An adaptive obstacle-crossing inspection robot

Abstract

The present invention discloses an adaptive obstacle-crossing inspection robot, comprising a support assembly, a plurality of fixed slot plates, a rotating slot plate, a crawler, a driving device and an elastic assembly. The plurality of fixed slot plates are radially arranged on the outer surface of the support assembly, the rotating slot plates and the fixed slot plates are rotatably installed, the crawler is sleeved on the fixed slot plates and the rotating slot plates, and an elastic assembly is arranged inside the fixed slot plates. The crawler contacts the inner wall of the pipeline by rotating the fixed slot plates. At this time, the crawler squeezes the inner wall of the pipeline under the rotation of the fixed slot plates, and the rotating slot plates rotate, causing the elastic assembly to deform. Under the rotation action of the rotating slot plates, the robot can pass through different raised obstacles. At the same time, under the action of the elastic assembly, the crawler can touch the inner wall of the pipeline at the depressions and cracks. There is no need to control the contraction and expansion of the crawler, and the operation is simple. The crawler is moved along the surface of the obstacle by the driving device, thereby improving the obstacle-crossing capability.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an inspection robot capable of adaptively crossing obstacles. Background Art

[0002] When inspecting existing pipelines, patrol robots are usually used to take photos and inspect inside the pipelines. Existing patrol robots generally have tracks on both sides of the bottom, and the track contact area is large, making walking more stable. Irregular obstacles often appear on the inner walls of pipelines. For example, in hot water pipes, steam pipes, cooling water systems, and oil pipelines in the petroleum and chemical industries, hard scale is often formed due to long-term fluid transportation, and material aging and external pressure and thermal changes can also cause pipeline deformation or cracks. Existing tracked robots generally have multiple tracks supported on the inner wall of the pipeline, and walk by rotating the tracks. When passing through irregular obstacles, the tracks are generally extended or retracted by a drive device to adapt to or cross the irregular obstacles. The operation of the tracked robot is complicated, and its obstacle crossing ability is low, which also affects its work efficiency.

[0003] In view of this, the existing technology still needs to be improved and developed. Summary of the Invention

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide an adaptive obstacle-crossing inspection robot, aiming to solve the problems of complex operation and low obstacle-crossing ability of existing crawler robots.

[0005] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0006] Compared with the prior art, the present invention has the following beneficial effects:

[0007] An adaptive obstacle-crossing inspection robot, characterized by comprising:

[0008] Support components;

[0009] A plurality of fixed slot plates are rotatably disposed on the outer surface of the support assembly and arranged radially;

[0010] A rotating slot plate is rotatably arranged on one side of the fixed slot plate;

[0011] A crawler track is sleeved on the fixed groove plate and the rotating groove plate;

[0012] A driving device is provided on one side of the fixed groove plate, and the driving device is connected to the crawler belt to drive the crawler belt to rotate;

[0013] An elastic component is arranged in the fixed groove plate, and one end of the elastic component is supported by the rotating groove plate. When the elastic component is in a natural state, the fixed groove plate and the rotating groove plate are in a straight line. When the elastic component is in a deformed state, the fixed groove plate and the rotating groove plate form an angle.

[0014] Furthermore, the elastic component includes:

[0015] a first torsion spring disposed in the fixed slot plate, wherein one end of the first torsion spring is supported against the top wall of the fixed slot plate, and the other end of the first torsion spring is supported against the top wall of the rotating slot plate;

[0016] The second torsion spring is arranged in the rotating slot plate. One end of the second torsion spring is supported on the bottom wall of the fixed slot plate, and the other end is supported on the bottom wall of the rotating slot plate.

[0017] Furthermore, the support assembly includes:

[0018] Two support frames, a connecting ring is provided between the two support frames, and the two support frames are symmetrically arranged with respect to the connecting ring;

[0019] A plurality of propulsion devices are arranged inside the support frame;

[0020] A rotating rod is provided on one side of the fixed slot plate, and the rotating rod is rotatably provided on the outer surface of the support frame. The inclination angle between the fixed slot plate and the support frame is adjusted by rotating the rotating rod; multiple rotating rods correspond to multiple propulsion devices one by one and are rotatably connected to drive the rotating rods to rotate.

