An inspection robot for annular pipelines

Abstract

The present invention relates to the technical field of pipeline inspection robots, and particularly relates to an inspection robot for annular pipelines, which includes a chassis assembly, a top wheel assembly, and a driving device. The top wheel assembly includes a flexible arm assembly and a torsion spring rotating member; a top wheel driving device is provided at the first end of the flexible arm assembly, a rotating shaft assembly is provided at the second end of the flexible arm assembly, and the flexible arm assembly is rotationally connected to the side wall of the robot body through the rotating shaft assembly; the torsion spring rotating member includes a torsion spring, a rotating member body, a rotating arm, and a rotating motor. The rotating member body is sleeved on the end of the rotating shaft assembly. One side leg of the torsion spring is connected to the flexible arm assembly, and the other side is connected to the first end of the rotating member body. One end of the rotating arm is connected to the second end of the rotating member body, and the other end is connected to the output end of the rotating motor. The present invention adjusts the height of the robot by deforming the top wheel assembly and provides sufficient friction to support the robot to move forward between the inner wall of the outer pipe and the outer wall of the inner pipe.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline inspection robots, and more particularly to an inspection robot for annular pipelines. Background Art

[0002] With the increasing demand for electricity by people, the number and installed capacity of hydropower stations in China have been increasing year by year, and the inspection requirements for hydropower stations are also constantly expanding. During the daily inspection of hydropower stations, the maintenance and repair of the isolated-phase enclosed bus ducts of generator sets have always been the key points and difficulties in the inspection process. As a kind of annular through pipeline, the isolated-phase enclosed bus duct has a unique double-pipeline and pipe-in-pipe structure, which makes it impossible for workers to directly visually observe the internal environment of the pipeline. The traditional manual disassembly and repair method has defects such as high equipment damage, long time consumption, and high labor costs.

[0003] In the prior art, the isolated-phase enclosed bus duct has a complex double-pipeline structure with a large pipe sleeving a small pipe. The outer pipe serves as an insulating shell to protect and insulate the isolated-phase enclosed bus. The insulating shell is an aluminum pipe with a diameter of 1.45 m, and its wall thickness is generally 6 - 10 mm. The diameter of the conductor is 0.9 m. There are insulators between the insulating shell and the conductor to support the internal conductor. The interval of each group of insulators in the pipeline length direction is about 2.6 m, and three insulators are in a group and are distributed at an angle of 120° to each other.

[0004] In the pipeline gap (the robot inspection space) of this kind of isolated-phase enclosed bus duct, the gap height is in the range of 22 - 28 cm, and the opening size of the insulator is a circular opening of 19 cm.

[0005] In addition, this kind of isolated-phase enclosed bus duct has a winding pipeline, including straight sections, turning sections, and climbing sections. Therefore, for a robot to rotate in this kind of pipeline, it is necessary to ensure not only good movement in the straight section but also the ability of the robot to turn (from a straight section to a curved section) and climb (overcoming its own gravity) in the pipeline.

[0006] In this kind of pipeline, when the wheel legs of the robot are completely vertical during walking, the overall height of the robot needs to be greater than 28 cm (i.e., greater than the maximum size of the pipe gap). In addition, the length is required not to exceed 50 cm (because in some cases, the pipeline length does not exceed 50 cm, such as some turning positions). Existing robots cannot carry appropriate equipment and control components for inspection at this height. Summary of the Invention

[0007] The object of the present invention is to provide an inspection robot for annular pipelines, which realizes the change of the overall height of the robot with the change of the pipeline gap by deforming the top wheel assembly, and provides sufficient frictional force between the inner wall of the outer pipe and the outer wall of the inner pipe to support the walking of the robot, so as to solve the problems pointed out in the background technology.

