Flexible rod magnetic wheel adsorption robot for internal inspection of valves and containers

Abstract

This invention relates to a flexible rod-type magnetic wheel adsorption robot for internal inspection of valves and containers. It solves the technical problems of existing rigid robots based on pipe wall structures used for pipeline inspection, which have low degrees of freedom, difficulty adapting to pipes of different diameters, and difficulty navigating two consecutive bends inside flange gate valves. The robot includes forelimbs, a torso, and hindlimbs. The torso includes a flexible rod, an upper pull wire, a lower pull wire, a left pull wire, a right pull wire, and multiple joints. Each joint includes a joint drive device, a left magnetic wheel, and a right magnetic wheel. A main shaft motor in the forelimb drives each joint through the flexible rod. The upper and lower pull wires pass through each joint, with their front ends connected to the forward pitch winding wheel of the forelimb and their rear ends connected to the backward pitch winding wheel of the hindlimb. The left and right pull wires pass through each joint, with their rear ends connected to the deflection winding wheel in the hindlimb. This invention is widely used for the inspection of flange gate valves and pipelines.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection robot technology, and more specifically, to a flexible rod-type magnetic wheel adsorption robot for internal inspection of valves and containers. Background Technology

[0002] Currently, robots used for pipeline inspection are mainly based on rigid robots that support the pipe wall structure, as referenced in the utility model patent with patent number 202222211140.6 entitled "A Pipeline Inspection Robot" and the invention patent application with publication number CN114923062A entitled "Adaptive Climbing Pipeline Inspection Robot".

[0003] Rigid robots based on pipe wall supports have a large mechanical body and low degrees of freedom, limiting their ability to enter complex spaces such as valves or tank-type containers for inspection. Inspecting the interior of a container requires navigating a section of cast iron flanged gate valve with an inlet / outlet diameter of 100–150 mm. Using a rigid robot based on a pipe wall support would be difficult to navigate smoothly through two consecutive bends inside the flanged gate valve. Furthermore, rigid robots based on pipe wall supports are ill-suited for pipes of varying diameters. Summary of the Invention

[0004] This invention aims to solve the technical problems of existing rigid robots based on pipe wall structures used for pipeline inspection, which have low degrees of freedom, are difficult to adapt to pipes of different diameters, and have difficulty passing through two consecutive bends inside flange gate valves. It provides a flexible rod-type magnetic wheel adsorption robot with high flexibility, high compliance, and high degrees of freedom of movement, which is suitable for pipelines of different diameters and used for internal inspection of valves and containers.

[0005] Based on the characteristics of flange gate valves, a compliant robot is designed that relies on permanent magnets to adhere to the inner wall of the pipeline and has active pitch and yaw capabilities.

[0006] This invention provides a flexible rod-type magnetic wheel adsorption robot for internal inspection of valves and containers, comprising forelimbs, trunk, and hindlimbs;

[0007] The torso includes flexible rods, top cable, bottom cable, left cable, right cable, and multiple joints;

[0008] The joint includes a joint drive mechanism, a left magnetic wheel, and a right magnetic wheel. The joint drive mechanism includes an upper housing, a middle housing, a lower housing, a front bearing, a rear bearing, a worm gear, a turbine, a rotating shaft, a left bearing, and a right bearing. The upper housing is fixedly connected to the middle housing, and the lower housing is fixedly connected to the middle housing. A front bearing chamber and a rear bearing chamber are provided at the connection between the upper housing and the middle housing. The front bearing is located in the front bearing chamber, and the rear bearing is located in the rear bearing chamber. The front end of the worm gear is connected to the front bearing, and the rear end of the worm gear is connected to the rear bearing. The worm gear is located within the cavity formed by the upper housing and the middle housing, and the worm gear has an axial central passage. The connection between the middle and lower housings includes a left bearing chamber and a right bearing chamber. The left bearing is located in the left bearing chamber, and the right bearing is located in the right bearing chamber. The left part of the rotating shaft is connected to the left bearing, and the right part of the rotating shaft is connected to the right bearing. The turbine is fixedly connected to the rotating shaft and is located in the cavity formed by the middle and lower housings. The worm gear meshes with the turbine. The top of the upper housing has an upper pull wire through hole, the left side of the upper housing has a left pull wire through hole, the right side of the upper housing has a right pull wire through hole, and the bottom of the lower housing has a lower pull wire through hole. The left magnetic wheel is connected to the left end of the rotating shaft, and the right magnetic wheel is connected to the right end of the rotating shaft.

[0009] The flexible rod passes through the axial central through hole of the worm and is fixed in place. The flexible rod passes through the worm of the joint drive device in each joint in sequence.

[0010] The upper pull wire passes through the upper pull wire hole of the joint drive device in each joint in sequence, and the lower pull wire passes through the lower pull wire hole of the joint drive device in each joint in sequence; the left pull wire passes through the left pull wire hole of the joint drive device in each joint in sequence, and the front end of the left pull wire is fixed at the left pull wire hole of the joint drive device in the first joint in sequence; the right pull wire passes through the right pull wire hole of the joint drive device in each joint in sequence, and the front end of the right pull wire is fixed at the right pull wire hole of the joint drive device in the first joint in sequence.

[0011] The front limb includes a front motor base, a pitch motor, a pitch winding reel, a main spindle motor, a left front magnetic wheel, a right front magnetic wheel, a first tensioning shaft, a second tensioning shaft, and a fixing plate. The left front magnetic wheel is connected to the left side of the front motor base, and the right front magnetic wheel is connected to the right side of the front motor base. The pitch motor is connected to the front motor base, the pitch winding reel is connected to the output shaft of the pitch motor, and the main spindle motor is connected to the front motor base. The main spindle motor is located below the pitch motor. The first tensioning shaft and the second tensioning shaft are respectively connected to the rear end of the front motor base, with the first tensioning shaft located above the second tensioning shaft. The pitch winding reel has a first winding groove and a second winding groove. The fixing plate is fixedly connected to the bottom of the front motor base, and the fixing plate has a channel.