[0021] Furthermore, the support frame includes:

[0022] Fixed ring;

[0023] an upper fixed carbon plate, arranged on one side of the fixing ring;

[0024] A plurality of sliding frames are radially arranged on the side wall of the upper fixed carbon plate, and the propulsion device is arranged in the sliding frames;

[0025] The lower fixed carbon plate is arranged on the other side of the sliding frame.

[0026] Furthermore, the propulsion device includes:

[0027] A propulsion motor is provided on a side of the sliding frame close to the connecting ring;

[0028] A screw rod is coaxially arranged with the output shaft of the propulsion motor;

[0029] A fixed block is slidably disposed in the sliding frame, wherein a fixing groove is provided on a side of the fixed block close to the propulsion motor, a nut is provided inside the fixing groove, and the nut is engaged with the screw thread;

[0030] A connecting rod is rotatably connected to the fixed block on one side and rotatably connected to the rotating rod on the other side.

[0031] Furthermore, the driving device includes:

[0032] A fixed housing is provided on one side of the rotating rod;

[0033] The drive motor is arranged inside the fixed shell, and the drive shaft of the drive motor passes through the rotating rod and is connected to the crawler belt.

[0034] Furthermore, one end of the fixed slot plate is rotatably provided with a mutually symmetrical driving gear, and the other end is rotatably provided with a mutually symmetrical first driven gear, and the end of the rotating slot plate away from the fixed slot plate is rotatably provided with a mutually symmetrical second driven gear, the driving gear, the first driven gear and the second driven gear cooperate with the crawler, and the driving gear is connected to the driving device.

[0035] Furthermore, the crawler is composed of a plurality of connecting parts connected front and back, and the connecting parts include:

[0036] Connector body;

[0037] A first arc member is provided on one side of the connecting member, and a connecting groove is provided in the middle of the first arc member;

[0038] a second arc member, disposed on a side of the connecting member away from the first arc member, the second arc member being matched with the connecting groove;

[0039] The first arc part and the second arc part are matched with each other through a pin.

[0040] Furthermore, the driving gear, the first driven gear and the second driven gear are all provided with a first groove and a second groove on their circumferences, and the first groove and the second groove are arranged at intervals. The connecting member body is provided with a first protrusion, the first groove cooperates with the first protrusion, and the first arc member and the second arc member cooperate with the second groove, so that the driving gear drives the track to rotate.

[0041] Furthermore, a camera assembly is provided on one side of the support assembly, and a front cover is provided on the side of the support assembly where the camera assembly is provided to protect the camera assembly.

[0042] In the present invention, a plurality of fixed slot plates are radially arranged on the outer surface of the support assembly, the fixed slot plates are rotatably arranged with the support assembly, the rotating slot plates are rotatably arranged with the fixed slot plates, the crawler tracks are sleeved on the fixed slot plates and the rotating slot plates, the driving device is connected to the crawler tracks and can drive the crawler tracks to rotate so as to drive the inspection robot to walk, an elastic component is arranged inside the fixed slot plates and is supported inside the rotating slot plates, and the fixed slot plates are rotated so as to make the crawler tracks contact the inner wall of the pipe, at which time the crawler tracks squeeze the inner wall of the pipe under the rotation of the fixed slot plates, the rotating slot plates rotate, and the elastic component is deformed. The crawler at one end of the fixed trough plate is in an inclined state with the inner wall of the pipe. When contacting different raised obstacles, the rotating trough plate continues to rotate under the action of the raised obstacle, so that the obstacle can be passed. After passing, under the action of the elastic component, the crawler continues to support the inner wall of the pipe. At the same time, under the action of the elastic component, the crawler can touch the depressions and cracks of the pipe. The crawler can adapt to the surface of irregular obstacles inside the pipe. There is no need to control the contraction and expansion of the crawler. The operation is simple. The crawler is moved along the surface of the obstacle through the driving device, thereby improving the obstacle-crossing ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0044] Figure 2 Schematic diagram of the camera assembly structure of the present invention.

[0045] Figure 3 It is a schematic diagram of the support assembly structure of the present invention.

[0046] Figure 4 It is a schematic diagram of the rotating rod structure of the present invention.