[0008] The embodiments of the present invention are realized through the following technical solutions: An inspection robot for annular pipelines includes a chassis assembly, a top wheel assembly and a driving device. The top wheel assembly and the driving device are both arranged on the chassis assembly. The driving device includes a control system, a driving system, a visual perception system and a power supply system. The control system is electrically connected to the driving system, the digital video transmission system and the lighting system respectively. The power supply system is electrically connected to the control system, the driving system, the digital video transmission system and the lighting system respectively. The driving system includes a top wheel driving device, a bottom wheel driving device and a rotating motor.

[0009] The chassis assembly includes a chassis frame, two groups of bottom wheels and a robot body. The robot body is arranged on the chassis frame, and the bottom wheels are connected to the output ends of the bottom wheel driving devices.

[0010] The top wheel assembly includes two pairs of flexible arm assemblies and a torsion spring rotating member. The top wheel driving device is arranged at the first end of the flexible arm assembly. The top wheel is connected to the output end of the top wheel driving device. The second end of the flexible arm assembly is provided with a rotating shaft assembly. The flexible arm assembly is rotationally connected to the side wall of the robot body through the rotating shaft assembly.

[0011] The torsion spring rotating member includes a torsion spring, a rotating member body, a rotating arm and a rotating motor. The rotating member body, the rotating arm and the rotating motor are all arranged outside the robot body. The rotating member body is sleeved on the end of the rotating shaft assembly passing through the side wall of the robot body and is in clearance fit with the end. One side leg of the torsion spring is connected to the flexible arm assembly, and the other side leg is connected to the first end of the rotating member body. The first end of the rotating arm is connected to the second end of the rotating member body, and the second end of the rotating arm is connected to the output end of the rotating motor.

[0012] According to a preferred embodiment, the power supply system includes a battery, a power switch, a shunt board and a dual-channel buck module.

[0013] The battery is electrically connected to the shunt board. The power switch is connected in series between the battery and the shunt board. The shunt board is electrically connected to the dual-channel buck module. The shunt board is electrically connected to the digital video transmission system and the driving system respectively. The dual-channel buck module is electrically connected to the control system and the lighting system respectively.

[0014] According to a preferred embodiment, the control system includes a handheld control terminal, a receiver, and a main controller. The handheld control terminal is communicatively connected to the receiver, and the receiver is electrically connected to the main controller.

[0015] According to a preferred embodiment, the main controller is electrically connected to a digital video transmission system and a lighting system respectively through relays.

[0016] According to a preferred embodiment, the torsion spring support leg connected to the first end of the rotating member body is disposed outside the flexible arm assembly, and the first flexible arm side plate and the second flexible arm side plate of the flexible arm assembly are provided with notches corresponding to the torsion spring support leg.

[0017] According to a preferred embodiment, the torsion spring rotating member has a blocking state that prevents the flexible arm assembly from continuing to move in the first direction when the flexible arm assembly is deformed by extrusion and moves to the first position in the first direction, and a rotating state that can drive the flexible arm assembly to exceed the first position when the flexible arm assembly is deformed by extrusion and moves in the first direction.

[0018] According to a preferred embodiment, when the torsion spring rotating member is in the blocking state, the torsion spring has a pre-tightening state in which it is stressed and generates an elastic restoring force opposite to the movement direction when the two pairs of flexible arm assemblies move away from each other, and a release state in which the elastic restoring force is released when the two pairs of flexible arm assemblies move towards each other.

[0019] According to a preferred embodiment, a control cabin and a battery compartment are built into the robot body. The battery compartment is disposed on one side of the control cabin. The control cabin is divided by a partition into a first control cabin accommodation space for installing the main controller and a second control cabin accommodation space for installing the power supply system. The first control cabin accommodation space is provided with a main controller wiring space, and a wiring channel is reserved outside the control cabin.

[0020] According to a preferred embodiment, the control cabin is enclosed by a control cabin first side plate, a control cabin back plate, a control cabin second side plate, a control cabin bottom plate, and the partition to form a rectangular accommodation space with openings at the front end and the top end.

[0021] According to a preferred embodiment, the battery compartment is disposed on the other side opposite to the control cabin back plate. The shunt plate and the dual-channel buck module are both arranged on the control cabin back plate. The relay and the brushed electronic speed controllers connecting the top wheel drive device and the bottom wheel drive device are both arranged on the control cabin bottom plate. The main controller is arranged on the partition.

