Trunk Variable-Diameter Tightening Pipeline Inspection Robot Based on Flexible Chain Drive

Abstract

The present invention relates to a trunk variable-diameter tensioning pipeline inspection robot based on flexible chain drive, which solves the technical problem of how to develop a flexible robot with stronger adaptability, flexibility, compliance and higher degrees of freedom of movement. It includes a trunk, a rotatable flexible chain, a flexible chain rotary drive device, and four groups of wire-pulling devices. The trunk is composed of a skeleton, four steel wires and a number of cylindrical rollers. The rotatable flexible chain includes a number of chain links connected in series by an annular rubber track. The rotatable flexible chain is slidably connected to the skeleton. The flexible chain rotary drive device is used to drive the rotatable flexible chain to rotate and move in a cycle. The present invention is widely used for the detection and repair of pipelines, valves and tank-type containers.

Description

Technical Field

[0001] The present invention relates to a flexible robot, and more particularly, to a trunk variable-diameter tensioning pipeline inspection robot based on a flexible chain drive. Background Art

[0002] Pipelines are ubiquitous in life and are used for the medium transportation in industries such as energy, chemical industry, and petroleum. Problems often occur during the use of pipelines. Robots are used to enter the pipelines to detect cracks and corrosion conditions of the pipelines.

[0003] Currently, most of these robots are rigid robots. Due to their relatively large mechanical bodies and low degrees of freedom, their entry into complex spaces such as pipelines for detection is restricted. The structure of the rigid robot can refer to the utility model patent with the patent number 202222211140.6 and the name of a pipeline inspection robot, as well as the invention patent application with the application publication number CN114923062A and the name of an adaptive climbing pipeline inspection robot. Flexible robots, relying on their characteristics of continuity, high flexibility, and high degrees of freedom, have strong environmental adaptability and can realize the detection of complex spaces such as pipelines. The invention application with the application publication number CN112828870A discloses a soft robot for pipeline detection.

[0004] However, the flexibility, flexibility, degrees of freedom of movement, and environmental adaptability of existing flexible robots still need to be improved. Especially for pipelines with different inner diameters at various positions, the adaptability is not ideal. Therefore, how to develop a flexible robot with stronger adaptability, higher flexibility, greater flexibility, and higher degrees of freedom of movement is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] The present invention is to solve the technical problem of how to develop a flexible robot with stronger adaptability, higher flexibility, greater flexibility, and higher degrees of freedom of movement, and provides a trunk variable-diameter tensioning pipeline inspection robot based on a flexible chain drive.

[0006] The present invention provides a trunk variable-diameter tensioning pipeline inspection robot based on a flexible chain drive, which is characterized by comprising a trunk, a rotatable flexible chain, a flexible chain rotation drive device, a first cable device, a second cable device, a third cable device, and a fourth cable device;

[0007] The torso includes a skeleton, a first sliding transition mechanism, a second sliding transition mechanism, a third sliding transition mechanism, a fourth sliding transition mechanism, a first steel wire, a second steel wire, a third steel wire, a fourth steel wire, and a number of cylindrical rollers; the skeleton is provided with a first upper sliding groove, a second upper sliding groove, a first lower sliding groove, a second lower sliding groove, and a middle cavity arranged along its length direction, the first upper sliding groove and the second upper sliding groove are located on both sides of the middle cavity, and the first lower sliding groove and the second lower sliding groove are located on both sides of the middle cavity; the right side of the skeleton is provided with a first wire passing through hole and a third wire passing through hole, and the first wire passing through hole is located above the third wire passing through hole; the left side of the skeleton is provided with a second wire passing through hole and a fourth wire passing through hole, and the second wire passing through hole is located above the fourth wire passing through hole; the skeleton is provided with a dividing gap, the dividing gap is located in the cross-section of the skeleton, and a number of dividing gaps are arranged side by side along the length direction of the skeleton. The bottom of the odd-numbered dividing gap is provided with a connecting part, and this connecting part is located on the left side of the bottom of the skeleton. The upper part of the even-numbered dividing gap is provided with a connecting part, and the connecting part at the upper part of the even-numbered dividing gap is located on the right side of the middle of the skeleton. The positions of the connecting part at the upper part of the even-numbered dividing gap and the connecting part at the bottom of the odd-numbered dividing gap are located on the diagonal line of the cross-section of the skeleton; the right side of the skeleton is provided with a number of right shaft holes, the left side of the skeleton is provided with a number of left shaft holes, the right shaft holes and the left shaft holes are coaxial and arranged opposite to each other along the width direction of the skeleton; the cylindrical roller is provided with a central shaft, the right end of the central shaft is connected to the right shaft hole of the skeleton, and the left end of the central shaft is connected to the left shaft hole of the skeleton. A number of cylindrical rollers are arranged side by side along the length direction of the skeleton; the first steel wire passes through the first wire passing through hole of the skeleton, the first steel wire penetrates the entire skeleton, and the rear end of the first steel wire is positioned at the rear end of the skeleton; the second steel wire passes through the second wire passing through hole of the skeleton, the second steel wire penetrates the entire skeleton, and the rear end of the second steel wire is positioned at the rear end of the skeleton; the third steel wire passes through the third wire passing through hole of the skeleton, the third steel wire penetrates the entire skeleton, and the front end of the third steel wire is positioned at the front end of the skeleton; the fourth steel wire passes through the fourth wire passing through hole of the skeleton, the fourth steel wire penetrates the entire skeleton, and the front end of the fourth steel wire is positioned at the front end of the skeleton; the first sliding transition mechanism includes an arc-shaped rotating track, and the middle of the arc-shaped rotating track is provided with a platform and a rotating shaft connection hole; the second sliding transition mechanism includes an arc-shaped rotating track, the middle of the arc-shaped rotating track of the second sliding transition mechanism is provided with a platform and a rotating shaft connection hole, the third sliding transition mechanism includes an arc-shaped rotating track, the middle of the arc-shaped rotating track of the third sliding transition mechanism is provided with a platform and a rotating shaft connection hole, the fourth sliding transition mechanism includes an arc-shaped rotating track, and the middle of the arc-shaped rotating track of the fourth sliding transition mechanism is provided with a platform and a rotating shaft connection hole; the left end of the first sliding transition mechanism is fixedly connected to the front end of the skeleton, the second sliding transition mechanism is fixedly connected to the front end of the skeleton, and the third sliding transition mechanism and the fourth sliding transition mechanism are respectively fixedly connected to the rear end of the skeleton;

[0008] The first pull-wire device is fixedly connected to the right side of the front end of the trunk mid-frame, the second pull-wire device is fixedly connected to the left side of the front end of the trunk mid-frame, the third pull-wire device is fixedly connected to the right side of the rear end of the trunk mid-frame, and the fourth pull-wire device is fixedly connected to the left side of the rear end of the trunk mid-frame;

[0009] The front end of the first steel wire is connected to the first wire drawing device, the front end of the second steel wire is connected to the second wire drawing device, the rear end of the third steel wire is connected to the third wire drawing device, and the rear end of the fourth steel wire is connected to the fourth wire drawing device;

[0010] The rotatable flexible chain includes an annular rubber crawler and a plurality of chain links, wherein the chain links include a door frame type chain link body, a right bearing, a left bearing, a toggle rod and a crawler connection block, wherein the right bearing is connected to the right end of the door frame type chain link body, the left bearing is connected to the left end of the door frame type chain link body, the crawler connection block is fixedly connected to the inner side of the door frame type chain link body, and the toggle rod is fixedly connected to the crawler connection block; the annular rubber crawler is provided with a plurality of square holes; the annular rubber crawler connects a plurality of chain links in series, the toggle rod of the chain link passes through the square hole of the annular rubber crawler, and the crawler connection block is located in the square hole;

[0011] A portion of the chain links of the plurality of chain links are located between the right side of the frame and the left side of the bone, that is, a portion of the chain links are located at the upper part of the frame; another portion of the chain links are located at the lower part of the frame; the right bearing of the chain link arranged at the upper part of the frame is located in the first upper slide groove of the frame, and the left bearing of the chain link arranged at the upper part of the frame is located in the second upper slide groove of the frame; the right bearing of the chain link arranged at the lower part of the frame is located in the first lower slide groove of the frame, and the left bearing of the chain link arranged at the lower part of the frame is located in the second lower slide groove of the frame; the chain link arranged at the upper part of the frame is located below the cylindrical roller, and the top surface of the door frame-type chain link body of the chain link is in contact with the cylindrical roller;

[0012] The flexible chain rotary drive device comprises a driving motor, a motor seat, an active bevel gear, a driven bevel gear, a toggle gear and a rotating shaft, wherein the driving motor is fixedly connected to the motor seat, the active bevel gear is fixedly connected to the output shaft of the driving motor, the driven bevel gear is fixedly connected to the rotating shaft, the toggle gear is fixedly connected to the rotating shaft, and the driven bevel gear is meshed with the active bevel gear; the motor seat is fixedly connected to the front end of the middle cavity of the skeleton, one end of the rotating shaft is connected to the rotating shaft connecting hole on the circular arc rotating track of the first sliding transition mechanism, and the other end of the rotating shaft is connected to the rotating shaft connecting hole on the circular arc rotating track of the second sliding transition mechanism; the toggle rod in the chain link close to the toggle gear is located in the gear groove of the toggle gear.

[0013] Preferably, the first wire pulling device includes a fixed seat, a first stepping motor, a first wire winding wheel, and a first grooved bearing. The first stepping motor is fixedly connected to the fixed seat. The first wire winding wheel is connected to the output shaft of the first stepping motor. The fixed seat is provided with a grooved bearing receiving groove. The first grooved bearing is connected to the fixed seat through a cylindrical pin, and the first grooved bearing is located in the grooved bearing receiving groove.

[0014] The second wire pulling device includes a fixed seat, a second stepping motor, a second wire winding wheel, and a second grooved bearing. The second stepping motor is fixedly connected to the fixed seat of the second wire pulling device. The second wire winding wheel is connected to the output shaft of the second stepping motor. The fixed seat of the second wire pulling device is provided with a grooved bearing receiving groove. The second grooved bearing is connected to the fixed seat of the second wire pulling device through a cylindrical pin, and the second grooved bearing is located in the grooved bearing receiving groove of the second wire pulling device.