[0012] The lower housing of the joint drive device in the first joint is fixedly connected to the fixing plate of the forelimb. The front end of the flexible rod is fixedly connected to the output shaft of the main spindle motor. The front end of the upper pull wire first passes around the first tensioning shaft and then winds into the first winding groove of the pitch winding wheel. The front end of the lower pull wire first passes through the channel of the fixing plate, then passes around the second tensioning shaft and then winds into the second winding groove of the pitch winding wheel. The direction of the lower pull wire winding in the second winding groove is opposite to the direction of the upper pull wire winding in the first winding groove.

[0013] The rear limb includes a rear motor base, a rear pitch winding wheel, a base, a left rear magnetic wheel, a right rear magnetic wheel, a rear pitch motor, a yaw motor, a yaw winding wheel, a third tensioning shaft, a fourth tensioning shaft, a fifth tensioning shaft, and a sixth tensioning shaft. The left rear magnetic wheel is connected to the left side of the rear motor base, and the right rear magnetic wheel is connected to the right side of the rear motor base. The rear pitch motor is connected to the rear motor base, and the yaw motor is connected to the rear motor base. The rear pitch motor is located above the yaw motor. The rear pitch winding wheel is connected to the output shaft of the rear pitch motor, and the yaw winding wheel is connected to the output shaft of the yaw motor. The base is connected to the bottom of the rear motor base and has a channel. The third, fifth, and sixth tensioning shafts are respectively connected to the front end of the rear motor base. The fourth tensioning shaft is connected to the channel of the base. The fifth and sixth tensioning shafts are located on both sides of the yaw winding wheel.

[0014] In the last joint, the lower housing of the joint drive device is fixedly connected to the base of the hind limb; the rear end of the upper pull cable first passes over the third tension shaft and then winds into the first winding groove of the pitch winding wheel; the rear end of the lower pull cable first passes through the channel of the base, then passes over the fourth tension shaft, and then winds into the second winding groove of the pitch winding wheel; the direction in which the lower pull cable winds in the second winding groove of the pitch winding wheel is opposite to the direction in which the lower pull cable winds in the first winding groove of the pitch winding wheel; the rear end of the left pull cable first passes over the fifth tension shaft and then winds into the first winding groove of the deflection winding wheel, and the rear end of the right pull cable first passes over the sixth tension shaft and then winds into the second winding groove of the deflection winding wheel; the direction in which the left pull cable winds in the first winding groove of the deflection winding wheel is opposite to the direction in which the right pull cable winds in the second winding groove of the deflection winding wheel.

[0015] Preferably, the pull-up cable consists of a front part and a rear part, with the rear end of the front part fixed in the pull-up cable through hole of the middle joint among the multiple joints, and the front end of the rear part fixed in the pull-up cable through hole of the middle joint among the multiple joints; the pull-down cable consists of a front part and a rear part, with the rear end of the front part fixed in the pull-down cable through hole of the middle joint among the multiple joints, and the front end of the rear part fixed in the pull-down cable through hole of the middle joint among the multiple joints.

[0016] The advantages of this invention are its small size, light weight, flexible movement, simple and reliable control, and ability to actively change shape and pass through two consecutive bends of the flange gate valve. It can adapt to pipes of different diameters.

[0017] Further features of the present invention will be clearly described in the following detailed description of the embodiments. Attached Figure Description

[0018] Figure 1 This is an isometric view of a flexible rod magnetic wheel adsorption robot used for internal inspection of valves and containers;

[0019] Figure 2 yes Figure 1 A magnified view of a section at point M;

[0020] Figure 3 This is a schematic diagram of the joints in the torso;

[0021] Figure 4 yes Figure 3 Axonometric view of the joint drive mechanism;

[0022] Figure 5 yes Figure 4 An axonometric view of the structure shown from another perspective;

[0023] Figure 6 yes Figure 4 An axonometric view of the structure shown from another perspective;

[0024] Figure 7 yes Figure 4 The front view of the structure shown;

[0025] Figure 8 yes Figure 7 A cross-sectional view of square AA in the middle;

[0026] Figure 9 yes Figure 4 Top view of the structure shown;

[0027] Figure 10 yes Figure 9 A cross-sectional view of the BB square;

[0028] Figure 11 This is a schematic diagram of the meshing connection between the worm and the turbine in a joint drive device;

[0029] Figure 12 This is a schematic diagram of the structure connecting the forelimb to the first joint;

[0030] Figure 13 This is a schematic diagram of the mechanism connecting the hind limb to the last joint;

[0031] Figure 14This is an isometric view of a flexible rod magnetic wheel adsorption robot used for internal inspection of valves and containers;

[0032] Figure 15 yes Figure 14 Top view of the structure shown;

[0033] Figure 16 yes Figure 15 A schematic diagram showing the connection between the upper and lower pull lines and the pitch winding reel in the forelimb;

[0034] Figure 17 yes Figure 16 Wiring diagrams for the top and bottom pull-up cables;

[0035] Figure 18 yes Figure 15 A magnified view of a portion of point N in the middle;

[0036] Figure 19 It is a schematic diagram of the structure connecting the top pull-up line, bottom pull-up line, left pull-up line, right pull-up line, and hind limb;

[0037] Figure 20 yes Figure 19 In the middle, a structural diagram showing the pull-down line wrapping around the fourth tension axis;

[0038] Figure 21 This is a structural schematic diagram of a flange gate valve;

[0039] Figure 22 This is a schematic diagram of a flexible rod magnetic wheel adsorption robot used for internal inspection of valves and containers entering a flange gate valve.