[0022] The technical solution of the inspection robot for annular pipelines in the embodiments of the present invention has at least the following advantages and beneficial effects: When the pipeline gap between the inner wall of the outer pipe and the outer wall of the inner pipe changes, the pipeline inspection robot provided by the present invention can achieve the purpose of changing with the pipeline gap by deforming the top wheel assembly, so that it can walk under different pipe diameters, and there is sufficient friction between it and the inner wall of the outer pipe and the outer wall of the inner pipe to support the robot to walk, and the robot will not be unable to move forward due to insufficient friction after deformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 FIG. 6 is a schematic diagram of the overall structure of the inspection robot for annular pipelines provided in Embodiment 1 of the present invention;

[0024] Figure 2 FIG. 10 is a side view of the inspection robot for annular pipelines provided in Embodiment 1 of the present invention;

[0025] Figure 3 FIG. 14 is a schematic diagram of the deformation of the top wheel assembly provided in Embodiment 1 of the present invention;

[0026] Figure 4 FIG. 18 is a schematic diagram of the inspection robot for annular pipelines walking in a pipeline provided in Embodiment 1 of the present invention;

[0027] Figure 5 FIG. 22 is a schematic diagram of the inspection robot for annular pipelines in a pipeline provided in Embodiment 1 of the present invention;

[0028] Figure 6 FIG. 26 is a schematic diagram of the control cabin provided in Embodiment 1 of the present invention;

[0029] Figure 7 FIG. 30 is a front view of the inspection robot for annular pipelines provided in Embodiment 1 of the present invention;

[0030] Figures 8 to 10 FIG. 34 is a schematic diagram of the torsion spring rotating member provided in Embodiment 1 of the present invention;

[0031] Figure 11 FIG. 38 is a structural block diagram of the driving device provided in Embodiment 1 of the present invention;

[0032] Figure 12 FIG. 42 is a structural block diagram of the power supply system provided in Embodiment 1 of the present invention;

[0033] Icons: 1 - Inner wall of the outer pipe, 2 - Outer wall of the inner pipe, 3 - Robot body, 31 - First side plate, 32 - Second side plate, 34 - First top plate, 35 - First connecting plate, 36 - Second connecting plate, 4 - Bottom wheel assembly, 41 - Bottom wheel, 5 - Top wheel assembly, 51 - Flexible arm assembly, 511 - First flexible arm side plate, 512 - Second flexible arm side plate, 513 - Back plate, 52 - Torsion spring rotating part, 521 - Rotating part body, 522 - Spring pin, 523 - Rotating motor, 524 - Rotating arm, 53 - Top wheel, 54 - Top wheel driving device, 55 - Shaft assembly, 6 - Pin fixing hole, 7 - Camera assembly, 8 - Torsion spring, 9 - Control cabin, 91 - Control cabin back plate, 92 - First control cabin side plate, 93 - Second control cabin side plate, 94 - Control cabin bottom plate, 95 - Partition plate, 101 - Battery, 102 - Main controller, 103 - Shunt plate, 104 - Dual - way buck module, 105 - Brushed electronic speed controller, 106 - Relay. Detailed implementation mode

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0035] Embodiment 1

[0036] The embodiment of the present invention provides an inspection robot for a circular pipeline. The inspection robot for the circular pipeline includes a chassis assembly, a top wheel assembly 5, and a driving device. The top wheel assembly 5 and the driving device are both arranged on the chassis assembly; see Figure 1 as shown Figure 1 which is the overall structure diagram of the inspection robot for the circular pipeline provided by the embodiment of the present invention.