[0015] The third wire pulling device includes a fixed seat, a third stepping motor, a third wire winding wheel, and a third grooved bearing. The third stepping motor is fixedly connected to the fixed seat of the third wire pulling device. The third wire winding wheel is connected to the output shaft of the third stepping motor. The fixed seat of the third wire pulling device is provided with a grooved bearing receiving groove. The third grooved bearing is connected to the fixed seat of the third wire pulling device through a cylindrical pin, and the third grooved bearing is located in the grooved bearing receiving groove of the third wire pulling device.

[0016] The fourth wire pulling device includes a fixed seat, a fourth stepping motor, a fourth wire winding wheel, and a fourth grooved bearing. The fourth stepping motor is fixedly connected to the fixed seat. The fourth wire winding wheel is connected to the output shaft of the fourth stepping motor. The fixed seat of the fourth wire pulling device is provided with a grooved bearing receiving groove. The fourth grooved bearing is connected to the fixed seat of the fourth wire pulling device through a cylindrical pin, and the fourth grooved bearing is located in the grooved bearing receiving groove of the fourth wire pulling device.

[0017] The fixed seat of the first wire pulling device is fixedly connected to the right side of the front end of the middle skeleton of the trunk; the fixed seat of the second wire pulling device is fixedly connected to the left side of the front end of the middle skeleton of the trunk; the fixed seat of the third wire pulling device is fixedly connected to the right side of the rear end of the middle skeleton of the trunk, and the fixed seat of the fourth wire pulling device is fixedly connected to the left side of the rear end of the middle skeleton of the trunk.

[0018] The front end of the first steel wire first bypasses the groove on the first grooved bearing in the first wire pulling device, and then winds around the first wire winding wheel.

[0019] The front end of the second steel wire first bypasses the groove on the second grooved bearing in the second wire pulling device, and then winds around the second wire winding wheel.

[0020] The rear end of the third steel wire first bypasses the groove on the third grooved bearing in the third wire pulling device, and then winds around the third wire winding wheel.

[0021] The rear end of the fourth steel wire first bypasses the groove on the fourth groove bearing in the fourth wire-pulling device, and then winds around the fourth wire-winding wheel.

[0022] Preferably, a first circular arc bearing receiving groove is provided at the right end of the circular arc rotating track of the first sliding assistance transition mechanism. The first circular arc bearing receiving groove is connected with a plurality of cylindrical pins, and the cylindrical pins are connected with sliding assistance bearings;

[0023] A second circular arc bearing receiving groove is provided at the right end of the circular arc rotating track of the second sliding assistance transition mechanism. The second circular arc bearing receiving groove is connected with a plurality of cylindrical pins, and the cylindrical pins in the second circular arc bearing receiving groove are connected with sliding assistance bearings;

[0024] A third circular arc bearing receiving groove is provided at the right end of the circular arc rotating track of the third sliding assistance transition mechanism. The third circular arc bearing receiving groove is connected with a plurality of cylindrical pins, and the cylindrical pins in the third circular arc bearing receiving groove are connected with sliding assistance bearings;

[0025] A fourth circular arc bearing receiving groove is provided at the right end of the circular arc rotating track of the fourth sliding assistance transition mechanism. The fourth circular arc bearing receiving groove is connected with a plurality of cylindrical pins, and the cylindrical pins in the fourth circular arc bearing receiving groove are connected with sliding assistance bearings.

[0026] Preferably, a flexible chain rotary driving device is connected to the rear end of the torso.

[0027] The present invention also provides a torso variable-diameter tensioning pipeline inspection robot based on flexible chain drive, including a torso, a rotatable flexible chain, a flexible chain rotary driving device, a first wire-pulling device, a second wire-pulling device, a third wire-pulling device and a fourth wire-pulling device;

[0028] The torso includes a framework, a first sliding transition mechanism, a second sliding transition mechanism, a third sliding transition mechanism, a fourth sliding transition mechanism, a first steel wire, a second steel wire, a third steel wire, and a fourth steel wire; the framework is provided with a first upper sliding groove, a second upper sliding groove, a first lower sliding groove, a second lower sliding groove, and a middle cavity arranged along its length direction, the first upper sliding groove and the second upper sliding groove are located on both sides of the middle cavity, and the first lower sliding groove and the second lower sliding groove are located on both sides of the middle cavity; the right side of the framework is provided with a first wire passing through hole and a third wire passing through hole, and the first wire passing through hole is located above the third wire passing through hole; the left side of the framework is provided with a second wire passing through hole and a fourth wire passing through hole, and the second wire passing through hole is located above the fourth wire passing through hole; the framework is provided with a dividing gap, the dividing gap is located in the cross-section of the framework, and a plurality of dividing gaps are arranged side by side along the length direction of the framework. The bottom of the odd-numbered dividing gap is provided with a connection part, which is located on the left side of the bottom of the framework. The upper part of the even-numbered dividing gap is provided with a connection part, and the connection part at the upper part of the even-numbered dividing gap is located on the right side of the middle of the framework. The positions of the connection part at the upper part of the even-numbered dividing gap and the connection part at the bottom of the odd-numbered dividing gap are located on the diagonal line of the cross-section of the framework; the right side of the framework is provided with a plurality of right shaft holes, and the left side of the framework is provided with a plurality of left shaft holes. The right shaft holes and the left shaft holes are coaxial and arranged opposite to each other along the width direction of the framework; the first steel wire passes through the first wire passing through hole of the framework, the first steel wire penetrates through the entire framework, and the rear end of the first steel wire is positioned at the rear end of the framework; the second steel wire passes through the second wire passing through hole of the framework, the second steel wire penetrates through the entire framework, and the rear end of the second steel wire is positioned at the rear end of the framework; the third steel wire passes through the third wire passing through hole of the framework, the third steel wire penetrates through the entire framework, and the front end of the third steel wire is positioned at the front end of the framework; the fourth steel wire passes through the fourth wire passing through hole of the framework, the fourth steel wire penetrates through the entire framework, and the front end of the fourth steel wire is positioned at the front end of the framework; the first sliding transition mechanism includes an arc-shaped rotary track, and the middle of the arc-shaped rotary track is provided with a platform and a rotating shaft connection hole; the second sliding transition mechanism includes an arc-shaped rotary track, the middle of the arc-shaped rotary track of the second sliding transition mechanism is provided with a platform and a rotating shaft connection hole, the third sliding transition mechanism includes an arc-shaped rotary track, the middle of the arc-shaped rotary track of the third sliding transition mechanism is provided with a platform and a rotating shaft connection hole, and the fourth sliding transition mechanism includes an arc-shaped rotary track, and the middle of the arc-shaped rotary track of the fourth sliding transition mechanism is provided with a platform and a rotating shaft connection hole; the left end of the first sliding transition mechanism is fixedly connected to the front end of the framework, the second sliding transition mechanism is fixedly connected to the front end of the framework, and the third sliding transition mechanism and the fourth sliding transition mechanism are respectively fixedly connected to the rear end of the framework;

[0029] The first wire pulling device is fixedly connected to the right side of the front end of the framework in the torso, the second wire pulling device is fixedly connected to the left side of the front end of the framework in the torso, the third wire pulling device is fixedly connected to the right side of the rear end of the framework in the torso, and the fourth wire pulling device is fixedly connected to the left side of the rear end of the framework in the torso;

[0030] The front end of the first steel wire is connected to the first wire pulling device, the front end of the second steel wire is connected to the second wire pulling device, the rear end of the third steel wire is connected to the third wire pulling device, and the rear end of the fourth steel wire is connected to the fourth wire pulling device;

[0031] The rotatable flexible chain includes an annular rubber track and a plurality of chain links. The chain link includes a door frame-shaped link body, a right bearing, a left bearing, a toggle rod, and a track connection block. The right bearing is connected to the right end of the door frame-shaped link body, the left bearing is connected to the left end of the door frame-shaped link body, the track connection block is fixedly connected to the inner side of the door frame-shaped link body, and the toggle rod is fixedly connected to the track connection block; The annular rubber track is provided with a plurality of square holes; The annular rubber track connects a plurality of chain links in series. The toggle rod of the chain link passes through the square hole of the annular rubber track, and the track connection block is located in the square hole;

[0032] A part of the plurality of chain links is located between the right side part and the left side part of the skeleton, that is, a part of the plurality of chain links is located in the upper part of the skeleton; Another part of the plurality of chain links is located in the lower part of the skeleton; The right bearing of the chain link arranged in the upper part of the skeleton is located in the first upper sliding groove of the skeleton, and the left bearing of the chain link arranged in the upper part of the skeleton is located in the second upper sliding groove of the skeleton; The right bearing of the chain link arranged in the lower part of the skeleton is located in the first lower sliding groove of the skeleton, and the left bearing of the chain link arranged in the lower part of the skeleton is located in the second lower sliding groove of the skeleton;

[0033] The flexible chain rotary drive device includes a drive motor, a motor seat, a driving bevel gear, a driven bevel gear, a toggle gear, and a rotating shaft. The drive motor is fixedly connected to the motor seat, the driving bevel gear is fixedly connected to the output shaft of the drive motor, the driven bevel gear is fixedly connected to the rotating shaft, the toggle gear is fixedly connected to the rotating shaft, and the driven bevel gear meshes with the driving bevel gear; The motor seat is fixedly connected to the front end of the middle cavity of the skeleton. One end of the rotating shaft is connected to the rotating shaft connection hole on the arc-shaped rotating track of the first sliding assistance transition mechanism, and the other end of the rotating shaft is connected to the rotating shaft connection hole on the arc-shaped rotating track of the second sliding assistance transition mechanism; The toggle rod in the chain link close to the toggle gear is located in the gear groove of the toggle gear.