[0040] Figure 23 This is a schematic diagram of a flexible rod magnetic wheel adsorption robot used for internal inspection of valves and containers fully entering a flange gate valve;

[0041] Figure 24 This is a schematic diagram of a robot with a camera mounted on its forelimbs;

[0042] Figure 25 This is a schematic diagram of a flexible rod magnetic wheel adsorption robot used for internal inspection of valves and containers bending to the right;

[0043] Figure 26 This is a schematic diagram of the structure in which the rear ends of the left and right anti-torsion wires pass through the left and right anti-torsion wire perforations in the last joint.

[0044] Figure 27 This is a schematic diagram showing the connection between the front ends of the left and right anti-torsion wires and the through holes of the left and right anti-torsion wires in the first joint.

[0045] Figure 28 This is a schematic diagram of a structure where the pull-up cable is divided into two segments and connected.

[0046] Explanation of symbols in the diagram:

[0047] 100. Forelimb; 101. Front motor mount; 102. Forward pitch motor; 103. Forward pitch winding wheel; 103-1. First winding groove; 103-2. Second winding groove; 104. Main spindle motor; 105. Bushing; 106. Left front magnetic wheel; 107. Right front magnetic wheel; 108. First tensioning shaft; 109. Second tensioning shaft; 110. Fixing plate; 110-1. Channel; 200. Torso; 210. Joint; 211. Joint drive device; 211-1 Upper housing, 211-1-1. Upper pull wire hole, 211-1-2. Left pull wire hole, 211-1-3. Right pull wire hole, 211-1-4. Left anti-torsion wire hole, 211-1-5. Right anti-torsion wire hole, 211-2. Middle housing, 211-3. Lower housing, 211-3-1. Lower pull wire hole, 211-4. Rear bearing, 211-5. Worm gear, 211-6. Front bearing, 211-7. Turbine, 211-8. Shaft, 211-9 211-10. Left bearing; 211-11. Screw; 212. Left magnetic wheel; 213. Right magnetic wheel; 220. Flexible rod; 230. Pull-up wire; 230-1. Front part of pull-up wire; 230-2. Rear part of pull-up wire; 240. Pull-down wire; 250. Left pull-up wire; 260. Right pull-up wire; 270. Left anti-torsion wire; 280. Right anti-torsion wire; 300. Rear limb; 301. Rear motor base; 302. Rear pitch winding wheel; 302-1. First winding. 302-2. Second winding groove; 303. Base; 303-1. Channel; 304. Left rear magnetic wheel; 305. Right rear magnetic wheel; 306. Right transition wheel; 307. Left transition wheel; 308. Rear pitch motor; 309. Deflection motor; 310. Deflection winding wheel; 311. Third tensioning shaft; 312. Fourth tensioning shaft; 313. Fifth tensioning shaft; 314. Sixth tensioning shaft; 400. Flange stop valve; 500. Camera bracket; 600. Camera. Detailed Implementation

[0048] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0049] like Figure 1 As shown, the flexible rod-type magnetic wheel adsorption robot used for internal inspection of valve containers includes forelimbs 100, a torso 200, and hindlimbs 300. The torso 200 is compliant and can be bent freely.

[0050] The torso 200 includes a flexible rod 220, an upper pull cable 230, a lower pull cable 240, a left pull cable 250, a right pull cable 260, and multiple joints 210.

[0051] like Figure 3As shown, joint 210 includes joint drive device 211, left magnetic wheel 212, and right magnetic wheel 213.

[0052] like Figure 4-10 As shown, the joint drive device 211 includes an upper housing 211-1, a middle housing 211-2, a lower housing 211-3, a rear bearing 211-4, a worm gear 211-5, a front bearing 211-6, a turbine gear 211-7, a rotating shaft 211-8, a left bearing 211-9, and a right bearing 211-10. The upper housing 211-1, the middle housing 211-2, and the lower housing 211-3 are fixedly connected together by screws 211-11. The connection between the -1 and the middle housing 211-2 is provided with a front bearing chamber and a rear bearing chamber. The front bearing 211-6 is located in the front bearing chamber, and the rear bearing 211-4 is located in the rear bearing chamber. The worm gear 211-5 can rotate under the support of the front bearing 211-6 and the rear bearing 211-4. The front end of the worm gear 211-5 is connected to the inner ring of the front bearing 211-6, and the rear end of the worm gear 211-5 is connected to the inner ring of the rear bearing 211-4. 5 is located within the cavity formed by the upper shell 211-1 and the middle shell 211-2; the worm gear 211-5 is provided with an axial central through hole; the connection between the middle shell 211-2 and the lower shell 211-3 is provided with a left bearing chamber and a right bearing chamber, the left bearing 211-9 is located in the left bearing chamber, and the right bearing 211-10 is located in the right bearing chamber. The rotating shaft 211-8 can rotate under the support of the left bearing 211-9 and the right bearing 211-10. The left side of the rotating shaft 211-8... Part of the shaft 211-8 is connected to the inner ring of the left bearing 211-9. The right part of the shaft 211-8 is connected to the inner ring of the right bearing 211-10. The turbine 211-7 is fixedly connected to the shaft 211-8. The turbine 211-7 is located in the cavity formed by the middle housing 211-2 and the lower housing 211-3. The worm gear 211-5 meshes with the turbine 211-7. The rotation of the worm gear 211-5 drives the turbine 211-7 to rotate, and the turbine 211-7 drives the shaft 211-8 to rotate. The upper housing 211-1 has an upper pull-wire through hole 211-1-1 on its top, a left pull-wire through hole 211-1-2 on its left side, a right pull-wire through hole 211-1-3 on its right side, a left anti-torsion wire through hole 211-1-4 on its left side, and a right anti-torsion wire through hole 211-1-5 on its right side. The lower housing 211-3 has a lower pull-wire through hole 211-3-1 at its bottom.