[0047] Figure 5 This is a schematic diagram of the drive gear and crawler track position structure of the present invention.

[0048] Figure 6 It is a schematic structural diagram of the elastic component of the present invention.

[0049] Figure 7 It is a schematic diagram of the structure of the fixed slot plate and the rotating slot plate of the present invention.

[0050] Figure 8 It is a structural schematic diagram of the propulsion device of the present invention.

[0051] Figure 9 Schematic diagram of the connector structure of the present invention.

[0052] Figure 10 This is a schematic diagram of the driving gear structure of the present invention.

[0053] The numbers in the figure are as follows: 1. Support assembly; 11. Support frame; 111. Fixed ring; 112. Upper fixed carbon plate; 113. Sliding frame; 114. Lower fixed carbon plate; 115. L-shaped frame; 12. Connecting ring; 13. Propulsion device; 131. Propulsion motor; 132. Screw; 133. Fixed block; 134. Fixed groove; 135. Nut; 136. Connecting rod; 2. Fixed groove plate; 21. Driving gear; 22. First driven Gear; 23. Rotating rod; 24. First groove; 25. Second groove; 3. Rotating groove plate; 31. Second driven gear; 4. Track; 41. Connecting piece; 42. Connecting piece body; 43. First arc piece; 44. Second arc piece; 45. Connecting groove; 46. First protrusion; 5. Elastic component; 51. First torsion spring; 52. Second torsion spring; 6. Driving device; 61. Fixed shell; 62. Driving motor; 7. Camera component; 8. Front cover. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0055] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0056] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0057] In view of the shortcomings of the existing technology, this embodiment provides an adaptive obstacle-crossing inspection robot, which can be specifically described as follows:

[0058] As attached Figure 1 , Attachment Figure 4 With attached Figure 7 As shown, an adaptive obstacle-crossing inspection robot includes a support assembly 1, multiple fixed slot plates 2, a rotating slot plate 3, a crawler 4, a driving device 6 and an elastic assembly 5. The support assembly 1 is located at the center of the robot. The support assembly 1 is cylindrical, which is convenient for movement inside the pipe. The multiple fixed slot plates 2 are radially arranged on the outer surface of the support assembly 1, and the fixed slot plates 2 and the support assembly 1 are rotatably arranged. By rotating the fixed slot plate 2, the robot can be adapted to pipes of different diameters. One end of the fixed slot plate 2 is rotatably provided with a mutually symmetrical driving gear 21, and the other end is rotatably provided with a mutually symmetrical first driven gear 22. A rotating slot plate 3 is rotatably provided on one side of the fixed slot plate 2, and the rotation center of the rotating slot plate 3 is coaxial with the rotation center of the driving gear 21. The rotating slot plate 3 is rotatably provided with a mutually symmetrical second driven gear 31 away from the fixed slot plate 2. The driving gear 21, the first driven gear 22 and the second driven gear 31 are cooperated with the crawler 4, and the crawler 4 is driven by the rotation of the driving gear 21, so that the robot can move freely. When walking inside the pipeline, a driving device 6 is provided on one side of the fixed groove plate 2, and the driving device 6 is connected to the driving gear 21 to drive the driving gear 21 and the crawler 4 to rotate; an elastic component 5 is provided inside the fixed groove plate 2, and one end of the elastic component 5 is supported inside the rotating groove plate 3. When the elastic component 5 is in a natural state, the fixed groove plate 2 and the rotating groove plate 3 are in a straight line. When the elastic component 5 is in a deformed state, the fixed groove plate 2 and the rotating groove plate 3 form an angle, and the elastic component 5 can play a role in resetting the rotating groove plate 3. When the rotating groove plate 3 is in a rotating state, the crawler 4 on the side opposite to the rotation direction of the rotating groove plate 3 will be pulled. At this time, the second driven gear 31 on the rotating groove plate 3 can be rotated to adapt to the increase in the length between the rotating groove plate 3 and the fixed groove plate 2 after the rotating groove plate 3 rotates, preventing the crawler 4 from being pulled. At the same time, through the rotation of the second driven gear 31, the crawler 4 can drive the second driven gear 31 to rotate when it contacts an irregular obstacle, so that the crawler 4 forms a certain deformation to fit the surface of the irregular obstacle.