[0034] Preferably, the first wire pulling device includes a fixed seat, a first stepping motor, a first wire winding wheel, and a first groove bearing. The first stepping motor is fixedly connected to the fixed seat, the first wire winding wheel is connected to the output shaft of the first stepping motor. The fixed seat is provided with a groove bearing accommodation groove. The first groove bearing is connected to the fixed seat through a cylindrical pin, and the first groove bearing is located in the groove bearing accommodation groove;

[0035] The second wire-pulling device includes a fixed seat, a second stepping motor, a second wire-winding wheel, and a second grooved bearing. The second stepping motor is fixedly connected to the fixed seat of the second wire-pulling device. The second wire-winding wheel is connected to the output shaft of the second stepping motor. The fixed seat of the second wire-pulling device is provided with a grooved bearing receiving groove. The second grooved bearing is connected to the fixed seat of the second wire-pulling device through a cylindrical pin. The second grooved bearing is located in the grooved bearing receiving groove of the second wire-pulling device;

[0036] The third wire-pulling device includes a fixed seat, a third stepping motor, a third wire-winding wheel, and a third grooved bearing. The third stepping motor is fixedly connected to the fixed seat of the third wire-pulling device. The third wire-winding wheel is connected to the output shaft of the third stepping motor. The fixed seat of the third wire-pulling device is provided with a grooved bearing receiving groove. The third grooved bearing is connected to the fixed seat of the third wire-pulling device through a cylindrical pin. The third grooved bearing is located in the grooved bearing receiving groove of the third wire-pulling device;

[0037] The fourth wire-pulling device includes a fixed seat, a fourth stepping motor, a fourth wire-winding wheel, and a fourth grooved bearing. The fourth stepping motor is fixedly connected to the fixed seat. The fourth wire-winding wheel is connected to the output shaft of the fourth stepping motor. The fixed seat of the fourth wire-pulling device is provided with a grooved bearing receiving groove. The fourth grooved bearing is connected to the fixed seat of the fourth wire-pulling device through a cylindrical pin. The fourth grooved bearing is located in the grooved bearing receiving groove of the fourth wire-pulling device;

[0038] The fixed seat of the first wire-pulling device is fixedly connected to the right side of the front end of the middle skeleton of the trunk; the fixed seat of the second wire-pulling device is fixedly connected to the left side of the front end of the middle skeleton of the trunk; the fixed seat of the third wire-pulling device is fixedly connected to the right side of the rear end of the middle skeleton of the trunk, and the fixed seat of the fourth wire-pulling device is fixedly connected to the left side of the rear end of the middle skeleton of the trunk;

[0039] The front end of the first steel wire first bypasses the groove on the first grooved bearing in the first wire-pulling device, and then winds around the first wire-winding wheel;

[0040] The front end of the second steel wire first bypasses the groove on the second grooved bearing in the second wire-pulling device, and then winds around the second wire-winding wheel;

[0041] The rear end of the third steel wire first bypasses the groove on the third grooved bearing in the third wire-pulling device, and then winds around the third wire-winding wheel;

[0042] The rear end of the fourth steel wire first bypasses the groove on the fourth grooved bearing in the fourth wire-pulling device, and then winds around the fourth wire-winding wheel.

[0043] The beneficial effects of the present invention are as follows: The structure of the present invention is ingenious, with stronger environmental adaptability, high flexibility, high degree of freedom of movement, high flexibility, wide diameter change range, and is applicable to pipelines of various materials. It is especially suitable for pipelines with inconsistent inner diameters and changing inner diameter sizes.

[0044] The present invention is widely used for the detection and repair of pipelines, valves, and tank-type containers.

[0045] Further features and aspects of the present invention will be clearly described in the following description of the specific embodiments with reference to the accompanying drawings. Description of the Drawings

[0046] Figure 1 is an axonometric view of a trunk variable-diameter tensioning pipeline inspection robot based on a flexible chain drive;

[0047] Figure 2 is Figure 1 the front view of the structure shown;

[0048] Figure 3 is Figure 1 the top view of the structure shown;

[0049] Figure 4 is Figure 1 the bottom view of the structure shown;

[0050] Figure 5 is Figure 1 the rear view of the structure shown;

[0051] Figure 6 is Figure 1 the right view of the structure shown;

[0052] Figure 7 is Figure 1 the left view of the structure shown;

[0053] Figure 8 is an axonometric view of a trunk variable-diameter tensioning pipeline inspection robot based on a flexible chain drive;

[0054] Figure 9 is Figure 2 the sectional view in the A-A direction in;

[0055] Figure 10 is Figure 8 the structural schematic diagram of the structure shown after removing the annular rubber crawler;

[0056] Figure 11 is Figure 10 the partial enlarged view at M in;

[0057] Figure 12 is the axonometric view of the skeleton;

[0058] Figure 13 is Figure 12 the front view of the shown skeleton;

[0059] Figure 14 is Figure 12 the right view of the shown skeleton;

[0060] Figure 15 is Figure 12 The left view of the shown framework;

[0061] Figure 16 is Figure 12 The top view of the shown framework;

[0062] Figure 17 is Figure 12 The bottom view of the shown framework;

[0063] Figure 18 Is an isometric view of another perspective of the framework;

[0064] Figure 19 Is an isometric view of another perspective of the framework;

[0065] Figure 20 is Figure 14 The partial enlarged view at P in;

[0066] Figure 21 is Figure 20 The sectional view in the B - B direction in;

[0067] Figure 22 is Figure 20 The sectional view in the C - C direction in;

[0068] Figure 23 is Figure 19 The partial enlarged view of the front end of the shown framework;

[0069] Figure 24 Is an isometric view of the first sliding - assisting transition mechanism;

[0070] Figure 25 is Figure 24 The front view of the first sliding - assisting transition mechanism shown;

[0071] Figure 26 is Figure 24 The left view of the first sliding - assisting transition mechanism shown;

[0072] Figure 27 is Figure 24 The right view of the first sliding - assisting transition mechanism shown;

[0073] Figure 28 is Figure 24 The top view of the first sliding - assisting transition mechanism shown;

[0074] Figure 29 is Figure 24 The bottom view of the first sliding - assisting transition mechanism shown;

[0075] Figure 30 Is an isometric view of the first sliding - assisting transition mechanism;

[0076] Figure 31 Schematic diagram of the connection between the first and second sliding-assist transition mechanisms and the front end of the framework

[0077] Figure 32 Schematic diagram of the connection between the third and fourth sliding-assist transition mechanisms and the rear end of the framework

[0078] Figure 33 Axonometric view of the first cable-pulling device

[0079] Figure 34 It is Figure 33 Front view of the first cable-pulling device shown

[0080] Figure 35 It is Figure 33 Left view of the first cable-pulling device shown

[0081] Figure 36 It is Figure 33 Right view of the first cable-pulling device shown

[0082] Figure 37 It is Figure 33 Top view of the first cable-pulling device shown

[0083] Figure 38 It is Figure 33 Bottom view of the first cable-pulling device shown

[0084] Figure 39 Axonometric view of the first cable-pulling device from another perspective

[0085] Figure 40 Axonometric view of the second cable-pulling device

[0086] Figure 41 It is Figure 40 Front view of the second cable-pulling device shown

[0087] Figure 42 It is Figure 40 Left view of the second cable-pulling device shown

[0088] Figure 43 It is Figure 40 Right view of the second cable-pulling device shown

[0089] Figure 44 It is Figure 40 Top view of the second cable-pulling device shown

[0090] Figure 45 It is Figure 40 Bottom view of the second cable-pulling device shown

[0091] Figure 46 Axonometric view of the second cable-pulling device from another perspective

[0092] Figure 47 is the axonometric view of the third guy wire device;

[0093] Figure 48 is Figure 47 the front view of the third guy wire device shown;

[0094] Figure 49 is Figure 47 the left view of the third guy wire device shown;

[0095] Figure 50 is Figure 47 the right view of the third guy wire device shown;

[0096] Figure 51 is Figure 47 the top view of the third guy wire device shown;

[0097] Figure 52 is Figure 47 the bottom view of the third guy wire device shown;

[0098] Figure 53 is the axonometric view of the third guy wire device from another perspective;

[0099] Figure 54 is the axonometric view of the fourth guy wire device;

[0100] Figure 55 is Figure 54 the front view of the fourth guy wire device shown;

[0101] Figure 56 is Figure 54 the left view of the fourth guy wire device shown;

[0102] Figure 57 is Figure 54 the right view of the fourth guy wire device shown;

[0103] Figure 58 is Figure 54 the top view of the fourth guy wire device shown;

[0104] Figure 59 is Figure 54 the bottom view of the fourth guy wire device shown;

[0105] Figure 60 is the axonometric view of the fourth guy wire device from another perspective;

[0106] Figure 61 is the structural schematic diagram of the connection between the flexible chain rotary drive device at the front end of the trunk variable diameter tensioning type pipeline inspection robot based on flexible chain drive and the first and second sliding assistance transition mechanisms;

[0107] Figure 62 Is an axonometric view of the link;

[0108] Figure 63 Is the front view of the link;

[0109] Figure 64 Is the bottom view of the link;

[0110] Figure 65 Is an axonometric view of the annular rubber track;

[0111] Figure 66 Is a schematic structural diagram of the connection between the annular rubber track and the track connection block of the link;

[0112] Figure 67 Is a schematic structural diagram of the installation of the flexible chain rotary drive device on the skeleton and two auxiliary sliding transition mechanisms;

[0113] Figure 68 Is a schematic structural diagram of the trunk variable-diameter tensioning pipeline inspection robot based on flexible chain drive in a yaw state;

[0114] Figure 69 Is a schematic structural diagram of the trunk variable-diameter tensioning pipeline inspection robot based on flexible chain drive in a downward bending state;

[0115] Figure 70 Is a schematic structural diagram of the trunk variable-diameter tensioning pipeline inspection robot based on flexible chain drive in an upward bending state;

[0116] Figure 71 Is a state diagram of the robot bending downward in the pipeline.

