive wheel assembly and the steering assembly simultaneously by 90° to be parallel. It cooperates with the spherical top on the top of the secondary steering rotating shaft 23 to rotate around the fixed cam 20 inside the fuselage, so as to compress the spring 26 by the spring upper gasket. At this time, the meshing position of the second steering cylindrical gear 24 and the first steering cylindrical long gear 21 changes. At the same time, the position of the primary drive rotating shaft 18 in the telescopic groove of the secondary hollow drive rotating shaft 16 in the drive wheel assembly is adjusted passively, stretching the drive shaft of the drive wheel assembly. Finally, the state of the active wheels on both sides of the robot pressing against the wall is completed, thus realizing the transformation of the second working state of the robot and achieving the purpose of crossing complex road conditions;

[0059] When the robot wants to return to the first working state, the implementation steps are the same as the above process;

[0060] Based on the above-mentioned working process, the pipeline inspection robot with a controllable steering gear train can not only travel and inspect relatively quickly when the pipeline road surface is flat, but also easily cross obstacles such as stones and debris that hinder travel in the case of complex pipeline road conditions, basically solving the problem of difficult travel of the robot during pipeline inspection. At the same time, the robot is supplemented with components such as cameras, thermal imagers, and various sensors, and finally realizes high-efficiency inspection of old pipelines.

[0061] Matters not covered in this invention are well-known technologies.

Claims

1. A pipeline inspection robot based on a controllable steering gear system, characterized in that, It includes a fuselage main body (1), a steering drive wheel train mechanism, a vision mechanism, a sensing and detection module, and a driven wheel assembly; A vision mechanism is fixedly installed at the front of the fuselage main body (1), the sensing and detection module is fixedly installed outside the fuselage main body (1), two steering drive wheel train mechanisms are symmetrically installed on the left and right sides in the middle of the fuselage main body (1), the driven wheel assembly is fixedly installed at the rear of the fuselage main body (1), and there are intervals between the driven wheel assembly and the two steering drive wheel train mechanisms. The two steering drive wheel train mechanisms and the driven wheel assembly form the traveling mechanism of the pipeline inspection robot. The control of the two steering drive wheel train mechanisms enables the pipeline inspection robot to walk and avoid obstacles in the pipeline; The two steering drive wheel train mechanisms have the same structure, and each includes a lifting component, a drive wheel component, a steering component, a driving wheel component, a fixed cam (20), a steering motor box (13), a motor box lifter (14), a lifting motor (15), a steering rotating shaft bearing (27), a drive rotating shaft bearing (35), a first steering cylindrical gear (21), and a first-stage steering rotating shaft (22); A lifting motor (15) is fixedly installed on one side inside the middle of the fuselage main body (1). A steering motor box (13) is arranged below the lifting motor (15). The lifting motor (15) is fixedly connected to the steering motor box (13) through the motor box lifter (14). A fixed cam (20) is fixedly installed on the other side inside the middle of the fuselage main body (1). A steering component is arranged below the fixed cam (20). The upper end of the steering component is in close contact with the cam edge of the fixed cam (20). A driving wheel component is arranged below the steering motor box (13). The middle of the steering component is connected to the driving wheel component through the steering rotating shaft bearing (27). The lower end of the steering component passes through the steering motor box (13) and then extends into the driving wheel component and is arranged in the driving wheel component; The output shaft of the steering motor in the steering motor box (13) is arranged on the upper surface of the steering motor box (13). The output shaft of the steering motor is coaxially fixed to the first-stage steering rotating shaft (22). The first-stage steering rotating shaft (22) is coaxially fixed to the first steering cylindrical gear (21). The first steering cylindrical gear (21) is connected to the steering component; A drive wheel component is also arranged between the lifting motor (15) and the fixed cam (20). The middle of the drive wheel component is connected to the driving wheel component through the drive rotating shaft bearing (35). The upper end of the drive wheel component is fixedly installed inside the middle of the fuselage main body (1) between the lifting motor (15) and the fixed cam (20). The lower end of the drive wheel component passes through the steering motor box (13) and then extends into the driving wheel component. Driven by the lifting motor (15), the output shaft of the lifting motor (15) lifts the steering motor box (13) through the motor box lifter (14), so that the steering motor box (13) rotates circumferentially with the output shaft of the lifting motor (15) as the rotation axis, thereby driving the steering component, the drive wheel component, and the driving wheel component in the steering motor box (13) to rotate circumferentially together. The steering component controls the steering of the driving wheel (12) in the driving wheel component, and the drive wheel component controls the rolling of the driving wheel (12) in the driving wheel component.