[0053] refer to Figure 3 The left magnetic wheel 212 is connected to the left end of the rotating shaft 211-8, and the right magnetic wheel 213 is connected to the right end of the rotating shaft 211-8.

[0054] refer to Figure 4 , 89. The flexible rod 220 passes through the axial central through hole of the worm gear 211-5, and is fixedly connected to the axial central through hole with glue (the flexible rod 220 can also be fixedly connected to the worm gear 211-5 by other means). The cross-section of the flexible rod 220 is preferably circular. The specific material of the flexible rod 220 can be nickel-titanium alloy, stainless steel, or spring steel.

[0055] refer to Figure 1 , 2 11, 12, 13, the entire flexible rod 220 passes sequentially through the worm gear 211-5 of the joint drive device 211 in each joint 210. The upper pull cable 230 passes sequentially through the upper pull cable hole 211-1-1 of each joint drive device 211, and the lower pull cable 240 passes sequentially through the lower pull cable hole 211-3-1 of each joint drive device 211. The left pull cable 250 passes sequentially through the left pull cable hole 211-1-2 of each joint drive device 211, and then is knotted and fixed in the left pull cable hole 211-1-2 of the joint drive device 211 in the first joint. That is, the front end of the left pull cable 250 is fixed at the left pull cable hole 211-1-2, which means that the front end of the left pull cable 250 is fixed to the left side of the upper housing 211-1. The right pull cable 260 passes through the right pull cable through hole 211-1-3 of each joint drive device 211 in sequence, and then is tied in a knot and fixed in the right pull cable through hole 211-1-3 of the joint drive device 211 in the first joint. That is, the front end of the right pull cable 260 is fixed at the right pull cable through hole 211-1-3, which means that the front end of the right pull cable 260 is fixed to the right side of the upper housing 211-1.

[0056] like Figure 12 , 14As shown in Figures 15, 16, 17, and 18, the forelimb 100 includes a front motor mount 101, a front pitch motor 102, a front pitch winding reel 103, a main spindle motor 104, a bushing 105, a left front magnetic wheel 106, a right front magnetic wheel 107, a first tensioning shaft 108, a second tensioning shaft 109, and a fixing plate 110. The left front magnetic wheel 106 is connected to the left side of the front motor mount 101, and the right front magnetic wheel 107 is connected to the right side of the front motor mount 101. The front pitch motor 102 is fixed... The pitch winding wheel 103 is fixedly mounted on the front motor mount 101 and connected to the output shaft of the pitch motor 102. The main spindle motor 104 is fixedly mounted on the front motor mount 101 and is located below the pitch motor 102. The bushing 105 is connected to the output shaft of the main spindle motor 104. The first tensioning shaft 108 and the second tensioning shaft 109 are respectively connected to the rear end of the front motor mount 101, with the first tensioning shaft 108 located above the second tensioning shaft 109. The pitch winding wheel 103 has two winding grooves, namely the first winding groove 103-1 and the second winding groove 103-2. The fixing plate 110 is fixedly connected to the bottom of the front motor mount 101 and has a channel 110-1. The lower housing of the joint drive device in the first joint is fixedly connected to the fixing plate 110. The front end of the flexible rod 220 is fixedly connected to the bushing 105 (or the front end of the flexible rod 220 can be fixedly connected to the output shaft of the main spindle motor 104 in other ways). The front end of the pull-up cable 230 first passes over the first tensioning shaft 108, and then winds into the first winding groove 103-1 of the pitch winding wheel 103. The front end of the pull-down cable 240 first passes through the channel 110-1 of the fixed plate 110, then passes over the second tensioning shaft 109, and then winds into the second winding groove 103-2 of the pitch winding wheel 103. The direction in which the pull-down cable 240 winds in the second winding groove 103-2 is opposite to the direction in which the pull-up cable 230 winds in the first winding groove 103-1. The forward pitch motor 102 drives the forward pitch winding wheel 103 to rotate, simultaneously winding up the upper pull line 230 and unwinding the lower pull line 240, or simultaneously unwinding the upper pull line 230 and winding up the lower pull line 240.

[0057] like Figure 13 , 14As shown in Figures 19 and 20, the rear limb 300 includes a rear motor mount 301, a rear pitch winding wheel 302, a base 303, a left rear magnetic wheel 304, a right rear magnetic wheel 305, a rear pitch motor 308, a yaw motor 309, a yaw winding wheel 310, a third tensioning shaft 311, a fourth tensioning shaft 312, a fifth tensioning shaft 313, and a sixth tensioning shaft 314. The left rear magnetic wheel 304 is connected to the left side of the rear motor mount 301, and the right rear magnetic wheel 305 is connected to the right side of the rear motor mount 301. The rear pitch motor 308 is fixedly mounted on the rear motor mount 301, and the yaw motor 309 is fixedly mounted on the rear motor mount 301. Located above the deflection motor 309, the pitch winding wheel 302 is connected to the output shaft of the pitch motor 308, the deflection winding wheel 310 is connected to the output shaft of the deflection motor 309, the third tensioning shaft 311 is connected to the front end of the rear motor base 301, and the base 303 is connected to the bottom of the rear motor base 301. The base 303 has a channel 303-1. The fourth tensioning shaft 312 is connected to the channel 303-1, the fifth tensioning shaft 313 is connected to the front end of the rear motor base 301, and the sixth tensioning shaft 314 is connected to the front end of the rear motor base 301. The fifth tensioning shaft 313 and the sixth tensioning shaft 314 are located on both sides of the deflection winding wheel 310. The lower housing of the joint drive device in the last joint is fixedly connected to the base 303. The rear end of the pull cable 230 first passes around the third tensioning shaft 311 and then winds into the first winding groove 302-1 of the pitch winding wheel 302. The rear end of the pull-down cable 240 first passes through the channel 303-1 of the base 303, then around the fourth tensioning shaft 312, and then winds into the second winding groove 302-2 of the pitch winding reel 302. The direction in which the pull-down cable 240 is wound in the second winding groove 302-2 is opposite to the direction in which it is wound in the first winding groove 302-1. The pitch motor 308 drives the pitch winding reel 302 to rotate, simultaneously winding up the pull-down cable 240 and unwinding the pull-down cable 230, or simultaneously unwinding the pull-down cable 240 and winding up the pull-down cable 230. The rear end of the left pull wire 250 first passes over the fifth tensioning shaft 313 and then winds into the first winding groove of the deflection winding wheel 310. The rear end of the right pull wire 260 first passes over the sixth tensioning shaft 314 and then winds into the second winding groove of the deflection winding wheel 310. The winding direction of the left pull wire 250 in the first winding groove of the deflection winding wheel 310 is opposite to that of the right pull wire 260 in the second winding groove. When the deflection motor 309 is activated, it drives the deflection winding wheel 310 to rotate. The deflection winding wheel 310 then takes in the left pull wire 250 while releasing the right pull wire 260, or it releases the left pull wire 250 while taking in the right pull wire 260.