[0117] Explanation of symbols in the figure:

[0118] 100. Trunk, 101. Skeleton, 101-1. First upper sliding groove, 101-2. Second upper sliding groove, 101-3. First lower sliding groove, 101-4. Second lower sliding groove, 101-5. Middle cavity, 101-6. Connecting hole, 101-7. Connecting hole, 101-8. Connecting hole, 101-9. Connecting hole, 101-10. First wire passing through hole, 101-11. Second wire passing through hole, 101-12. Third wire passing through hole, 101-13. Fourth wire passing through hole, 101-14. Right shaft hole, 101-15. Left shaft hole, 101-16. Connecting hole, 101-17. Connecting hole, 101-18. Connecting hole, 101-19. Connecting hole, 101-20. Partition gap, 101-20-1. Joining part, 101-20-2. Joining part; 102. Cylindrical roller, 102-1. Central axis, 103. First sliding assistance transition mechanism, 103-1. Connecting hole, 103-2. Platform, 103-3. Arc-shaped rotary track, 103-3-1. Arc-shaped bearing accommodation groove, 103-4. Sliding assistance bearing, 103-5. Cylindrical pin, 103-6. Shaft connection hole, 104. Second sliding assistance transition mechanism, 105. Third sliding assistance transition mechanism, 106. Fourth sliding assistance transition mechanism, 107. First steel wire, 108. Second steel wire, 109. Third steel wire, 110. Fourth steel wire;

[0119] 200. Rotatable flexible chain, 201. Chain link, 201-1. Door frame-shaped chain link body, 201-2. Right bearing, 201-3. Left bearing, 201-4. Poking rod, 201-5. Crawler connecting block, 202. Ring-shaped rubber crawler, 202-1. Square hole.

[0120] 300. Flexible chain rotary drive device, 301. Drive motor, 302. Motor seat, 303. Driving bevel gear, 304. Driven bevel gear, 305. Poking gear, 306. Shaft.

[0121] 400. First wire-pulling device, 401. Fixed seat, 401-1. Groove bearing accommodation groove, 401-2. Connection hole, 402. Motor fixing buckle, 403. First stepping motor, 403-1. Output shaft, 404. First wire winding wheel, 405. First groove bearing, 406. Cylindrical pin; 500. Second wire-pulling device, 501. Fixed seat, 501-1. Groove bearing accommodation groove, 501-2. Connection hole, 502. Motor fixing buckle, 503. Second stepping motor, 503-1. Output shaft, 504. Second wire winding wheel, 505. Second groove bearing, 506. Cylindrical pin, 600. Third wire-pulling device, 601. Fixed seat, 601-1. Groove bearing accommodation groove, 601-2. Connection hole, 602. Motor fixing buckle, 603. Third stepping motor, 603-1. Output shaft, 604. Third wire winding wheel, 605. Third groove bearing, 606. Cylindrical pin; 700. Fourth wire-pulling device, 701. Fixed seat, 701-1. Groove bearing accommodation groove, 701-2. Connection hole, 702. Motor fixing buckle, 703. Fourth stepping motor, 703-1. Output shaft, 704. Fourth wire winding wheel, 705. Fourth groove bearing, 706. Cylindrical pin. 800. Pipeline. Detailed implementation mode

[0122] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0123] As Figure 1-7 shown, the trunk variable-diameter tensioning pipeline inspection robot based on flexible chain drive includes a trunk 100, a rotatable flexible chain 200, a flexible chain rotation drive device 300, a first wire-pulling device 400, a second wire-pulling device 500, a third wire-pulling device 600, and a fourth wire-pulling device 700. The first wire-pulling device 400, the second wire-pulling device 500, the third wire-pulling device 600, and the fourth wire-pulling device 700 are used to realize the multi-degree-of-freedom bending movement of the robot.

[0124] The trunk 100 includes a skeleton 101, a first sliding assistance transition mechanism 103, a second sliding assistance transition mechanism 104, a third sliding assistance transition mechanism 105, a fourth sliding assistance transition mechanism 106, a first steel wire 107, a second steel wire 108, a third steel wire 109, a fourth steel wire 110, and a plurality of cylindrical rollers 102.

[0125] As Figures 12-19As shown, the framework 101 is provided with a first upper sliding groove 101-1, a second upper sliding groove 101-2, a first lower sliding groove 101-3, a second lower sliding groove 101-4, and a middle cavity 101-5. The first upper sliding groove 101-1 is arranged along the length direction of the framework body, the second upper sliding groove 101-2 is arranged along the length direction of the framework body, the first lower sliding groove 101-3 is arranged along the length direction of the framework body, the second lower sliding groove 101-4 is arranged along the length direction of the framework body, and the middle cavity 101-5 is arranged along the length direction of the framework body. The first upper sliding groove 101-1 and the second upper sliding groove 101-2 are located on both sides of the middle cavity 101-5, and the first lower sliding groove 101-3 and the second lower sliding groove 101-4 are located on both sides of the middle cavity 101-5. The front end face of the framework 101 is provided with connection holes 101-6, 101-7, 101-8, 101-9. Similarly, the rear end face of the framework 101 is also provided with four connection holes. The right side part of the framework 101 is provided with a first wire passing through hole 101-10 and a third wire passing through hole 101-12. The first wire passing through hole 101-10 is arranged along the length direction of the framework body, and the third wire passing through hole 101-12 is arranged along the length direction of the framework body. The first wire passing through hole 101-10 is located above the third wire passing through hole 101-12. The left side part of the framework 101 is provided with a second wire passing through hole 101-11 and a fourth wire passing through hole 101-13. The second wire passing through hole 101-11 is arranged along the length direction of the framework body, and the fourth wire passing through hole 101-13 is arranged along the length direction of the framework body. The second wire passing through hole 101-11 is located above the fourth wire passing through hole 101-13. On the right side of the front end of the framework 101, there are four connection holes 101-16. On the left side of the front end of the framework 101, there are four connection holes 101-17. On the right side of the rear end of the framework 101, there are four connection holes 101-18. On the left side of the rear end of the framework 101, there are four connection holes 101-19. Refer to Figure 20 , 21 , 22, 23, the framework 101 is provided with a separation gap 101-20. The separation gap 101-20 is located in the cross-section of the framework. A plurality of separation gaps 101-20 are arranged side by side along the length direction of the framework 101. The bottom of the odd-numbered separation gaps 101-20 is provided with a connection part 101-20-1. The connection part 101-20-1 is located on the left side of the bottom of the framework 101 ( Figure 18 The part marked by a dotted ellipse in the partial enlarged view in Figure 19The part marked by a dashed-line oval on the partial enlarged view is the connection part 101-20-2). The positions of the connection part 101-20-2 and the connection part 101-20-1 are generally located on the diagonal line of the cross-section of the framework. For example, Figure 20 shows that, from left to right, the connection part 101-20-1 of the first separation gap 101-20 is located at its bottom, the connection part 101-20-2 of the second separation gap 101-20 is located at its upper part, the connection part 101-20-1 of the third separation gap 101-20 is located at its bottom, the connection part 101-20-2 of the fourth separation gap 101-20 is located at its upper part, the connection part 101-20-1 of the fifth separation gap 101-20 is located at its bottom, and the connection part 101-20-2 of the sixth separation gap 101-20 is located at its upper part. Figure 16 The part marked by a dashed-line oval on the partial enlarged view is the connection part 101-20-2. As Figure 16 shown in the partial enlarged view, the parts of the framework 101 separated by multiple separation gaps are arranged in an S-shaped trend (as indicated by the dashed-line arrows in the figure), which can endow the framework with good flexibility and is beneficial to the deformation of the framework.

[0126] A plurality of right shaft holes 101-14 are provided on the right side of the framework 101, and a plurality of left shaft holes 101-15 are provided on the left side of the framework 101. The right shaft holes 101-14 and the left shaft holes 101-15 are coaxially arranged, that is, the axis of the right shaft hole 101-14 coincides with the axis of the left shaft hole 101-15, and the right shaft holes 101-14 and the left shaft holes 101-15 are arranged oppositely along the width direction of the framework. As Figure 8 and 9 shown, the cylindrical roller 102 is provided with a central shaft 102-1. The right end of the central shaft 102-1 is inserted into the right shaft hole 101-14, and the left end of the central shaft 102-1 is inserted into the left shaft hole 101-15. The central shaft 102-1 can rotate, that is, a plurality of cylindrical rollers 102 are rotatably connected between the right side and the left side of the framework 101. A plurality of cylindrical rollers 102 are arranged side by side along the length direction of the framework 101.

[0127] As Figures 24-30As shown in the figure, the first auxiliary sliding transition mechanism 103 includes an arc-shaped rotary track 103-3. At the left end of the arc-shaped rotary track 103-3, there are two connection holes 103-1 arranged vertically. In the middle of the arc-shaped rotary track 103-3, there is a platform 103-2. At the right end of the arc-shaped rotary track 103-3, there is an arc-shaped bearing receiving groove 103-3-1. The arc-shaped bearing receiving groove 103-3-1 is connected with a plurality of cylindrical pins 103-5. The auxiliary sliding bearing 103-4 is connected with the cylindrical pins 103-5 and can rotate. A plurality of auxiliary sliding bearings 103-4 are distributed in an arc shape. At the middle position of the arc-shaped rotary track 103-3, there is a rotating shaft connection hole 103-6. When the right bearing of the link 201 enters the arc-shaped rotary track 103-3, it passes through the platform 103-2.

[0128] The structure of the second auxiliary sliding transition mechanism 104 is the same as that of the first auxiliary sliding transition mechanism 103. When the left bearing of the link 201 enters the arc-shaped rotary track of the second auxiliary sliding transition mechanism 104, it passes through the platform 103-2. The structure of the third auxiliary sliding transition mechanism 105 is the same as that of the first auxiliary sliding transition mechanism 103. The structure of the fourth auxiliary sliding transition mechanism 106 is the same as that of the first auxiliary sliding transition mechanism 103.

[0129] As Figure 31 shown in the figure, two pins are respectively inserted into the two connection holes 103-1 of the first auxiliary sliding transition mechanism 103, and then the two pins are respectively inserted into the connection holes 101-6 and 101-7 on the front end face of the framework 101, so as to fix the first auxiliary sliding transition mechanism 103 at the front end of the framework 101. Similarly, two pins are respectively inserted into the two connection holes of the second auxiliary sliding transition mechanism 104, and then the two pins are respectively inserted into the connection holes 101-8 and 101-9 on the front end face of the framework 101, so as to fix the second auxiliary sliding transition mechanism 104 at the front end of the framework 101. Similarly, as Figure 32 shown in the figure, two connection holes on the rear end face of the framework 101 are connected with the connection holes of the third auxiliary sliding transition mechanism 105 through pins, and the other two connection holes on the rear end face of the framework 101 are connected with the connection holes of the fourth auxiliary sliding transition mechanism 106 through pins, so as to fix the third auxiliary sliding transition mechanism 105 and the fourth auxiliary sliding transition mechanism 106 at the rear end of the framework 101.