[0059] Specifically, as attached Figure 1 and attached Figure 2There are six fixed trough plates 2, which are evenly distributed on the outer surface of the support assembly 1. By controlling the angle between the fixed trough plate 2 and the support assembly 1, the track 4 contacts the inner wall of the pipe. The angle between the fixed trough plate 2 and the support assembly 1 is further increased, so that the track 4 at the position of the fixed trough plate 2 is inclined to the inner wall of the pipe. At this time, the track 4 at the rotating point of the fixed trough plate 2 and the rotating trough plate 3 does not contact the inner wall of the pipe, so that when a raised obstacle appears on the inner wall of the pipe, the inclined belt of the front section contacts the surface of the obstacle and moves along its surface. At the same time, the raised part squeezes the rotating trough plate 3 to rotate, so that the track 4 at the position of the rotating trough plate 3 The track 4 contacts the raised surface and passes through the raised obstacle as the rotating groove plate 3 rotates. After passing through, the rotating groove plate 3 rotates in the opposite direction under the action of the elastic component 5 and contacts the inner wall of the pipe. When encountering a depression or groove, the rotating groove plate 3 rotates toward the inner wall of the pipe through the action of the elastic component 5, and can be supported against the inner wall of the depression or groove, thereby increasing the contact area with the inner wall and improving the grip. At the same time, under the action of the inclination of the front track 4, it moves out of the depression or groove. The elastic component 5 can make the robot track 4 adapt to the irregular obstacles on the inner wall of the pipe and pass through stably.

[0060] Further, as attached Figure 6 As shown, the elastic component 5 includes a first torsion spring 51 and a second torsion spring 52. The first torsion spring 51 is arranged inside the fixed slot plate 2. One end of the first torsion spring 51 is supported on the inner top wall of the fixed slot plate 2, and the other end is supported on the inner top wall of the rotating slot plate 3. One end of the second torsion spring 52 is supported on the inner bottom wall of the fixed slot plate 2, and the other end is supported on the inner bottom wall of the rotating slot plate 3. When the first torsion spring 51 and the second torsion spring 52 are in a normal state, the fixed slot plate 2 and the rotating slot plate 3 are in a parallel state. When the fixed slot plate 2 is rotated and the rotating slot plate 3 is squeezed against the inner wall of the pipe, the rotating slot plate 3 is rotated, and the first torsion spring 51 and the second torsion spring 52 are deformed. When the rotating slot plate 3 is separated from the inner wall of the extruded pipe, the rotating slot plate 3 returns to its initial state under the action of the first torsion spring 51 and the second torsion spring 52.

[0061] As attached Figure 3 and attached Figure 8 As shown, the support assembly 1 includes two support frames 11 and multiple propulsion devices 13. The two support frames 11 are fixed on both sides of the connecting ring 12 on opposite sides, and the two support frames 11 are symmetrically arranged with each other. Multiple propulsion devices 13 are radially arranged on the inner wall of the support frame 11, and a rotating rod 23 is arranged on one side of the fixed slot plate 2. The rotating rod 23 is rotatably arranged on the outer surface of the support frame 11. The multiple propulsion devices 13 are matched with the multiple rotating rods 23 in rotation. Through the propulsion device 13, the rotating rod 23 can be pushed to rotate to adjust the angle between the fixed slot plate 2 and the support frame 11.

[0062] Furthermore, a through hole and a threaded hole are provided inside the rotating rod 23 . The through hole is used to connect the driving device 6 with the driving gear 21 , and the threaded hole is used to fix the fixed slot plate 2 to the rotating rod 23 by bolts, and the bolts pass through the first driven gear 22 .

[0063] Further, as attached Figure 3 As shown, the support frame 11 includes a fixed ring 111, an upper fixed carbon plate 112, multiple sliding frames 113 and a lower fixed carbon plate 114. The upper fixed carbon plate 112 is fixed on one side of the fixed ring 111. The upper fixed carbon plate 112 is circular, and multiple sliding frames 113 are radially arranged on its circumferential surface. The propulsion device 13 is placed inside the sliding frame 113 to prevent the propulsion device 13 from being located outside the support frame 11 and easily touching obstacles and causing damage. The lower fixed carbon plate 114 is provided on the side of the sliding frame 113 away from the upper fixed carbon plate 112, and the multiple sliding frames 113 are fixed by the upper fixed carbon plate 112 and the lower fixed carbon plate 114. At the same time, the lower fixed carbon plate 114 is fixedly connected to the fixed ring 111 on the side away from the sliding frame 113, and another set of support frames 11 is provided on the side of the fixed ring 111 away from the lower fixed carbon plate 114.