[0058] When using a flexible rod-type magnetic wheel adsorption robot for internal inspection of valves and containers, such as Figure 22As shown, the forelimb 100 first enters the flange shut-off valve 400. The main spindle motor 104 of the forelimb 100 drives the entire flexible rod 220 to rotate. The flexible rod 220 drives the left magnetic wheel 212 and the right magnetic wheel 213 in each joint 210 to rotate, thereby moving the entire robot forward. Figure 23 As shown, the entire robot easily passes through the bends inside the flange stop valve and fully enters it. During forward movement, the flexible torso 200 adapts to the shape of the flange stop valve's inner wall, and the magnetic wheels can adhere to the valve's inner wall for stable movement and reliable stopping at a specific position, facilitating movement along inclined or vertical directions. When the robot is stationary, with the rear pitch motor 308 inactive, the front pitch motor 102 operates, causing the front pitch winding wheel 103 to reel in the front portion of the upper pull cable 230 and unleash the front portion of the lower pull cable 240, thus tilting the hind limbs 300 upwards at a certain angle; or the front pitch winding wheel 103 unleashes the front portion of the upper pull cable 230 and reels in the front portion of the lower pull cable 240, thus tilting the hind limbs 300 downwards at a certain angle. Similarly, when the forward pitch motor 102 is not working, the rear pitch motor 308 works, causing the rear pitch winding reel 302 to take in the rear portion of the upper pull cable 230 and release the rear portion of the lower pull cable 240, thus tilting the front limb 100 upward at a certain angle; or the rear pitch winding reel 302 can release the rear portion of the upper pull cable 230 and take in the rear portion of the lower pull cable 240, thus tilting the front limb 100 downward at a certain angle. Figure 24 As shown, a camera bracket 500 is mounted on the front motor mount 101, and a camera 600 is connected to the camera bracket 500. The camera 600 captures images of the inside of the valve. Actuators such as grippers, scissors, and electric drills can also be mounted on the front motor mount 101. It should be noted that cameras, actuators, and other devices can also be mounted on the rear motor mount 301 of the rear limb 300. When the output shaft of the main spindle motor 104 rotates in the opposite direction, driving the entire flexible rod 220 to rotate in the opposite direction, the entire robot moves to the right.

[0059] When the robot is stationary at a certain position, the deflection motor 309 operates, thereby deflecting the winding wheel 310 to simultaneously reel in the left pull cable 250 and unleash the right pull cable 260, causing the forelimb 100 to deflect to the left by a certain angle. Alternatively, the deflection wheel 310 can simultaneously unleash the left pull cable 250 and reel in the right pull cable 260, thus causing the forelimb 100 to deflect to the right by a certain angle (e.g., Figure 25 (As shown). In summary, the forward pitch motor 102, the rearward pitch motor 308, and the yaw motor 309 can work together to achieve multi-degree-of-freedom bending of the entire robot. The flexible rod can still rotate in its fully extended state.

[0060] It should be noted that the accompanying diagram in the instruction manual shows that the torso 200 has 11 joints 210. These 11 joints 210 consist of the first joint, the last joint, and the nine joints in between. The specific number is just an example and is not limited to 11 joints. It could also have 3 joints, consisting of the first joint, the last joint, and one middle joint; or 4 joints, consisting of the first joint, the last joint, and two middle joints; or even more joints such as 5, 6, 7, 8, 9, 10, 12, or 13 joints.

[0061] During the 200° bend of the torso, some joints may detach from the inner wall of the tube and become suspended in the air (e.g. Figure 22 (If the first and second joints are suspended in the air), in this situation, if the forelimb 100 detaches from the inner wall of the pipe and is suspended in the air, the rotation of the motor on the forelimb 100 may cause the forelimb 100 to spin, resulting in the robot's posture becoming uncontrollable. Therefore, refer to... Figure 1 , 2 12, 13, 16, 19, set left anti-torsion wire 270, right anti-torsion wire 280; such as Figure 6 and 7 As shown, the left side of the upper shell 211-1 is provided with a left anti-torsion wire through hole 211-1-4, and the right side of the upper shell 211-1 is provided with a right anti-torsion wire through hole 211-1-5. The left anti-torsion wire 270 passes through the left anti-torsion wire through hole 211-1-4 on each joint in sequence; as shown Figure 27 As shown, the front end of the left anti-torsion wire 270 is fixed in the left anti-torsion wire through hole 211-1-4 of the first joint by knotting, welding, or bonding, and the front end of the right anti-torsion wire 280 is fixed in the right anti-torsion wire through hole 211-1-5 of the first joint by knotting; as Figure 26 As shown, the rear end of the left anti-torsion wire 270 passes through the left anti-torsion wire through hole 211-1-4 of the last joint and extends out partially (the length of the extended portion should ensure that the rear end does not detach from the left anti-torsion wire through hole). The rear end of the right anti-torsion wire 280 passes through the right anti-torsion wire through hole 211-1-5 of the last joint and extends out partially (the length of the extended portion should ensure that the rear end does not detach from the left anti-torsion wire through hole). The left anti-torsion wire 270 and the right anti-torsion wire 280 provide the robot with a certain torsional rigidity, preventing the forelimbs from spinning and preventing loss of control.