[0130] As Figures 33-39As shown in the figure, the first wire pulling device 400 includes a fixed seat 401, a motor fixing buckle 402, a first stepping motor 403, a first wire winding wheel 404, a first grooved bearing 405, and a cylindrical pin 406. The motor fixing buckle 402 is connected to the fixed seat 401, and the first stepping motor 403 is fixed on the fixed seat 401 through the motor fixing buckle 402. The first wire winding wheel 404 is connected to the output shaft 403-1 of the first stepping motor 403. The fixed seat 401 is provided with a grooved bearing receiving groove 401-1. The cylindrical pin 406 is fixedly connected to the grooved bearing receiving groove 401-1. The first grooved bearing 405 is sleeved on the cylindrical pin 406, and the first grooved bearing 405 can rotate. The first grooved bearing 405 is located in the grooved bearing receiving groove 401-1. The fixed seat 401 is provided with four connecting holes 401-2 for assembling with the framework. Starting the first stepping motor 403 can cause the first wire winding wheel 404 to rotate.

[0131] As Figures 40-46 shown in the figure, the second wire pulling device 500 includes a fixed seat 501, a motor fixing buckle 502, a second stepping motor 503, a second wire winding wheel 504, a second grooved bearing 505, and a cylindrical pin 506. The motor fixing buckle 502 is connected to the fixed seat 501, and the second stepping motor 503 is fixed on the fixed seat 501 through the motor fixing buckle 502. The second wire winding wheel 504 is connected to the output shaft 503-1 of the second stepping motor 503. The fixed seat 501 is provided with a grooved bearing receiving groove 501-1. The cylindrical pin 506 is fixedly connected to the grooved bearing receiving groove 501-1. The second grooved bearing 505 is sleeved on the cylindrical pin 506, and the second grooved bearing 505 can rotate. The second grooved bearing 505 is located in the grooved bearing receiving groove 501-1. The fixed seat 501 is provided with four connecting holes 501-2 for assembling with the framework. Starting the second stepping motor 503 can cause the second wire winding wheel 504 to rotate.

[0132] As Figures 47-53 shown in the figure, the third wire pulling device 600 includes a fixed seat 601, a motor fixing buckle 602, a third stepping motor 603, a third wire winding wheel 604, a third grooved bearing 605, and a cylindrical pin 606. The motor fixing buckle 602 is connected to the fixed seat 601, and the third stepping motor 603 is fixed on the fixed seat 601 through the motor fixing buckle 602. The third wire winding wheel 604 is connected to the output shaft 603-1 of the third stepping motor 603. The fixed seat 601 is provided with a grooved bearing receiving groove 601-1. The cylindrical pin 606 is fixedly connected to the grooved bearing receiving groove 601-1. The third grooved bearing 605 is sleeved on the cylindrical pin 606, and the third grooved bearing 605 can rotate. The third grooved bearing 605 is located in the grooved bearing receiving groove 601-1. The fixed seat 601 is provided with four connecting holes 601-2 for assembling with the framework. Starting the third stepping motor 603 can cause the third wire winding wheel 604 to rotate.

[0133] As Figures 54-60 shown, the fourth wire-pulling device 700 includes a fixed seat 701, a motor fixing buckle 702, a fourth stepping motor 703, a fourth wire winding wheel 704, a fourth groove bearing 705, and a cylindrical pin 706. The motor fixing buckle 702 is connected to the fixed seat 701, and the fourth stepping motor 703 is fixed to the fixed seat 701 through the motor fixing buckle 702. The fourth wire winding wheel 704 is connected to the output shaft 703-1 of the fourth stepping motor 703. The fixed seat 701 is provided with a groove bearing accommodation groove 701-1. The cylindrical pin 706 is fixedly connected to the groove bearing accommodation groove 701-1. The fourth groove bearing 705 is sleeved on the cylindrical pin 06, and the fourth groove bearing 705 can rotate. The fourth groove bearing 705 is located in the groove bearing accommodation groove 701-1. The fixed seat 701 is provided with four connection holes 701-2 for assembling with the framework. Starting the fourth stepping motor 703 can cause the fourth wire winding wheel 704 to rotate.

[0134] When installing the first wire-pulling device 400, pass bolts through the connection holes 401-2 and the connection holes 101-16 of the framework 101. The four connection holes 401-2 correspond to the four connection holes 101-16. Fix and install the fixed seat 401 on the right side of the front end of the framework 101 with four bolts, that is, the first wire-pulling device 400 is fixed on the right side of the front end of the framework 101.

[0135] When installing the second wire-pulling device 500, pass bolts through the connection holes 501-2 and the connection holes 101-17 of the framework 101. The four connection holes 501-2 correspond to the four connection holes 101-17. Fix and install the fixed seat 501 on the left side of the front end of the framework 101 with four bolts, that is, the second wire-pulling device 500 is fixed on the left side of the front end of the framework 101.

[0136] When installing the third wire-pulling device 600, pass bolts through the connection holes 601-2 and the connection holes 101-18 of the framework 101. The four connection holes 601-2 correspond to the four connection holes 101-18. Fix and install the fixed seat 601 on the right side of the rear end of the framework 101 with four bolts, that is, the third wire-pulling device 600 is fixed on the right side of the rear end of the framework 101.

[0137] When installing the fourth wire-pulling device 700, pass bolts through the connection holes 701-2 and the connection holes 101-19 of the framework 101. The four connection holes 701-2 correspond to the four connection holes 101-19. Fix and install the fixed seat 701 on the left side of the rear end of the framework 101 with four bolts, that is, the fourth wire-pulling device 700 is fixed on the left side of the rear end of the framework 101.

[0138] The first steel wire 107 passes through the first wire threading through-hole 101-10 of the framework, and the first steel wire penetrates the entire framework. The front end of the first steel wire 107 first bypasses the groove on the first groove bearing 405 in the first wire pulling device 400, and then winds around the first wire winding wheel 404. After the rear end of the first steel wire 107 passes out of the first wire threading through-hole 101-10, a knot is tied, that is, the rear end of the first steel wire 107 is positioned at the rear end of the framework. The rotation of the first wire winding wheel 404 can wind or unwind the first steel wire 107.

[0139] The second steel wire 108 passes through the second wire threading through-hole 101-11 of the framework, and the second steel wire 108 penetrates the entire framework. The front end of the second steel wire 108 first bypasses the groove on the second groove bearing 505 in the second wire pulling device 500, and then winds around the second wire winding wheel 504. After the rear end of the second steel wire 108 passes out of the second wire threading through-hole 101-11, a knot is tied, that is, the rear end of the second steel wire 108 is positioned at the rear end of the framework. The rotation of the second wire winding wheel 504 can wind or unwind the second steel wire 108.

[0140] The third steel wire 109 passes through the third wire threading through-hole 101-12 of the framework, and the third steel wire 109 penetrates the entire framework. The rear end of the third steel wire 109 first bypasses the groove on the third groove bearing 605 in the third wire pulling device 600, and then winds around the third wire winding wheel 604. After the front end of the third steel wire 109 passes out of the third wire threading through-hole 101-12, a knot is tied, that is, the front end of the third steel wire 109 is positioned at the front end of the framework. The rotation of the third wire winding wheel 604 can wind or unwind the third steel wire 109.

[0141] The fourth steel wire 110 passes through the fourth wire threading through-hole 101-13 of the framework, and the fourth steel wire 110 penetrates the entire framework. The rear end of the fourth steel wire 110 first bypasses the groove on the fourth groove bearing 705 in the fourth wire pulling device 700, and then winds around the fourth wire winding wheel 704. After the front end of the fourth steel wire 110 passes out of the fourth wire threading through-hole 101-13, a knot is tied, that is, the front end of the fourth steel wire 110 is positioned at the front end of the framework. The rotation of the fourth wire winding wheel 704 can wind or unwind the fourth steel wire 110.

[0142] As Figure 1 、 61 shown, the rotatable flexible chain 200 includes an annular rubber crawler 202 and a plurality of chain links 201. As Figures 62-64As shown, the link 201 includes a doorframe-shaped link body 201-1, a right bearing 201-2, a left bearing 201-3, a toggle lever 201-4, and a crawler connection block 201-5. The right bearing 201-2 is connected to the right end of the doorframe-shaped link body 201-1, the left bearing 201-3 is connected to the left end of the doorframe-shaped link body 201-1, the crawler connection block 201-5 is fixedly connected to the inner side of the doorframe-shaped link body 201-1, and the toggle lever 201-4 is fixedly connected to the crawler connection block 201-5. As Figure 55 shown, the annular rubber crawler 202 is provided with a plurality of square holes 202-1.

[0143] As Figure 66 shown, a plurality of links 201 are connected in series by the annular rubber crawler 202. Specifically, the toggle lever 201-4 is passed through the square hole 202-1, and the crawler connection block 201-5 is located in the square hole 202-1, that is, the square hole 202-1 is sleeved on the crawler connection block 201-5.

[0144] As Figure 66 、 61 、11、6、1 shown, a plurality of links 201 are assembled onto the skeleton 101. A part of the number of links 201 is located between the right side part and the left side part of the skeleton 101, that is, a part of the number of links 201 is located in the upper part of the skeleton 101. The right bearing 201-2 of the link 201 arranged in the upper part of the skeleton 101 is located in the first upper sliding groove 101-1 of the skeleton 101, and the left bearing 201-3 of the link 201 arranged in the upper part of the skeleton 101 is located in the second upper sliding groove 101-2 of the skeleton 101; another part of the number of links 201 is located in the lower part of the skeleton 101. The right bearing of the link 201 arranged in the lower part of the skeleton 101 is located in the first lower sliding groove 101-3 of the skeleton 101, and the left bearing of the link 201 arranged in the lower part of the skeleton 101 is located in the second lower sliding groove 101-4 of the skeleton 101.