[0037] Specifically, regarding the top wheel assembly 5 of the inspection robot for the circular pipeline: In a specific implementation manner of this embodiment, see Figure 2 , 3 , 7, 8, 9, and 10. The top wheel assembly 5 includes at least two pairs of flexible arm assemblies 51, a torsion spring rotating part 52, a top wheel 53, and a top wheel driving device 54. Among them, the top wheel driving device 54 is arranged at the first end of the flexible arm assembly 51, the top wheel 53 is connected to the output end of the top wheel driving device 54, the second end of the flexible arm assembly 51 is provided with a shaft assembly 55, and the flexible arm assembly 51 is rotatably connected to the side wall of the robot body 3 through the shaft assembly 55.

[0038] In an implementation manner of this embodiment, the number of the flexible arm assemblies 51 is four. A bearing is provided on the side wall of the robot body 3, and the rotating shaft assembly 55 is in interference fit with the bearing. Two of the flexible arm assemblies 51 are respectively rotatably connected to the first side plate 31 of the robot body 3 through the rotating shaft assembly 55, and the other two flexible arm assemblies 51 are respectively rotatably connected to the second side plate 32 of the robot body 3 through the rotating shaft assembly 55.

[0039] The number of the torsion spring rotating members 52 is the same as that of the flexible arm assemblies 51, and one torsion spring rotating member 52 is arranged on one rotating shaft assembly 55. Specifically, the torsion spring rotating member 52 includes a torsion spring 8, a rotating member body 521, a rotating arm 524 and a rotating motor 523. The rotating member body 521, the rotating arm 524 and the rotating motor 523 are all arranged outside the robot body 3. The rotating member body 521 is sleeved on the end of the rotating shaft assembly 55 passing through the side wall of the robot body 3 and is in clearance fit with the end. One side leg of the torsion spring 8 is connected to the flexible arm assembly 51, and the other side leg is connected to the first end of the rotating member body 521. The first end of the rotating arm 524 is connected to the second end of the rotating member body 521, and the second end of the rotating arm 524 is connected to the output end of the rotating motor 523. The torsion spring rotating member 52 is used to provide an elastic force for the flexible arm assembly 51 abutted against it.

[0040] Further, in an implementation manner of this embodiment, the top wheels 53 adopt Mecanum wheels. The number of the Mecanum wheels is the same as that of the flexible arm assemblies 51, and one Mecanum wheel is arranged on one flexible arm assembly 51; the number of the top wheel driving devices 54 is the same as that of the top wheels 53, and one top wheel driving device 54 is used to drive one top wheel 53 to rotate.

[0041] Further, the flexible arm assembly 51 is composed of a back plate 513, a first flexible arm side plate 511, and a second flexible arm side plate 512. The back plate 513, the first flexible arm side plate 511, and the second flexible arm side plate 512 jointly define a clamping area for installing the top wheel driving device 54 and the rotating shaft assembly 55. The top wheel driving device 54 is detachably connected to the inner side of the clamping area, and its two output ends respectively penetrate through the first flexible arm side plate 511 and the second flexible arm side plate 512 and are connected to a top wheel 53. The torsion spring 8 feet connected to the first end of the rotating member body 521 are arranged outside the flexible arm assembly 51, and the first flexible arm side plate 511 and the second flexible arm side plate 512 of the flexible arm assembly 51 are provided with notches corresponding to the torsion spring 8 feet. The torsion spring rotating member 52 has a blocking state that prevents the flexible arm assembly 51 from continuing to move in the first direction when the flexible arm assembly 51 is squeezed and deformed and moves to the first position in the first direction, and a rotating state that can drive the flexible arm assembly 51 to exceed the first position when the flexible arm assembly 51 is squeezed and deformed and moves in the first direction. When the torsion spring rotating member 52 is in the blocking state, the torsion spring 8 has a pre-tightening state in which it is stressed and generates an elastic restoring force opposite to the movement direction when the two pairs of flexible arm assemblies 51 move away from each other, and a release state in which the elastic restoring force is released when the two pairs of flexible arm assemblies 51 move towards each other.