[0062] The materials for the left anti-torsion wire 270 and the right anti-torsion wire 280 can be nickel-titanium alloy, stainless steel or spring steel.

[0063] To make the robot's torso 200 bend vertically into an S-shape, the upper pull wire 230 is cut into two sections from the middle, and similarly, the lower pull wire 240 is also cut into two sections from the middle. Figure 28As shown, a front portion 230-1 and a rear portion 230-2 of the pull-up cable are formed. The rear end of the front portion 230-1 and the front end of the rear portion 230-2 are fixed to a middle joint among multiple joints, such as the sixth joint. The rear end of the front portion 230-1 is fixed in the pull-up cable through hole of the sixth joint by knotting, welding or bonding. The front end of the rear portion 230-2 is fixed in the pull-up cable through hole of the sixth joint by knotting, welding or bonding. Similarly, the pull-down cable 240 is divided into a front portion and a rear portion. The rear end of the front portion is fixed in the pull-down cable through hole of the sixth joint by knotting, welding or bonding. The front end of the rear portion is fixed in the pull-down cable through hole of the sixth joint by knotting, welding or bonding. Therefore, the forward pitch motor can independently control the pitch of the front half of the torso or forelimbs, and the backward pitch motor can independently control the pitch of the rear half of the torso or hind limbs. When the forward pitch motor rotates, it retracts the line at the front of the upper pull line (230-1) and releases the line at the front of the lower pull line, causing the front half of the torso or forelimbs to bend upwards. At the same time, the backward pitch motor rotates to release the line at the rear of the upper pull line and retract the line at the rear of the lower pull line, causing the rear half of the torso or hind limbs to bend downwards, thus forming an S-shape in the vertical direction. Forming an S-shape allows for traversing complex terrain.

[0064] When the rear limb 300 passes through the stop valve, the sharp corner of the flange stop valve bend may hit the bottom surface of the rear motor base 301 and the base 303, affecting normal movement. To avoid this situation, a right transition wheel 306 and a left transition wheel 307 are installed on the rear limb 300. The right transition wheel 306 is connected to the right side of the rear motor base 301, and the left transition wheel 307 is connected to the left side of the rear motor base 301.

[0065] The robot is equipped with magnetic wheels, which, due to magnetism, can adhere to the inner wall of the pipe, facilitating movement along inclined or vertical directions. Those skilled in the art will understand that non-magnetic wheels can also be used to achieve movement in some applications.

[0066] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and, without departing from the spirit of the present invention, adopt other forms of part configurations, driving devices, and connection methods to create structures and embodiments similar to this technical solution without creative design, all such structures and embodiments should fall within the protection scope of the present invention.