[0145] The link 201 arranged in the upper part of the skeleton 101 is located below the cylindrical roller 102, and the top surface of the doorframe-shaped link body 201-1 of this link 201 contacts the cylindrical roller 102. When this link 201 moves, frictional force is generated, thereby causing the cylindrical roller 102 to rotate.

[0146] As Figure 67 、 66As shown in , 61, 11, and 8, the flexible chain rotation drive device 300 includes a driving motor 301, a motor base 302, an active bevel gear 303, a driven bevel gear 304, a toggle gear 305, and a rotating shaft 306. The driving motor 301 is fixedly mounted on the motor base 302, the active bevel gear 303 is fixedly connected to the output shaft of the driving motor 301, the driven bevel gear 304 is fixedly connected to the rotating shaft 306, the toggle gear 305 is fixedly connected to the rotating shaft 306, and the driven bevel gear 304 is meshed with the active bevel gear 303. The motor seat 302 is fixedly mounted at the front end of the middle cavity 101-5 of the frame 101, one end of the rotating shaft 306 passes through the rotating shaft connection hole 103-6 on the arc-shaped rotating track 103-3 in the sliding transition mechanism 103, and the other end of the rotating shaft 306 passes through the rotating shaft connection hole on the arc-shaped rotating track in the sliding transition mechanism 2 104, and the rotating shaft 306 can rotate under the support of the two rotating shaft connection holes. Figure 11 , 66 , the toggle rod 201-4 in the chain link 201 close to the toggle gear 305 is located in the gear groove of the toggle gear 305. The driving motor 301 is started, and the output shaft of the driving motor 301 rotates through the active bevel gear 303 and the driven bevel gear 304 to drive the rotating shaft 306 to rotate, and the rotating shaft 306 drives the toggle gear 305 to rotate. The power provided by the rotation of the toggle gear 30 acts on the toggle rod 201-4, thereby toggling the chain link 201 to move the chain link 201.

[0147] from Figures 1-8 It can be seen that a flexible chain rotary drive device 300 is also arranged at the rear end of the robot, and the installation method is the same as the method of installing the flexible chain rotary drive device 300 at the front end of the aforementioned robot. The motor seat is fixedly installed at the rear end of the middle cavity 101-5 of the skeleton 101, and one end of the rotating shaft passes through the rotating shaft connecting hole on the arc-shaped rotating rail 3 in the sliding transition mechanism three 105, and the other end of the rotating shaft passes through the rotating shaft connecting hole on the arc-shaped rotating track in the sliding transition mechanism four 106.

[0148] The following describes the working process of the trunk variable diameter tensioning pipeline inspection robot based on flexible chain transmission:

[0149] like Figure 1 , 2 As shown in FIG. 3 , when the robot moves forward on the plane, the driving motor 301 of the flexible chain rotary driving device 300 located at the front end of the robot works to rotate the shifting gear 305, and the shifting gear 305 shifts the chain link 201, as shown in FIG. Figure 66As shown, the right bearing and the left bearing in the upper chain link 201 slide forward in the first upper slide groove 101-1 and the second upper slide groove 101-2 of the skeleton 101 respectively, and the right bearing and the left bearing in the lower chain link 201 slide backward in the first lower slide groove 101-3 and the second lower slide groove 101-4 of the skeleton 101 respectively. The movement of the chain link 201 drives the annular rubber track 202 to rotate, and at the same time, the rotation of the annular rubber track 202 drives other chain links 201 to slide in the specific track of the skeleton 101 (that is, a part of the chain links 201 slide forward in the first upper slide groove 101-1 and the second upper slide groove 101-2 of the skeleton 101, and another part of the chain links 201 slide backward in the first lower slide groove 101-3 and the second lower slide groove 101-4 of the skeleton 101); when the upper chain link 201 slides forward and leaves the skeleton, it will enter the sliding transition mechanism 1 103 and the sliding transition mechanism 2 104, and the right bearing will slide forward after the sliding transition mechanism 1 103 and the sliding transition mechanism 2 104. The arc-shaped rotating track 103-3 of the transition mechanism 103 moves to the first sliding groove 101-3 of the skeleton 101, and the left bearing moves to the second sliding groove 101-4 of the skeleton 101 through the arc-shaped rotating track of the sliding transition mechanism 2 104; when the lower chain link 201 slides backward and leaves the skeleton, it passes through the sliding transition mechanism 3 105 and the sliding transition mechanism 4 106 and moves upward to the upper part of the skeleton 101 (the right bearing and the left bearing of the chain link enter the first upper sliding groove 101-1 and the second upper sliding groove 101-2 of the skeleton 101 from the rear end of the skeleton respectively); during the backward movement of the lower chain link 201, the door frame type chain link body 201-1 contacts the ground to generate forward friction; during the forward movement of the upper chain link 201, it drives the cylindrical roller 102 to rotate backward. If the cylindrical roller 102 contacts the inner wall of the pipe, a forward friction is generated. In this way, the upper and lower parts are both forward friction, causing the robot to move forward (from Figure 3 Look, moving to the right is moving forward). While the flexible chain rotation drive device 300 located at the front end of the robot is working, the flexible chain rotation drive device located at the rear end of the robot is working to increase power to drive the rotatable flexible chain 200 to perform rotational motion.

[0150] It should be noted that the cylindrical roller 102 does not contact the inner wall of the application scenario pipe during the backward rotation, that is, only the lower chain link 201 moves backward to generate the friction force that moves the robot forward, and the entire robot can also move forward.

[0151] It should be noted that it is a better solution to provide the flexible chain rotary drive device 300 at both the front and rear ends of the robot. The function of moving the robot forward and backward can be realized by only providing the flexible chain rotary drive device 300 at the front end of the robot.

[0152] When the robot moves backward on the plane, the drive motor 301 of the flexible chain slewing drive device 300 reverses. The specific process is the same as that of forward movement and will not be elaborated here.

[0153] During the crawling process of the robot, the first wire-pulling device 400, the second wire-pulling device 500, the third wire-pulling device 600, and the fourth wire-pulling device 700 can cooperate and work coordinately to control the yaw and pitch movements of the robot. For example, when the first wire-pulling device 400 and the third wire-pulling device 600 perform wire-winding actions, and at the same time the second wire-pulling device 500 and the fourth wire-pulling device 700 perform wire-releasing actions, the robot will yaw to the right, as Figure 68 shown, that is, bend to the right. Similarly, when the first wire-pulling device 400 and the third wire-pulling device 600 perform wire-releasing actions, and at the same time the second wire-pulling device 500 and the fourth wire-pulling device 700 perform wire-winding actions, the robot will yaw to the left.

[0154] When the first wire-pulling device 400 and the second wire-pulling device 500 perform wire-releasing actions, and at the same time the third wire-pulling device 600 and the fourth wire-pulling device 700 perform wire-winding actions, the robot will pitch downwards, that is, bend downwards, as Figure 69 shown. When the first wire-pulling device 400 and the second wire-pulling device 500 perform wire-winding actions, and at the same time the third wire-pulling device 600 and the fourth wire-pulling device 700 perform wire-releasing actions, the robot will pitch upwards, that is, bend upwards, as Figure 70 shown.

[0155] When the robot moves forward in the pipeline 800, it can make the robot bend downwards, as Figure 71 shown. The robot is in an arc state, making the robot squeeze tightly against the inner wall of the pipeline. At this time, the flexible chain slewing drive device 300 drives the robot to move forward and backward. During the forward and backward movement, the four groups of wire-pulling devices cooperate to make the torso of the robot bend into arcs with different curvatures and squeeze tightly against the inner wall of the pipeline to adapt to pipelines with different diameters; in this working state, the sliding bearing 103-4 in the first sliding transition mechanism 103 contacts and slides with the inner wall of the pipeline, which is beneficial to the movement of the robot. Similarly, the sliding bearings in the second sliding transition mechanism 104, the third sliding transition mechanism 105, and the fourth sliding transition mechanism 106 are also beneficial to the movement of the robot. When the robot bends upwards or downwards in the pipeline and squeezes tightly against the inner wall of the pipeline, during the forward and backward movement, the cylindrical roller 102 contacts the inner wall of the pipeline to generate forward or backward frictional force. The link located at the lower part of the framework 101 will not generate frictional force with the inner wall of the pipeline because it is suspended.

[0156] It should be noted that when the robot is in a state of bending upward or downward in the pipeline and being tightly pressed against the inner wall of the pipeline, setting a sliding assistance structure is a better technical solution. It is also feasible not to set the sliding assistance bearing 103-4, the arc-shaped bearing receiving groove 103-3-1, and the cylindrical pin 103-5. The outer side of the right end of the arc-shaped rotating track 103-3 directly contacts and slides with the inner wall of the pipeline.

[0157] When the robot crawls in the pipeline, it can perform pipeline internal navigation and pipeline wall defect detection through small cameras installed at the front and rear of the robot.

[0158] The structure of the present invention is ingenious and has good flexibility. The soft body trunk with a special structure can enable the robot to bend in a large range in space and complete the detection tasks in complex environments.

[0159] The above description is only for the preferred embodiments of the present invention and is not used to limit the present invention. For those skilled in the art, if inspired by it, without departing from the purpose of the present invention creation, adopting other forms of part configurations, driving devices, and fixing methods, and designing similar structural methods and embodiments without creative efforts, should all fall within the protection scope of the present invention.