[0042] When one or more of the flexible arm assemblies 51 are squeezed by one of the inner wall 1 of the outer tube or the outer wall 2 of the inner tube that is in contact with them, the torsion spring rotating member 52 in contact with the squeezed flexible arm assembly 51 is compressed, so that the squeezed flexible arm assembly 51 overcomes the elastic force of the torsion spring rotating member 52 and moves.

[0043] Specifically, pin fixing holes 6 are provided on the first side plate 31 and the second side plate 32 of the robot body 3. Pin fixing holes 6 and leg fixing holes for the torsion spring 8 are provided on the rotating member body 521. One side leg of the torsion spring 8 connected to one end of the rotating member body 521 is arranged in the leg fixing hole of the torsion spring 8. The spring pin 522 is arranged in the pin fixing hole 6. The spring pin 522 includes a telescopic end for fixing the torsion spring rotating member 52 in a predetermined position so that the torsion spring 8 can work properly. When the spring pin 522 is located in the pin fixing hole 6 on the first side plate 31, the torsion spring rotating member 52 is in a blocked state. When the spring pin 522 is not located in the pin fixing hole 6 on the first side plate 31, the torsion spring rotating member 52 is in a rotating state. In this embodiment, the rotating member body 521 and the first side plate 31 are connected by a rotating shaft assembly 55. By rotating the rotating member body 521, the pre-tightening force of the torsion spring 8 can be adjusted. When the torsion spring rotating member 52 is twisted to a preset position, the spring pin 522 is inserted into the pin fixing hole 6 of the first side plate 31, so that the torsion spring 8 has a certain pre-tightening force. At this time, the flexible arm assembly 51 remains vertical without external force and can adjust the deployment angle according to the force on the top wheel 53. When the pull ring on the spring pin 522 is pulled, the torsion spring rotating member 52 returns to its original position, the pre-tightening force of the torsion spring 8 disappears, and the flexible arm assembly 51 remains in a relaxed state. Through the above design, during the inspection process, the operator can easily and quickly adjust the overall height of the above-mentioned robot and smoothly place the robot into the isolated-phase enclosed bus duct. It can be understood that the structures of the other several torsion spring 8 rotating assemblies are all the same as that of this torsion spring 8 rotating assembly, and will not be elaborated here.

[0044] Through the above design of the present application, as shown in Figure 4 and Figure 5 When the robot is placed from the insulator opening, keep the flexible arm assembly 51 in a relaxed state. After entering the inner part of the annular duct, adjust the position of the spring pin 522 on the top wheel assembly 5 to make the torsion spring rotating member 52 in a blocked state.

[0045] Further, the output end of the rotating motor 523 can drive the rotating arm 524 to rotate, so that the rotating arm 524 drives the rotating body to move, and the torsion spring rotating member 52 is switched from the rotating state to the blocked state. With this design, after the robot is placed into the annular duct, it is not necessary to manually switch between the rotating state and the blocked state, and only need to remotely control the rotating motor 523. It can be understood that in the embodiment, the other several torsion spring 8 rotating assemblies all adopt the same structure as this torsion spring 8 rotating assembly, and will not be elaborated here.

[0046] Further, the outer side of the rotating motor 523 is covered with a motor fixing base. The rotating motor 523 is detachably connected to the side wall of the robot body 3 through the motor fixing base, and the motor fixing base is used to fix the rotating motor 523 on the side wall of the robot body 3.

[0047] Further, regarding the driving device of the inspection robot for the annular pipeline: Refer to Figure 11 and Figure 12 As shown, in a specific implementation manner of this embodiment, the driving device includes a control system, a top wheel 53 driving system, a bottom wheel 41 driving system, a visual perception system, and a power supply system. The control system is electrically connected to the top wheel 53 driving system, the bottom wheel 41 driving system, the digital video transmission system, and the lighting system respectively. The power supply system is electrically connected to the control system, the top wheel 53 driving system, the bottom wheel 41 driving system, the digital video transmission system, and the lighting system respectively.