Claims

1. A flexible rod-type magnetic wheel adsorption robot for internal inspection of valves and containers, characterized in that, Including forelimbs, trunk, and hindlimbs; The trunk includes a flexible rod, an upper pull wire, a lower pull wire, a left pull wire, a right pull wire, and multiple joints; The joint includes a joint drive device, a left magnetic wheel, and a right magnetic wheel. The joint drive device includes an upper housing, a middle housing, a lower housing, a front bearing, a rear bearing, a worm gear, a turbine, a rotating shaft, a left bearing, and a right bearing. The upper housing is fixedly connected to the middle housing, and the lower housing is fixedly connected to the middle housing. A front bearing chamber and a rear bearing chamber are provided at the connection between the upper housing and the middle housing. The front bearing is located in the front bearing chamber, and the rear bearing is located in the rear bearing chamber. The front end of the worm gear is connected to the front bearing, and the rear end of the worm gear is connected to the rear bearing. The worm gear is located within the cavity formed by the upper housing and the middle housing, and the worm gear has an axial center. Through hole; the connection between the middle shell and the lower shell is provided with a left bearing chamber and a right bearing chamber, the left bearing is located in the left bearing chamber and the right bearing is located in the right bearing chamber, the left part of the rotating shaft is connected to the left bearing and the right part of the rotating shaft is connected to the right bearing, the turbine is fixedly connected to the rotating shaft and is located in the cavity formed by the middle shell and the lower shell; the worm gear meshes with the turbine; the top of the upper shell is provided with an upper pull wire through hole, the left side of the upper shell is provided with a left pull wire through hole, the right side of the upper shell is provided with a right pull wire through hole, and the bottom of the lower shell is provided with a lower pull wire through hole; the left magnetic wheel is connected to the left end of the rotating shaft and the right magnetic wheel is connected to the right end of the rotating shaft; The flexible rod passes through the axial central through hole of the worm and is fixed therein. The flexible rod passes through the worm of the joint drive device in each joint in sequence. The upper pull wire passes through the upper pull wire hole of the joint drive device in each joint in sequence, and the lower pull wire passes through the lower pull wire hole of the joint drive device in each joint in sequence; the left pull wire passes through the left pull wire hole of the joint drive device in each joint in sequence, and the front end of the left pull wire is fixed at the left pull wire hole of the joint drive device in the first joint in sequence; the right pull wire passes through the right pull wire hole of the joint drive device in each joint in sequence, and the front end of the right pull wire is fixed at the right pull wire hole of the joint drive device in the first joint in sequence. The forelimb includes a front motor base, a pitch motor, a pitch winding reel, a main spindle motor, a left front magnetic wheel, a right front magnetic wheel, a first tensioning shaft, a second tensioning shaft, and a fixing plate. The left front magnetic wheel is connected to the left side of the front motor base, the right front magnetic wheel is connected to the right side of the front motor base, the pitch motor is connected to the front motor base, the pitch winding reel is connected to the output shaft of the pitch motor, the main spindle motor is connected to the front motor base, and the main spindle motor is located below the pitch motor. The first tensioning shaft and the second tensioning shaft are respectively connected to the rear end of the front motor base, and the first tensioning shaft is located above the second tensioning shaft. The pitch winding reel has a first winding groove and a second winding groove. The fixing plate is fixedly connected to the bottom of the front motor base, and the fixing plate has a channel. The lower housing of the joint drive device in the first joint is fixedly connected to the fixing plate of the forelimb, the front end of the flexible rod is fixedly connected to the output shaft of the main shaft motor, and the front end of the pull wire first passes around the first tension shaft and then winds around the first winding groove of the pitch winding wheel. The front end of the pull-down cable first passes through the channel of the fixed plate, then goes around the second tensioning shaft, and then winds around the second winding groove of the forward tilting winding wheel; the direction in which the pull-down cable is wound in the second winding groove is opposite to the direction in which the pull-up cable is wound in the first winding groove. The rear limb includes a rear motor base, a rear pitch winding wheel, a base, a left rear magnetic wheel, a right rear magnetic wheel, a rear pitch motor, a yaw motor, a yaw winding wheel, a third tensioning shaft, a fourth tensioning shaft, a fifth tensioning shaft, and a sixth tensioning shaft. The left rear magnetic wheel is connected to the left side of the rear motor base, the right rear magnetic wheel is connected to the right side of the rear motor base, the rear pitch motor is connected to the rear motor base, the yaw motor is connected to the rear motor base, the rear pitch motor is located above the yaw motor, the rear pitch winding wheel is connected to the output shaft of the rear pitch motor, and the yaw winding wheel is connected to the output shaft of the yaw motor. The base is connected to the bottom of the rear motor base and has a channel. The third, fifth, and sixth tensioning shafts are respectively connected to the front end of the rear motor base, the fourth tensioning shaft is connected to the channel of the base, and the fifth and sixth tensioning shafts are located on both sides of the yaw winding wheel. The lower housing of the joint drive device in the last joint is fixedly connected to the base of the hind limb; the rear end of the upper pull wire first passes over the third tension shaft and then winds into the first winding groove of the rear pitch winding wheel; the rear end of the lower pull wire first passes through the channel of the base, then passes over the fourth tension shaft, and then winds into the second winding groove of the rear pitch winding wheel; the direction in which the lower pull wire winds in the second winding groove of the rear pitch winding wheel is opposite to the direction in which the lower pull wire winds in the first winding groove of the rear pitch winding wheel; the rear end of the left pull wire first passes over the fifth tension shaft and then winds into the first winding groove of the deflection winding wheel; the rear end of the right pull wire first passes over the sixth tension shaft and then winds into the second winding groove of the deflection winding wheel; the direction in which the left pull wire winds in the first winding groove of the deflection winding wheel is opposite to the direction in which the right pull wire winds in the second winding groove of the deflection winding wheel.

2. The flexible rod-type magnetic wheel adsorption robot for internal inspection of valve containers according to claim 1, characterized in that, The flexible rod and the worm gear are fixed together by glue through the axial center hole.

3. The flexible rod-type magnetic wheel adsorption robot for internal inspection of valve containers according to claim 1, characterized in that, The forelimb also includes a bushing, which is connected to the output shaft of the main spindle motor, and the front end of the flexible rod is fixedly connected to the bushing.

4. The flexible rod-type magnetic wheel adsorption robot for internal inspection of valve containers according to claim 1, characterized in that, The flexible rod has a circular cross-section.

5. The flexible rod-type magnetic wheel adsorption robot for internal inspection of valve containers according to claim 1, characterized in that, The flexible rod is made of nickel-titanium alloy, stainless steel, or spring steel.

6. The flexible rod-type magnetic wheel adsorption robot for internal inspection of valve containers according to claim 1, characterized in that, The left and right transition wheels are respectively connected to the left and right sides of the rear motor base in the hind limb.

7. The flexible rod-type magnetic wheel adsorption robot for internal inspection of valve containers according to claim 1, characterized in that, The torso also includes a left anti-torsion wire and a right anti-torsion wire. The left side of the upper housing of the joint drive device is provided with a left anti-torsion wire through hole, and the right side of the upper housing is provided with a right anti-torsion wire through hole. The left anti-torsion wire passes through the left anti-torsion wire through hole on each joint in sequence. The front end of the left anti-torsion wire is fixed in the left anti-torsion wire through hole of the first joint, and the front end of the right anti-torsion wire is fixed in the right anti-torsion wire through hole of the first joint. The rear end of the left anti-torsion wire passes through the left anti-torsion wire through hole of the last joint and extends out a portion. The rear end of the right anti-torsion wire passes through the right anti-torsion wire through hole of the last joint and extends out a portion.

8. The flexible rod-type magnetic wheel adsorption robot for internal inspection of valve containers according to claim 7, characterized in that, The left and right anti-torsion wires are made of nickel-titanium alloy, stainless steel, or spring steel.

9. The flexible rod-type magnetic wheel adsorption robot for internal inspection of valve containers according to claim 1, characterized in that: The pull-up cable consists of a front part and a rear part. The rear end of the front part of the pull-up cable is fixed in the pull-up cable through hole of the middle joint of the multiple joints, and the front end of the rear part of the pull-up cable is fixed in the pull-up cable through hole of the middle joint of the multiple joints. The pull-down cable consists of a front part and a rear part. The rear end of the front part is fixed in the pull-down cable through hole of the middle joint among the multiple joints, and the front end of the rear part is fixed in the pull-down cable through hole of the middle joint among the multiple joints.