Claims

1. A trunk variable-diameter tensioning pipeline inspection robot based on flexible chain drive, characterized in that, It includes a torso, a rotatable flexible chain, a flexible chain rotation drive device, a first cable device, a second cable device, a third cable device, and a fourth cable device; The torso includes a skeleton, a first sliding-assisting transition mechanism, a second sliding-assisting transition mechanism, a third sliding-assisting transition mechanism, a fourth sliding-assisting transition mechanism, a first steel wire, a second steel wire, a third steel wire, a fourth steel wire, and a number of cylindrical rollers; the skeleton is provided with a first upper sliding groove, a second upper sliding groove, a first lower sliding groove, a second lower sliding groove, and a middle cavity arranged along its length direction, the first upper sliding groove and the second upper sliding groove are located on both sides of the middle cavity, and the first lower sliding groove and the second lower sliding groove are located on both sides of the middle cavity; the right side of the skeleton is provided with a first wire-passing through hole and a third wire-passing through hole, and the first wire-passing through hole is located above the third wire-passing through hole; the left side of the skeleton is provided with a second wire-passing through hole and a fourth wire-passing through hole, and the second wire-passing through hole is located above the fourth wire-passing through hole; the skeleton is provided with a dividing gap, the dividing gap is located in the cross-section of the skeleton, a number of dividing gaps are arranged side by side along the length direction of the skeleton, the bottom of the odd-numbered dividing gap is provided with a connecting part, the connecting part is located on the left side of the bottom of the skeleton, the upper part of the even-numbered dividing gap is provided with a connecting part, the connecting part at the upper part of the even-numbered dividing gap is located on the right side of the middle of the skeleton, and the positions of the connecting part at the upper part of the even-numbered dividing gap and the connecting part at the bottom of the odd-numbered dividing gap are located on the diagonal line of the cross-section of the skeleton; the right side of the skeleton is provided with a number of right shaft holes, the left side of the skeleton is provided with a number of left shaft holes, the right shaft holes and the left shaft holes are coaxial and arranged oppositely along the width direction of the skeleton; the cylindrical roller is provided with a central shaft, the right end of the central shaft is connected to the right shaft hole of the skeleton, the left end of the central shaft is connected to the left shaft hole of the skeleton, and a number of cylindrical rollers are arranged side by side along the length direction of the skeleton; the first steel wire passes through the first wire-passing through hole of the skeleton, the first steel wire penetrates through the whole skeleton, and the rear end of the first steel wire is positioned at the rear end of the skeleton; the second steel wire passes through the second wire-passing through hole of the skeleton, the second steel wire penetrates through the whole skeleton, and the rear end of the second steel wire is positioned at the rear end of the skeleton; the third steel wire passes through the third wire-passing through hole of the skeleton, the third steel wire penetrates through the whole skeleton, and the front end of the third steel wire is positioned at the front end of the skeleton; the fourth steel wire passes through the fourth wire-passing through hole of the skeleton, the fourth steel wire penetrates through the whole skeleton, and the front end of the fourth steel wire is positioned at the front end of the skeleton; the first sliding-assisting transition mechanism includes an arc-shaped rotary track, and a platform and a rotating shaft connection hole are arranged in the middle of the arc-shaped rotary track; the second sliding-assisting transition mechanism includes an arc-shaped rotary track, a platform and a rotating shaft connection hole are arranged in the middle of the arc-shaped rotary track of the second sliding-assisting transition mechanism, the third sliding-assisting transition mechanism includes an arc-shaped rotary track, a platform and a rotating shaft connection hole are arranged in the middle of the arc-shaped rotary track of the third sliding-assisting transition mechanism, the fourth sliding-assisting transition mechanism includes an arc-shaped rotary track, and a platform and a rotating shaft connection hole are arranged in the middle of the arc-shaped rotary track of the fourth sliding-assisting transition mechanism; the left end of the first sliding-assisting transition mechanism is fixedly connected to the front end of the skeleton, the second sliding-assisting transition mechanism is fixedly connected to the front end of the skeleton, and the third sliding-assisting transition mechanism and the fourth sliding-assisting transition mechanism are respectively fixedly connected to the rear end of the skeleton; The first pull-wire device is fixedly connected to the right side of the front end of the trunk mid-frame, the second pull-wire device is fixedly connected to the left side of the front end of the trunk mid-frame, the third pull-wire device is fixedly connected to the right side of the rear end of the trunk mid-frame, and the fourth pull-wire device is fixedly connected to the left side of the rear end of the trunk mid-frame; The front end of the first steel wire is connected to the first wire drawing device, the front end of the second steel wire is connected to the second wire drawing device, the rear end of the third steel wire is connected to the third wire drawing device, and the rear end of the fourth steel wire is connected to the fourth wire drawing device; The rotatable flexible chain includes an annular rubber crawler and a plurality of chain links, wherein the chain links include a door frame type chain link body, a right bearing, a left bearing, a toggle rod and a track connection block, wherein the right bearing is connected to the right end of the door frame type chain link body, the left bearing is connected to the left end of the door frame type chain link body, the track connection block is fixedly connected to the inner side of the door frame type chain link body, and the toggle rod is fixedly connected to the track connection block; the annular rubber crawler is provided with a plurality of square holes; the annular rubber crawler connects a plurality of chain links in series, the toggle rod of the chain link passes through the square hole of the annular rubber crawler, and the track connection block is located in the square hole; A portion of the chain links are located between the right side and the left side of the skeleton, that is, a portion of the chain links are located at the upper part of the skeleton; another portion of the chain links are located at the lower part of the skeleton; the right bearing of the chain link arranged at the upper part of the skeleton is located in the first upper slide groove of the skeleton, and the left bearing of the chain link arranged at the upper part of the skeleton is located in the second upper slide groove of the skeleton; the right bearing of the chain link arranged at the lower part of the skeleton is located in the first lower slide groove of the skeleton, and the left bearing of the chain link arranged at the lower part of the skeleton is located in the second lower slide groove of the skeleton; the chain link arranged at the upper part of the skeleton is located below the cylindrical roller, and the top surface of the door frame type chain link body of the chain link is in contact with the cylindrical roller; The flexible chain rotation drive device includes a driving motor, a motor seat, an active bevel gear, a driven bevel gear, a toggle gear and a rotating shaft, the driving motor is fixedly connected to the motor seat, the active bevel gear is fixedly connected to the output shaft of the driving motor, the driven bevel gear is fixedly connected to the rotating shaft, the toggle gear is fixedly connected to the rotating shaft, and the driven bevel gear is meshed with the active bevel gear; the motor seat is fixedly connected to the front end of the middle cavity of the skeleton, one end of the rotating shaft is connected to the rotating shaft connecting hole on the circular arc rotating track of the first sliding transition mechanism, and the other end of the rotating shaft is connected to the rotating shaft connecting hole on the circular arc rotating track of the second sliding transition mechanism; the toggle rod in the chain link close to the toggle gear is located in the gear groove of the toggle gear.

2. The flexible chain-driven trunk-variable and tension-type pipeline inspection robot according to claim 1 is characterized in that: The first wire pulling device comprises a fixed seat, a first stepper motor, a first winding wheel and a first groove bearing, the first stepper motor is fixedly connected to the fixed seat, the first winding wheel is connected to the output shaft of the first stepper motor, the fixed seat is provided with a groove bearing receiving groove, the first groove bearing is connected to the fixed seat through a cylindrical pin, and the first groove bearing is located in the groove bearing receiving groove; The second wire-pulling device includes a fixed seat, a second stepping motor, a second wire-winding wheel, and a second grooved bearing. The second stepping motor is fixedly connected to the fixed seat of the second wire-pulling device. The second wire-winding wheel is connected to the output shaft of the second stepping motor. The fixed seat of the second wire-pulling device is provided with a grooved bearing receiving groove. The second grooved bearing is connected to the fixed seat of the second wire-pulling device through a cylindrical pin, and the second grooved bearing is located in the grooved bearing receiving groove of the second wire-pulling device; The third wire-pulling device includes a fixed seat, a third stepping motor, a third wire-winding wheel, and a third grooved bearing. The third stepping motor is fixedly connected to the fixed seat of the third wire-pulling device. The third wire-winding wheel is connected to the output shaft of the third stepping motor. The fixed seat of the third wire-pulling device is provided with a grooved bearing receiving groove. The third grooved bearing is connected to the fixed seat of the third wire-pulling device through a cylindrical pin, and the third grooved bearing is located in the grooved bearing receiving groove of the third wire-pulling device; The fourth wire-pulling device includes a fixed seat, a fourth stepping motor, a fourth wire-winding wheel, and a fourth grooved bearing. The fourth stepping motor is fixedly connected to the fixed seat of the fourth wire-pulling device. The fourth wire-winding wheel is connected to the output shaft of the fourth stepping motor. The fixed seat of the fourth wire-pulling device is provided with a grooved bearing receiving groove. The fourth grooved bearing is connected to the fixed seat of the fourth wire-pulling device through a cylindrical pin, and the fourth grooved bearing is located in the grooved bearing receiving groove of the fourth wire-pulling device; The fixed seat of the first wire-pulling device is fixedly connected to the right side of the front end of the middle skeleton of the torso; the fixed seat of the second wire-pulling device is fixedly connected to the left side of the front end of the middle skeleton of the torso; the fixed seat of the third wire-pulling device is fixedly connected to the right side of the rear end of the middle skeleton of the torso, and the fixed seat of the fourth wire-pulling device is fixedly connected to the left side of the rear end of the middle skeleton of the torso; The front end of the first steel wire first bypasses the groove on the first grooved bearing in the first wire-pulling device, and then winds around the first wire-winding wheel; The front end of the second steel wire first bypasses the groove on the second grooved bearing in the second wire-pulling device, and then winds around the second wire-winding wheel; The rear end of the third steel wire first bypasses the groove on the third grooved bearing in the third wire-pulling device, and then winds around the third wire-winding wheel; The rear end of the fourth steel wire first bypasses the groove on the fourth grooved bearing in the fourth wire-pulling device, and then winds around the fourth wire-winding wheel.

3. The trunk variable-diameter tensioning type pipeline inspection robot based on flexible chain drive according to claim 1 or 2, characterized in that: The right end of the circular arc-shaped rotating track of the first sliding assistance transition mechanism is provided with a first circular arc-shaped bearing receiving groove. The first circular arc-shaped bearing receiving groove is connected with a plurality of cylindrical pins, and the cylindrical pins are connected with sliding assistance bearings; The right end of the circular arc-shaped rotating track of the second sliding assistance transition mechanism is provided with a second circular arc-shaped bearing receiving groove. The second circular arc-shaped bearing receiving groove is connected with a plurality of cylindrical pins, and the cylindrical pins in the second circular arc-shaped bearing receiving groove are connected with sliding assistance bearings; A third arc-shaped bearing receiving groove is provided at the right end of the arc-shaped rotary track of the sliding assistance transition mechanism three. A plurality of cylindrical pins are connected to the third arc-shaped bearing receiving groove, and a sliding assistance bearing is connected to the cylindrical pins in the third arc-shaped bearing receiving groove. A fourth arc-shaped bearing receiving groove is provided at the right end of the arc-shaped rotary track of the sliding assistance transition mechanism four. A plurality of cylindrical pins are connected to the fourth arc-shaped bearing receiving groove, and a sliding assistance bearing is connected to the cylindrical pins in the fourth arc-shaped bearing receiving groove.