2. The pipeline inspection robot based on a controllable steering gear train according to claim 1, wherein The steering assembly includes a secondary steering rotating shaft (23), a second steering cylindrical gear (24), and a third steering gear (42); The upper end of the secondary steering rotating shaft (23) is in close contact with the cam edge of the fixed cam (20). The middle part of the secondary steering rotating shaft (23) is connected to the driving wheel assembly through a steering rotating shaft bearing (27). The lower end of the secondary steering rotating shaft (23) passes through the steering motor box (13) and the steering rotating shaft bearing (27) and is coaxially connected to the third steering gear (42). A second steering cylindrical gear (24) is also coaxially fixed to the upper part of the secondary steering rotating shaft (23). The second steering cylindrical gear (24) is always meshed with the first steering cylindrical long gear (21) to form a first steering gear pair.

3. The pipeline inspection robot based on a controllable steering gear train according to claim 1, wherein The driving wheel assembly includes a secondary hollow driving rotating shaft (16), a first driving bevel gear (17), a primary driving rotating shaft (18), and a rotatable driving motor box (19); The rotatable driving motor box (19) is fixedly installed in the middle of the fuselage main body (1) between the lifting motor (15) and the fixed cam (20). The motor output shaft of the rotatable driving motor box (19) is coaxially fixed to the upper end of the primary driving rotating shaft (18). The lower end of the primary driving rotating shaft (18) is telescopically connected to the upper part of the secondary hollow driving rotating shaft (16). The lower part of the secondary hollow driving rotating shaft (16) passes through the steering motor box (13) and is connected to the driving wheel assembly through a driving rotating shaft bearing (35). The lower end of the secondary hollow driving rotating shaft (16) is coaxially fixed to the first driving bevel gear (17). The first driving bevel gear (17) is arranged in the driving wheel assembly.

4. The pipeline inspection robot based on a controllable steering gear train according to claim 3, characterized in that, The lower end of the primary driving rotating shaft (18) is telescopically connected to the upper part of the secondary hollow driving rotating shaft (16), specifically: The upper part of the secondary hollow driving rotating shaft (16) is hollow. An axially arranged telescopic groove is formed on the circumferential side surface of the upper part of the secondary hollow driving rotating shaft (16). A raised block is arranged on the circumferential side surface of the lower end of the primary driving rotating shaft (18). After the lower part of the primary driving rotating shaft (18) extends into the cavity of the upper part of the secondary hollow driving rotating shaft (16), the raised block of the primary driving rotating shaft (18) is arranged in the telescopic groove of the secondary hollow driving rotating shaft (16). The primary driving rotating shaft (18) and the secondary hollow driving rotating shaft (16) can be telescoped. The cooperation between the raised block and the telescopic groove is used for telescopic limit.