10. A flexible rod-type adsorption robot for internal inspection of valve containers, characterized in that, Including forelimbs, trunk, and hindlimbs; The trunk includes a flexible rod, an upper pull wire, a lower pull wire, a left pull wire, a right pull wire, and multiple joints; The joint includes a joint drive device, a left rotating wheel, and a right rotating wheel. The joint drive device includes an upper housing, a middle housing, a lower housing, a front bearing, a rear bearing, a worm gear, a turbine, a rotating shaft, a left bearing, and a right bearing. The upper housing is fixedly connected to the middle housing, and the lower housing is fixedly connected to the middle housing. A front bearing chamber and a rear bearing chamber are provided at the connection between the upper housing and the middle housing. The front bearing is located in the front bearing chamber, and the rear bearing is located in the rear bearing chamber. The front end of the worm gear is connected to the front bearing, and the rear end of the worm gear is connected to the rear bearing. The worm gear is located in the cavity formed by the upper housing and the middle housing, and the worm gear has an axial center. Through hole; the connection between the middle shell and the lower shell is provided with a left bearing chamber and a right bearing chamber, the left bearing is located in the left bearing chamber and the right bearing is located in the right bearing chamber, the left part of the rotating shaft is connected to the left bearing and the right part of the rotating shaft is connected to the right bearing, the turbine is fixedly connected to the rotating shaft and the turbine is located in the cavity formed by the middle shell and the lower shell; the worm gear meshes with the turbine; the top of the upper shell is provided with an upper pull wire through hole, the left side of the upper shell is provided with a left pull wire through hole, the right side of the upper shell is provided with a right pull wire through hole, and the bottom of the lower shell is provided with a lower pull wire through hole; the left rotating wheel is connected to the left end of the rotating shaft and the right rotating wheel is connected to the right end of the rotating shaft; The flexible rod passes through the axial central through hole of the worm and is fixed therein. The flexible rod passes through the worm of the joint drive device in each joint in sequence. The upper pull wire passes through the upper pull wire hole of the joint drive device in each joint in sequence, and the lower pull wire passes through the lower pull wire hole of the joint drive device in each joint in sequence; the left pull wire passes through the left pull wire hole of the joint drive device in each joint in sequence, and the front end of the left pull wire is fixed at the left pull wire hole of the joint drive device in the first joint in sequence; the right pull wire passes through the right pull wire hole of the joint drive device in each joint in sequence, and the front end of the right pull wire is fixed at the right pull wire hole of the joint drive device in the first joint in sequence. The forelimb includes a front motor base, a pitch motor, a pitch winding reel, a main spindle motor, a left front reel, a right front reel, a first tensioning shaft, a second tensioning shaft, and a fixing plate. The left front reel is connected to the left side of the front motor base, the right front reel is connected to the right side of the front motor base, the pitch motor is connected to the front motor base, the pitch winding reel is connected to the output shaft of the pitch motor, the main spindle motor is connected to the front motor base and is located below the pitch motor, the first tensioning shaft and the second tensioning shaft are respectively connected to the rear end of the front motor base, and the first tensioning shaft is located above the second tensioning shaft; the pitch winding reel has a first winding groove and a second winding groove, and the fixing plate is fixedly connected to the bottom of the front motor base, and the fixing plate has a channel; The lower housing of the joint drive device in the first joint is fixedly connected to the fixing plate of the forelimb, the front end of the flexible rod is fixedly connected to the output shaft of the main shaft motor, and the front end of the pull wire first passes around the first tension shaft and then winds around the first winding groove of the pitch winding wheel. The front end of the pull-down cable first passes through the channel of the fixed plate, then goes around the second tensioning shaft, and then winds around the second winding groove of the forward tilting winding wheel; the direction in which the pull-down cable is wound in the second winding groove is opposite to the direction in which the pull-up cable is wound in the first winding groove. The rear limb includes a rear motor base, a rear pitch winding reel, a base, a left rear reel, a right rear reel, a rear pitch motor, a yaw motor, a yaw winding reel, a third tensioning shaft, a fourth tensioning shaft, a fifth tensioning shaft, and a sixth tensioning shaft. The left rear reel is connected to the left side of the rear motor base, the right rear reel is connected to the right side of the rear motor base, the rear pitch motor is connected to the rear motor base, the yaw motor is connected to the rear motor base, the rear pitch motor is located above the yaw motor, the rear pitch winding reel is connected to the output shaft of the rear pitch motor, and the yaw winding reel is connected to the output shaft of the yaw motor. The base is connected to the bottom of the rear motor base and has a channel. The third, fifth, and sixth tensioning shafts are respectively connected to the front end of the rear motor base, the fourth tensioning shaft is connected to the channel of the base, and the fifth and sixth tensioning shafts are located on both sides of the yaw winding reel. The lower housing of the joint drive device in the last joint is fixedly connected to the base of the hind limb; the rear end of the upper pull wire first passes over the third tension shaft and then winds into the first winding groove of the rear pitch winding wheel; the rear end of the lower pull wire first passes through the channel of the base, then passes over the fourth tension shaft, and then winds into the second winding groove of the rear pitch winding wheel; the direction in which the lower pull wire winds in the second winding groove of the rear pitch winding wheel is opposite to the direction in which the lower pull wire winds in the first winding groove of the rear pitch winding wheel; the rear end of the left pull wire first passes over the fifth tension shaft and then winds into the first winding groove of the deflection winding wheel; the rear end of the right pull wire first passes over the sixth tension shaft and then winds into the second winding groove of the deflection winding wheel; the direction in which the left pull wire winds in the first winding groove of the deflection winding wheel is opposite to the direction in which the right pull wire winds in the second winding groove of the deflection winding wheel.

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