[0064] Furthermore, a mounting plate is provided between the upper fixed carbon plates 112 of the two support frames 11 , and a controller is fixedly provided on the mounting plate.

[0065] Further, as attached Figure 2 As shown, a camera assembly 7 is provided on the upper fixed carbon plate 112 of either of the two support frames 11 near the fixed ring 111. The camera assembly 7 is electrically connected to the controller inside the support frame 11. The camera assembly 7 is located inside the fixed ring 111. A front cover 8 is provided on one side of the fixed ring 111 to protect the camera assembly 7. The front cover 8 is made of transparent plastic, which facilitates the camera assembly 7 to take pictures and provides road conditions in the forward direction.

[0066] The camera component 7 can be replaced with an IMU sensor, a cleaning end effector, a liquid injection actuator, an end gripper actuator, etc., and can perform various tasks in different scenarios.

[0067] As attached Figure 8As shown, the propulsion device 13 includes a propulsion motor 131, a screw 132, a fixed block 133 and a connecting rod 136. The propulsion motor 131 is electrically connected to the controller. The propulsion motor 131 is arranged on the side of the sliding frame 113 close to the connecting ring 12. The output shaft of the propulsion motor 131 is coaxially provided with a screw 132. The sliding frame 113 is slidingly provided with a fixed block 133 on the side away from the propulsion motor 131. The fixed block 133 is provided with a fixing groove 134 on the side close to the propulsion motor 131. A nut 135 is provided in the fixing groove 134. The nut 135 is threadedly connected to the screw 132. The fixing block 133 is provided with a fixing groove 134. The nut 135 is threadedly connected to the screw 132. The interior of 33 is a cavity, which allows the screw 132 to extend into the fixed block 133. At the same time, the propulsion motor 131 rotates, and the screw 132 drives the nut 135 and the fixed block 133 to slide inside the sliding frame 113. The fixed block 133 is away from one side of the propulsion motor 131 and is rotatably provided with a connecting rod 136. The other side of the connecting rod 136 is rotatably connected to the rotating rod 23. The fixed block 133 is driven by the propulsion motor 131 to slide inside the sliding frame 113, thereby driving the connecting rod 136 to support the rotating rod 23 for rotation, thereby adjusting the inclination angle between the fixed slot plate 2 and the support frame 11.

[0068] Furthermore, the sliding frame 113 includes two symmetrical L-shaped frames 115 , which cooperate with each other to form an accommodating space. The propulsion motor 131 and the fixing block 133 are placed inside the accommodating space, and the propulsion motor 131 is also protected.

[0069] The propulsion motor 131 is electrically connected to the controller, which can realize the adjustment of each rotating rod 23. It has multiple independent deformation capabilities and the ability to cope with various types of obstacles in the pipeline, effectively avoiding problems such as slipping, suspension and excessive single-point pressure caused by a large number of obstacles.

[0070] As attached Figure 4 and attached Figure 7 As shown, the driving device 6 includes a fixed shell 61 and a driving motor 62. An opening is set on one side of the fixed shell 61, and the opening side of the fixed shell 61 is set on the side wall of the rotating rod 23. A driving motor 62 is set inside the fixed shell 61. The driving motor 62 is electrically connected to the controller. At the same time, the output shaft of the driving motor 62 passes through the rotating rod 23 and is connected to the two driving gears 21.

[0071] As attached Figure 5 With attached Figure 9As shown, the crawler 4 is composed of a plurality of connecting parts 41 connected front to back, and the connecting part 41 includes a connecting part body 42, a first arc part 43 and a second arc part 44. The first arc part 43 is arranged on one side of the connecting part body 42, and a connecting groove 45 is provided in the middle position of the first arc part 43. The second arc part 44 is arranged on the side of the connecting part body 42 away from the first arc part 43. The second arc part 44 cooperates with the connecting groove 45. The first arc part 43 is provided with a first through hole, and the second arc part 44 is provided with a second through hole corresponding to the first through hole. Pins are provided inside the first through hole and the second through hole to rotatably connect the first arc part 43 and the second arc part 44 together.