[0048] Specifically, the power supply system includes a battery 101, a power switch, a shunt board 103, and a dual-channel buck module 104. In a specific implementation manner of this embodiment, the battery 101 of the power supply system uses a 3S model aircraft battery 101 with an output voltage of 11.1V and a battery capacity of 5000mAh. The power switch uses a self-locking small metal switch. Further, the battery 101 is electrically connected to the shunt board 103, the shunt board 103 is electrically connected to the dual-channel buck module 104, and the shunt board 103 is electrically connected to the digital video transmission system and the driving system respectively. The 11.1V current is supplied to the digital video transmission system, the driving system, and the buck module respectively through the shunt board 103. In a specific implementation manner of this embodiment, the top wheel 53 driving system and the bottom wheel 41 driving system are composed of 4 KM2WAY5A brushed electronic speed controllers 105 and 8 5882-50ZY brushless motors. In addition, the robot further includes a mechanical claw, and the mechanical claw is driven by 4 5882-50ZY micro servo motors. The micro servo motors are powered by the dual-channel buck module 104 and controlled by the main controller 102. Further, the self-locking small metal switch is connected in series between the 3S model aircraft battery 101 and the shunt board 103.

[0049] Further, the dual-channel buck module 104 is electrically connected to the control system and the lighting system respectively. The 11.1V current shunted to the dual-channel buck module 104 is stepped down by the dual-channel buck module 104 and then supplied to the lighting system and the control system respectively. Among them, the current supplied to the lighting system is 3.7V, and the current supplied to the control system is 5V, so as to meet the power supply requirements of the pipeline inspection robot and improve the voltage regulation ability of the pipeline inspection robot.

[0050] In an implementation manner of this embodiment, the pipeline inspection robot supports remote control. Specifically, the control system includes a handheld control terminal, a receiver, and a main controller 102. The handheld control terminal is communicatively connected to the receiver, and the receiver is electrically connected to the main controller 102. The handheld control terminal uses the FS-i6 remote controller of Furians, and the receiver uses the Furians IA6B paired with the remote controller to issue operation instructions to the receiver through the remote controller. Further, the main controller 102 uses an Arduino UNO single-chip microcomputer. After the single-chip microcomputer identifies the signal received by the receiver, it analyzes the PWM signal through a preset parsing algorithm. Further, the main controller 102 is electrically connected to the digital video transmission system and the lighting system respectively through a relay 106. The digital video transmission system includes a sky end and a camera. The splitter plate 103 is electrically connected to the sky end, and the sky end is electrically connected to the camera. A relay 106 is connected to each of the digital video transmission system and the lighting system. The single-chip microcomputer controls the relay 106 to control the on / off of the visual perception system and the lighting system, so as to control the robot to walk, collect visual information, and perform the lighting function in real time.

[0051] Further, regarding the chassis assembly of the inspection robot for the annular pipeline: Specifically, in an implementation manner of this embodiment, the chassis assembly includes a chassis frame, two sets of wheel system units, and a robot body 3. The robot body 3 is arranged on the chassis frame.

[0052] Specifically, this embodiment includes two sets of the wheel system units, a total of 4 Mecanum wheels are rotatably arranged on both sides of the chassis frame. Each set of the wheel system units is driven to rotate by a set of brushless motors. The brushless motors are arranged inside the robot body 3. Two of the brushless motors are arranged on the first side plate 31 of the robot body 3, and the other two brushless motors are arranged on the second side plate 32 of the robot body 3.

[0053] Further, the power supply and control layout provided by the chassis assembly of this embodiment are as follows:

[0054] See Figure 6As shown, the robot body 3 is internally provided with a control cabin 9 and a battery 101 compartment. The battery 101 compartment is arranged on one side of the control cabin 9. The control cabin 9 is divided by a partition board 95 into a first control cabin 9 accommodation space for installing the robot main controller 102 and a second control cabin 9 accommodation space for installing the power supply system. Specifically, the power supply system includes a shunt board 103, a step-down module, a brushed electronic speed controller 105, and a relay 106. The control cabin 9 is enclosed by a first control cabin side plate 9231, a control cabin back plate 91513, a second control cabin side plate 9332, a control cabin bottom plate 94, and the partition board 95 to form a rectangular accommodation space with openings at the front end and the top end; the robot body 3 is provided with a top plate above the rectangular accommodation space and is provided with a first connecting plate 35 and a second connecting plate 36 at the front and rear ends.