5. The pipeline inspection robot based on a controllable steering gear train according to claim 1, characterized in that, The driving wheel assembly includes a driving wheel (12), an upper support frame (28), a lower support frame (29), a driving wheel driving rotating shaft (30), a driving wheel fixing bolt (31), a left driving wheel fixing frame (32), a support frame fixing assembly, a second driving bevel gear (36), a fixing frame fixing bolt, a fixing frame fixing nut (37), a right driving wheel fixing frame (38), a driving wheel fixing nut (39), a first driving gear of the driving wheel (40), a second driving gear of the driving wheel (41), a fourth steering gear (43), and a fixing frame bearing (45); The upper support frame (28) and the lower support frame (29) are fixedly connected by a plurality of support frame fixing components. A second through hole is provided on one side of the upper support frame (28). A steering rotation shaft bearing (27) is fixedly installed on the upper support frame (28) of the second through hole. The lower end of the steering component passes through the second through hole and is arranged on the lower support frame (29). A fourth steering gear (43) is arranged on the lower support frame (29). The lower end of the steering component is connected to the fourth steering gear (43). A third through hole is provided in the middle of the lower support frame (29) inside the fourth steering gear (43). A left driving wheel fixing frame (32) and a right driving wheel fixing frame (38) are fixedly installed inside the fourth steering gear (43). The left driving wheel fixing frame (32) and the right driving wheel fixing frame (38) are arranged in parallel and at intervals. The left driving wheel fixing frame (32) and the right driving wheel fixing frame (38) are arranged vertically through the lower support frame (29). The upper ends of the left driving wheel fixing frame (32) and the right driving wheel fixing frame (38) are connected by a fixing frame fixing nut (37) and a fixing frame fixing bolt. Corresponding second driving bevel gears (36) are coaxially sleeved on the fixing frame fixing bolts inside the left driving wheel fixing frame (32) and the right driving wheel fixing frame (38). The two second driving bevel gears (36) are connected to the lower end of the driving wheel assembly; A driving wheel (12) is installed between the lower ends of the left driving wheel fixing frame (32) and the right driving wheel fixing frame (38) by a driving wheel fixing nut (39) and a driving wheel driving rotating shaft (30). Corresponding first driving gears (40) of the driving wheel are coaxially fixed at both ends of the driving wheel driving rotating shaft (30). A corresponding second driving gear (41) of the driving wheel is also installed at the left driving wheel fixing frame (32) or the right driving wheel fixing frame (38) under the second driving bevel gear (36). The second driving bevel gear (36), the second driving gear (41) of the driving wheel and the first driving gear (40) of the driving wheel at one end of the driving wheel driving rotating shaft (30) are arranged in sequence from top to bottom at the left driving wheel fixing frame (32) or the right driving wheel fixing frame (38). And the second driving bevel gear (36) and the second driving gear (41) of the driving wheel are meshed to form a second driving gear pair. The second driving gear (41) of the driving wheel and the first driving gear (40) of the driving wheel are meshed to form a third driving gear pair; Driven by the steering motor of the steering motor box (13), the steering component is driven, and then the fourth steering gear (43) is driven. Finally, the left driving wheel fixing frame (32) and the right driving wheel fixing frame (38) inside the fourth steering gear (43) and the components between the left driving wheel fixing frame (32) and the right driving wheel fixing frame (38) are driven to turn together; Driven by the driving wheel assembly, the two second driving bevel gears (36) are driven, and then the two second driving gear pairs and the third driving gear pair are driven. Finally, the rolling of the driving wheel (12) is driven.

6. The pipeline inspection robot based on a controllable steering gear train according to claim 1, characterized in that, The driven wheel assembly includes a driven wheel stabilizer (2), a driven wheel fixing plate (3), and a driven wheel (4); the driven wheel stabilizer (2) is fixedly installed on the rear end face of the fuselage main body (1), the driven wheel (4) is installed below the driven wheel stabilizer (2) through two driven wheel fixing plates (3), and the driven wheel (4) rolls in the pipeline.

7. A pipeline inspection robot based on a controllable steering gear train according to claim 1, characterized in that, The vision mechanism includes a camera support (6), a camera (7), a spherical movable motor (8), a rotating motor (9), a searchlight (10), and a vision mechanism fixing table (11); The rotating motor (9) is fixedly installed on the front end face of the fuselage main body (1), the output shaft of the rotating motor (9) is fixedly connected to the camera support (6), a spherical movable motor (8) is fixedly installed in the camera support (6), the output shaft of the spherical movable motor (8) is fixedly connected to the camera (7), a vision mechanism fixing table (11) is also fixedly installed on the front end face of the fuselage main body (1) below the rotating motor (9), and a searchlight (10) is fixedly installed in the vision mechanism fixing table (11).

8. The pipeline inspection robot based on a controllable steering gear train according to claim 1, characterized in that, The sensing detection module includes a plurality of detection sensors (5), and the plurality of detection sensors (5) are respectively fixedly installed on the front end face and the upper surface of the fuselage main body (1), and a plurality of detection sensors (5) arranged at intervals are provided on either the front end face or the upper surface of the fuselage main body (1).

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