[0072] Further, as attached Figure 5 With attached Figure 10 As shown, the driving gear 21, the first driven gear 22 and the second driven gear 31 are the same gears, and the first groove 24 and the second groove 25 are evenly distributed on the circumference thereof, and the first groove 24 and the second groove 25 are spaced apart. The connecting member body 42 is provided with a first protrusion 46, and the first protrusion 46 cooperates with the first groove 24, and the first arc member 43 and the second arc member 44 cooperate with the second groove 25, so that the driving gear 21 rotates to drive the track 4 to rotate.

[0073] The working principle of the present invention is as follows:

[0074] In the initial state, under the action of the propulsion motor 131, the crawler 4, the fixed slot plate 2 and the rotating slot plate 3 are located on the surface of the support frame 11 and are parallel to each other. When it is necessary to put it into the pipe for inspection, the propulsion motor 131 is used to rotate the rotating frame, and the fixed slot plate 2 is at a certain angle to the support frame 11. The second driven gear 31 on one side of the rotating slot plate 3 and the crawler 4 on this side contact the inner wall of the pipe, and under the action of the propulsion motor 131, the rotating slot plate 3 rotates under the action of the inner wall of the pipe, and the driving gear 21 is driven to rotate by the driving motor 62. , thereby driving the crawler 4 and the robot to walk on the inner wall of the pipe. When a crack or a depression is needed, the rotating groove plate 3 rotates under the action of the first torsion spring 51 and the second torsion spring 52, so that the crawler 4 contacts the inner wall of the crack and the depression, and at the same time increases the contact area between the crawler 4 and the inner wall of the pipe, thereby improving the grip. At the same time, under the action of the crawler 4 at the position of the fixed groove plate 2 being inclined to the inner wall of the pipe, the robot can quickly walk out of the crack and depression. Under the action of the inner wall of the pipe, the rotating groove plate 3 is squeezed and rotated, and the first torsion spring 51 and the second torsion spring 52 are deformed to a certain extent.

[0075] When encountering a raised obstacle, the raised obstacle will squeeze the rotating slot plate 3, causing the rotating slot plate 3 to rotate and fit the surface of the obstacle. After passing the obstacle, the rotating slot plate 3 returns to its previous state under the action of the first torsion spring 51 and the second torsion spring 52. The first torsion spring 51, the second torsion spring 52 and the rotating slot plate 3 can fit the surface of the obstacle and quickly pass the obstacle.

[0076] When the robot faces complex working conditions in the pipeline, such as when a damaged hole appears at the front end of the pipeline or the front end pipeline suddenly changes in diameter, the camera component 7 takes a picture to confirm the road conditions ahead, and then the propulsion motor 131 controls the multiple tracks 4 at the front end of the robot to retract, and is supported by the multiple tracks 4, rotating rod 23, fixed slot plate 2 and rotating slot plate 3 at the rear end of the robot, so that the front end of the robot is in a suspended state. When the front end of the robot moves to another working condition area, the propulsion motor 131 drives the rotating rod 23, fixed slot plate 2, rotating slot plate 3 and tracks 4 to open and contact the inner wall of the pipeline, and the drive motor 62 drives the tracks 4 to rotate. At the same time, the controller controls the propulsion motor 131 at the rear end to retract the tracks 4. When the rear end of the robot is in this working condition, the controller controls the propulsion motor 131 to unfold the tracks 4 and hold them against the inner wall of the pipeline for walking. Through the above device, the robot is more stable when walking in the pipeline and can adapt to various complex environments in the pipeline.

[0077] Other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the embodiments disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the invention being indicated by the claims.