[0055] In an implementation manner of this embodiment, the shunt board 103 is connected to the battery 101 in the battery 101 compartment. The shunt board 103 is arranged in the second control cabin 9 accommodation space and is connected to the control cabin back plate 91513; the step-down module is arranged in the second control cabin 9 accommodation space and is connected to the shunt board 103; the brushed electronic speed controller 105 is connected to the shunt board 103. The brushed electronic speed controller 105 is arranged in the second control cabin 9 accommodation space and is arranged on the control cabin bottom plate 94; the relay 106 group is arranged in the second control cabin 9 accommodation space and is connected to the main controller 102; the main controller 102 is arranged in the first control cabin 9 accommodation space and is arranged on the partition board 95, and the main controller 102 is connected to the step-down module.

[0056] In an implementation manner of this embodiment, the control cabin 9 is made by 3D printing. A wiring space is reserved in the first control cabin 9 accommodation space, and wire routing channels are reserved around the control cabin 9. Each control component is wired and controlled with the functional components distributed throughout the robot body 3 through the wire routing channels. In addition, a robotic arm is arranged on one side of the robot body 3 provided in this embodiment, a camera assembly 7 is further arranged at the front end of the robot body 3, and an antenna is arranged at the rear end of the robot body 3.

[0057] In summary, the chassis assembly provided in this embodiment can achieve the power supply and control layout required for inspection under the highest height and the longest length requirements of the inspection robot for annular pipelines. In an implementation manner of this embodiment, the inspection robot for annular pipelines using this chassis assembly can achieve the power supply and control layout required for inspection when the highest height does not exceed 30 cm and the longest length does not exceed 46 cm.

[0058] In summary, the pipeline inspection robot provided by the present invention can achieve the purpose of changing with the change of the pipeline gap between the inner wall of the outer pipe and the outer wall of the inner pipe by deforming the top wheel assembly, so that it can walk under different pipe diameters, and has sufficient friction with the inner wall of the outer pipe and the outer wall of the inner pipe to support the robot to walk, and the robot will not be unable to move forward due to insufficient friction after deformation.

[0059] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An inspection robot for a circular pipeline, comprising a chassis assembly, a top wheel assembly (5) and a driving device, wherein the top wheel assembly (5) and the driving device are both arranged on the chassis assembly, and is characterized in that, The driving device includes a control system, a driving system, a visual perception system, and a power supply system. The control system is electrically connected to the driving system, the digital video transmission system, and the lighting system respectively. The power supply system is electrically connected to the control system, the driving system, the digital video transmission system, and the lighting system respectively. The driving system includes a top wheel driving device (54), a bottom wheel driving device, and a rotating motor (523). The chassis assembly includes a chassis frame, two groups of bottom wheels (41), and a robot body (3). The robot body (3) is arranged on the chassis frame, and the bottom wheels (41) are connected to the output ends of the bottom wheel driving device. The top wheel assembly (5) includes two pairs of flexible arm assemblies (51) and a torsion spring rotating member (52). The top wheel driving device (54) is arranged at the first end of the flexible arm assembly (51). The top wheel (53) is connected to the output end of the top wheel driving device (54). The second end of the flexible arm assembly (51) is provided with a rotating shaft assembly (55). The flexible arm assembly (51) is rotationally connected to the side wall of the robot body (3) through the rotating shaft assembly (55). The number of the flexible arm assemblies (51) is four. Two of the flexible arm assemblies (51) are rotationally connected to the first side plate (31) of the robot body (3) through the rotating shaft assembly (55) respectively, and the other two flexible arm assemblies (51) are rotationally connected to the second side plate (32) of the robot body (3) through the rotating shaft assembly (55) respectively. The torsion spring rotating member (52) includes a torsion spring (8), a rotating member body (521), a rotating arm (524), and a rotating motor (523). The rotating member body (521), the rotating arm (524), and the rotating motor (523) are all arranged outside the robot body (3). The rotating member body (521) is sleeved on the end of the rotating shaft assembly (55) passing through the side wall of the robot body (3) and is in clearance fit with the end. One side leg of the torsion spring (8) is connected to the flexible arm assembly (51), and the other side leg is connected to the first end of the rotating member body (521). The first end of the rotating arm (524) is connected to the second end of the rotating member body (521), and the second end of the rotating arm (524) is connected to the output end of the rotating motor (523).