4. The trunk variable-diameter tensioning pipeline inspection robot based on flexible chain drive according to claim 1 or 2, characterized in that, A flexible chain rotary driving device is connected to the rear end of the torso.

5. A trunk variable-diameter tensioning pipeline inspection robot based on flexible chain drive, characterized in that, It includes a torso, a rotatable flexible chain, a flexible chain rotary driving device, a first wire-pulling device, a second wire-pulling device, a third wire-pulling device, and a fourth wire-pulling device. The torso includes a skeleton, a first sliding transition mechanism, a second sliding transition mechanism, a third sliding transition mechanism, a fourth sliding transition mechanism, a first steel wire, a second steel wire, a third steel wire, and a fourth steel wire; the skeleton is provided with a first upper sliding groove, a second upper sliding groove, a first lower sliding groove, a second lower sliding groove, and a middle cavity arranged along its length direction, the first upper sliding groove and the second upper sliding groove are located on both sides of the middle cavity, and the first lower sliding groove and the second lower sliding groove are located on both sides of the middle cavity; a first wire passing through hole and a third wire passing through hole are provided on the right side of the skeleton, and the first wire passing through hole is located above the third wire passing through hole; a second wire passing through hole and a fourth wire passing through hole are provided on the left side of the skeleton, and the second wire passing through hole is located above the fourth wire passing through hole; the skeleton is provided with a separation gap, the separation gap is located in the cross-section of the skeleton, a plurality of separation gaps are arranged side by side along the length direction of the skeleton, a connection part is provided at the bottom of the odd-numbered separation gap, the connection part is located on the left side of the bottom of the skeleton, a connection part is provided at the upper part of the even-numbered separation gap, the connection part at the upper part of the even-numbered separation gap is located on the right side of the middle of the skeleton, and the positions of the connection part at the upper part of the even-numbered separation gap and the connection part at the bottom of the odd-numbered separation gap are located on the diagonal line of the cross-section of the skeleton; a plurality of right shaft holes are provided on the right side of the skeleton, a plurality of left shaft holes are provided on the left side of the skeleton, the right shaft holes and the left shaft holes are coaxial and arranged opposite to each other along the width direction of the skeleton; the first steel wire passes through the first wire passing through hole of the skeleton, the first steel wire penetrates the entire skeleton, and the rear end of the first steel wire is positioned at the rear end of the skeleton; the second steel wire passes through the second wire passing through hole of the skeleton, the second steel wire penetrates the entire skeleton, and the rear end of the second steel wire is positioned at the rear end of the skeleton; the third steel wire passes through the third wire passing through hole of the skeleton, the third steel wire penetrates the entire skeleton, and the front end of the third steel wire is positioned at the front end of the skeleton; the fourth steel wire passes through the fourth wire passing through hole of the skeleton, the fourth steel wire penetrates the entire skeleton, and the front end of the fourth steel wire is positioned at the front end of the skeleton; the first sliding transition mechanism includes an arc-shaped rotating track, and a platform and a rotating shaft connection hole are provided in the middle of the arc-shaped rotating track; the second sliding transition mechanism includes an arc-shaped rotating track, a platform and a rotating shaft connection hole are provided in the middle of the arc-shaped rotating track of the second sliding transition mechanism, the third sliding transition mechanism includes an arc-shaped rotating track, a platform and a rotating shaft connection hole are provided in the middle of the arc-shaped rotating track of the third sliding transition mechanism, the fourth sliding transition mechanism includes an arc-shaped rotating track, and a platform and a rotating shaft connection hole are provided in the middle of the arc-shaped rotating track of the fourth sliding transition mechanism; the left end of the first sliding transition mechanism is fixedly connected to the front end of the skeleton of the torso, the second sliding transition mechanism is fixedly connected to the front end of the skeleton of the torso, and the third sliding transition mechanism and the fourth sliding transition mechanism are respectively fixedly connected to the rear end of the skeleton of the torso; The first wire pulling device is fixedly connected to the right side of the front end of the skeleton in the torso, the second wire pulling device is fixedly connected to the left side of the front end of the skeleton in the torso, the third wire pulling device is fixedly connected to the right side of the rear end of the skeleton in the torso, and the fourth wire pulling device is fixedly connected to the left side of the rear end of the skeleton in the torso; The front end of the first steel wire is connected to the first wire pulling device, the front end of the second steel wire is connected to the second wire pulling device, the rear end of the third steel wire is connected to the third wire pulling device, and the rear end of the fourth steel wire is connected to the fourth wire pulling device; The rotatable flexible chain includes an annular rubber track and a plurality of chain links. The chain link includes a door frame-shaped chain link body, a right bearing, a left bearing, a toggle rod, and a track connection block. The right bearing is connected to the right end of the door frame-shaped chain link body, the left bearing is connected to the left end of the door frame-shaped chain link body, the track connection block is fixedly connected to the inner side of the door frame-shaped chain link body, and the toggle rod is fixedly connected to the track connection block; The annular rubber track is provided with a plurality of square holes; The annular rubber track connects a plurality of chain links in series. The toggle rod of the chain link passes through the square hole of the annular rubber track, and the track connection block is located in the square hole; A part of the plurality of chain links is located between the right side part and the left side part of the skeleton, that is, a part of the chain links is located in the upper part of the skeleton; Another part of the chain links is located in the lower part of the skeleton; The right bearing of the chain link arranged in the upper part of the skeleton is located in the first upper sliding groove of the skeleton, and the left bearing of the chain link arranged in the upper part of the skeleton is located in the second upper sliding groove of the skeleton; The right bearing of the chain link arranged in the lower part of the skeleton is located in the first lower sliding groove of the skeleton, and the left bearing of the chain link arranged in the lower part of the skeleton is located in the second lower sliding groove of the skeleton; The flexible chain rotary drive device includes a drive motor, a motor base, a driving bevel gear, a driven bevel gear, a toggle gear, and a rotating shaft. The drive motor is fixedly connected to the motor base, the driving bevel gear is fixedly connected to the output shaft of the drive motor, the driven bevel gear is fixedly connected to the rotating shaft, the toggle gear is fixedly connected to the rotating shaft, and the driven bevel gear meshes with the driving bevel gear; The motor base is fixedly connected to the front end of the middle cavity of the skeleton. One end of the rotating shaft is connected to the rotating shaft connection hole on the arc-shaped rotating track of the first sliding assistance transition mechanism, and the other end of the rotating shaft is connected to the rotating shaft connection hole on the arc-shaped rotating track of the second sliding assistance transition mechanism; The toggle rod in the chain link near the toggle gear is located in the gear groove of the toggle gear.

6. The trunk variable-diameter tensioning type pipeline inspection robot based on flexible chain drive according to claim 5, characterized in that: The first wire pulling device includes a fixed seat, a first stepping motor, a first wire winding wheel, and a first groove bearing. The first stepping motor is fixedly connected to the fixed seat, the first wire winding wheel is connected to the output shaft of the first stepping motor, the fixed seat is provided with a groove bearing accommodation groove, the first groove bearing is connected to the fixed seat through a cylindrical pin, and the first groove bearing is located in the groove bearing accommodation groove; The second wire pulling device includes a fixed seat, a second stepping motor, a second wire winding wheel, and a second groove bearing. The second stepping motor is fixedly connected to the fixed seat of the second wire pulling device, the second wire winding wheel is connected to the output shaft of the second stepping motor, the fixed seat of the second wire pulling device is provided with a groove bearing accommodation groove, the second groove bearing is connected to the fixed seat of the second wire pulling device through a cylindrical pin, and the second groove bearing is located in the groove bearing accommodation groove of the second wire pulling device; The third wire-pulling device includes a fixed seat, a third stepping motor, a third wire winding wheel, and a third grooved bearing. The third stepping motor is fixedly connected to the fixed seat of the third wire-pulling device. The third wire winding wheel is connected to the output shaft of the third stepping motor. The fixed seat of the third wire-pulling device is provided with a grooved bearing receiving groove. The third grooved bearing is connected to the fixed seat of the third wire-pulling device through a cylindrical pin, and the third grooved bearing is located in the grooved bearing receiving groove of the third wire-pulling device; The fourth wire-pulling device includes a fixed seat, a fourth stepping motor, a fourth wire winding wheel, and a fourth grooved bearing. The fourth stepping motor is fixedly connected to the fixed seat of the fourth wire-pulling device. The fourth wire winding wheel is connected to the output shaft of the fourth stepping motor. The fixed seat of the fourth wire-pulling device is provided with a grooved bearing receiving groove. The fourth grooved bearing is connected to the fixed seat of the fourth wire-pulling device through a cylindrical pin, and the fourth grooved bearing is located in the grooved bearing receiving groove of the fourth wire-pulling device; The fixed seat of the first wire-pulling device is fixedly connected to the right side of the front end of the middle frame of the torso; the fixed seat of the second wire-pulling device is fixedly connected to the left side of the front end of the middle frame of the torso; the fixed seat of the third wire-pulling device is fixedly connected to the right side of the rear end of the middle frame of the torso, and the fixed seat of the fourth wire-pulling device is fixedly connected to the left side of the rear end of the middle frame of the torso; The front end of the first steel wire first bypasses the groove on the first grooved bearing in the first wire-pulling device, and then winds around the first wire winding wheel; The front end of the second steel wire first bypasses the groove on the second grooved bearing in the second wire-pulling device, and then winds around the second wire winding wheel; The rear end of the third steel wire first bypasses the groove on the third grooved bearing in the third wire-pulling device, and then winds around the third wire winding wheel; The rear end of the fourth steel wire first bypasses the groove on the fourth grooved bearing in the fourth wire-pulling device, and then winds around the fourth wire winding wheel.

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