Claims

1. An adaptive obstacle-crossing inspection robot, characterized in that: include: Support components; A plurality of fixed slot plates are rotatably disposed on the outer surface of the support assembly and arranged radially; A rotating slot plate is rotatably arranged on one side of the fixed slot plate; A crawler track is sleeved on the fixed groove plate and the rotating groove plate; A driving device is provided on one side of the fixed groove plate, and the driving device is connected to the crawler belt to drive the crawler belt to rotate; An elastic component is disposed in the fixed slot plate, one end of the elastic component is supported against the rotating slot plate, when the elastic component is in a natural state, the fixed slot plate and the rotating slot plate are in a straight line, and when the elastic component is in a deformed state, the fixed slot plate and the rotating slot plate form an angle; The support assembly comprises: Two support frames, a connecting ring is provided between the two support frames, and the two support frames are symmetrically arranged with respect to the connecting ring; A plurality of propulsion devices are arranged inside the support frame; A rotating rod is provided on one side of the fixed slot plate, and the rotating rod is rotatably provided on the outer surface of the support frame. The inclination angle between the fixed slot plate and the support frame is adjusted by rotating the rotating rod; multiple rotating rods correspond to multiple propulsion devices one by one and are rotatably connected to drive the rotating rods to rotate.

2. The adaptive obstacle-crossing inspection robot according to claim 1, characterized in that: The elastic component comprises: a first torsion spring disposed in the fixed slot plate, wherein one end of the first torsion spring is supported against the top wall of the fixed slot plate, and the other end of the first torsion spring is supported against the top wall of the rotating slot plate; The second torsion spring is arranged in the rotating slot plate. One end of the second torsion spring is supported on the bottom wall of the fixed slot plate, and the other end is supported on the bottom wall of the rotating slot plate.

3. The adaptive obstacle-crossing inspection robot according to claim 1, characterized in that: The support frame comprises: Fixed ring; an upper fixed carbon plate, arranged on one side of the fixing ring; A plurality of sliding frames are radially arranged on the side wall of the upper fixed carbon plate, and the propulsion device is arranged in the sliding frames; The lower fixed carbon plate is arranged on the other side of the sliding frame.

4. The adaptive obstacle-crossing inspection robot according to claim 3, characterized in that: The propulsion device comprises: A propulsion motor is provided on a side of the sliding frame close to the connecting ring; A screw rod is coaxially arranged with the output shaft of the propulsion motor; A fixed block is slidably disposed in the sliding frame, wherein a fixing groove is provided on a side of the fixed block close to the propulsion motor, a nut is provided inside the fixing groove, and the nut is engaged with the screw thread; A connecting rod is rotatably connected to the fixed block on one side and rotatably connected to the rotating rod on the other side.

5. The adaptive obstacle-crossing inspection robot according to claim 1, characterized in that: The driving device comprises: A fixed housing is provided on one side of the rotating rod; The drive motor is arranged inside the fixed shell, and the drive shaft of the drive motor passes through the rotating rod and is connected to the crawler belt.

6. The adaptive obstacle-crossing inspection robot according to claim 1, characterized in that: One end of the fixed slot plate is rotatably provided with a mutually symmetrical driving gear, and the other end is rotatably provided with a mutually symmetrical first driven gear. The end of the rotating slot plate away from the fixed slot plate is rotatably provided with a mutually symmetrical second driven gear. The driving gear, the first driven gear and the second driven gear are matched with the crawler track, and the driving gear is connected to the driving device.

7. The adaptive obstacle-crossing inspection robot according to claim 6, characterized in that: The crawler is composed of a plurality of connecting parts connected front and back, and the connecting parts include: Connector body; A first arc member is provided on one side of the connecting member, and a connecting groove is provided in the middle of the first arc member; a second arc member, disposed on a side of the connecting member away from the first arc member, the second arc member being matched with the connecting groove; The first arc part and the second arc part are matched with each other through a pin.

8. The adaptive obstacle-crossing inspection robot according to claim 7, characterized in that: The driving gear, the first driven gear and the second driven gear are all provided with a first groove and a second groove on their circumferences, and the first groove and the second groove are arranged at intervals. The connecting member body is provided with a first protrusion, the first groove cooperates with the first protrusion, and the first arc member and the second arc member cooperate with the second groove, so that the driving gear drives the crawler to rotate.

9. The adaptive obstacle-crossing inspection robot according to claim 1, characterized in that: A camera assembly is provided on one side of the support assembly, and a front cover is provided on the side of the support assembly where the camera assembly is provided to protect the camera assembly.

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