2. The inspection robot for annular pipelines according to claim 1, wherein, The power supply system includes a battery (101), a power switch, a shunt board (103), and a dual-channel buck module (104). The battery (101) is electrically connected to the shunt board (103). The power switch is connected in series between the battery (101) and the shunt board (103). The shunt board (103) is electrically connected to the dual-channel buck module (104). The shunt board (103) is electrically connected to the digital video transmission system and the driving system respectively. The dual-channel buck module (104) is electrically connected to the control system and the lighting system respectively.

3. The inspection robot for the annular pipeline according to claim 2, wherein, The control system includes a handheld control terminal, a receiver, and a main controller (102). The handheld control terminal is communicatively connected to the receiver, and the receiver is electrically connected to the main controller (102).

4. The inspection robot for annular pipelines according to claim 3, characterized in that, The main controller (102) is electrically connected to the digital video transmission system and the lighting system respectively through a relay (106).

5. The inspection robot for an annular pipeline according to claim 4, wherein, The torsion spring support feet connected to the first end of the rotating member body (521) are arranged outside the flexible arm assembly (51), and the first flexible arm side plate (511) and the second flexible arm side plate (512) of the flexible arm assembly (51) are provided with notches corresponding to the torsion spring support feet.

6. The inspection robot for an annular pipeline according to claim 5, characterized in that, The torsion spring rotating member (52) has a blocking state that prevents the flexible arm assembly (51) from continuing to move in the first direction when the flexible arm assembly (51) is deformed by extrusion and moves to the first position in the first direction, and a rotating state that can drive the flexible arm assembly (51) to exceed the first position when the flexible arm assembly (51) is deformed by extrusion and moves in the first direction.

7. The inspection robot for an annular pipeline according to claim 6, wherein, When the torsion spring rotating member (52) is in the blocking state, the torsion spring (8) has a pre-tightening state in which it is stressed and generates an elastic restoring force opposite to the movement direction when the two pairs of flexible arm assemblies (51) move away from each other, and a release state in which the elastic restoring force is released when the two pairs of flexible arm assemblies (51) move towards each other.

8. The inspection robot for annular pipelines according to claim 7, characterized in that, The robot body (3) is internally provided with a control cabin (9) and a battery compartment. The battery compartment is arranged on one side of the control cabin (9). The control cabin (9) is divided by a partition plate (95) into a first control cabin accommodation space for installing the main controller (102) and a second control cabin accommodation space for installing the power supply system. The first control cabin accommodation space is provided with a wiring space for the main controller (102), and a wiring channel is reserved outside the control cabin (9).

9. The inspection robot for an annular pipeline according to claim 8, wherein, The control cabin (9) is enclosed by a control cabin first side plate (92), a control cabin back plate (91), a control cabin second side plate (93), a control cabin bottom plate (94) and the partition plate (95) to form a rectangular accommodation space, and the front end and the top end of the rectangular accommodation space are open.

10. The inspection robot for the annular pipeline according to claim 9, characterized in that, The battery compartment is arranged on the other side opposite to the control cabin back plate (91). The shunt plate (103) and the dual-channel buck module (104) are both arranged on the control cabin back plate (91). The relay (106) and the brushed electronic speed controller (105) connecting the top wheel drive device (54) and the bottom wheel drive device are both arranged on the control cabin bottom plate (94). The main controller (102) is arranged on the partition plate (95).

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