A variable-diameter pipeline robot combining active and passive

Abstract

The application provides a variable-diameter pipeline robot combined with active and passive modes, which comprises a vehicle body module, an active variable-diameter mechanism, a pipeline diameter self-adaptive mechanism and a movement module, wherein the vehicle body module comprises a front vehicle body plate, a front end screw rod bearing, a double-pass vehicle body column, a rear end screw rod bearing and a rear vehicle body plate, the movement module comprises a wheel plate, a wheel plate support column, a driving motor, a driving wheel, a track, a passive wheel and a passive wheel shaft, the pipeline diameter self-adaptive mechanism comprises a front end connecting rod, a spring, a rear end connecting rod, a front end shaft sleeve and a rear end shaft sleeve, and further comprises a sensing module for observing the inside of the pipeline, an operation module for cleaning obstacles in the pipeline and an external processing host, and the sensing module and the operation module are connected to the external processing host respectively, and the application can adapt to different pipeline diameters and realize pipeline inspection, dredging and other pipeline internal operation tasks.

Description

Technical Field

[0001] This invention belongs to the field of pipeline robot technology, and specifically proposes a variable diameter pipeline robot that combines active and passive operation. Background Technology

[0002] In modern society, pipelines are ubiquitous in our living environment. Serving as channels for transporting energy and other materials, they bring immense convenience and economic benefits. However, they also generate a series of problems. Pipelines inevitably experience aging, corrosion, and blockages during use, and many are not directly accessible to humans, posing significant challenges to pipeline inspection and maintenance. Traditional methods of pipeline inspection and maintenance, such as excavation and random sampling, suffer from drawbacks such as high workload and low efficiency.

[0003] The research and application of pipeline robots have effectively solved this problem. Pipeline robots integrate various sensors, intelligent mobile platforms, operating devices, and non-destructive testing technologies, leveraging their inherent advantages to perform pipeline inspection and maintenance. This greatly improves the efficiency of pipeline inspection and maintenance. Based on existing research technologies, this invention provides a variable-diameter pipeline robot that combines active and passive operation, capable of adapting to pipelines of different diameters within a certain range, thereby completing pipeline inspection and unblocking operations.

[0004] A search of existing technical literature revealed:

[0005] Chinese Patent (Application No.: CN202211047758.1) discloses a tracked variable-diameter pipeline robot. This patent provides a tracked variable-diameter pipeline robot that converts the rotational motion of a motor into the linear motion of the screw and nut through a lead screw and nut, driving the connecting rod to move, thereby extending three tracks to complete the active diameter change. However, the pipeline robot provided by this patent can only actively change diameter through the rotation of the motor behind the lead screw. Its ability to pass through obstacles in the pipeline is poor, and since it only relies on the lead screw, nut, and a single connecting rod to change the diameter of one track, it can only adapt to a limited range of pipe diameters.

[0006] Chinese Patent (Application No.: CN202210816448.5) discloses a variable-diameter pipe robot based on a six-ring deployable mechanism. This patent provides a variable-diameter pipe robot with two variable-diameter rolling components. The walking parts of these components are hinged together by links to form a six-ring deployable mechanism, giving the robot extendable capabilities. However, the pipe robot provided by this patent can only adaptively change its diameter through the six-ring deployable mechanism. When the pipe section is vertical or the spring stiffness is low, slippage may occur during movement. Furthermore, its wheeled locomotion method results in poor obstacle-crossing ability within the pipe. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention proposes a variable-diameter pipeline robot that combines active and passive operation, capable of adapting to pipelines of different diameters and performing various pipeline operations such as pipeline inspection and unblocking.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0009] A variable-diameter pipe robot combining active and passive mechanisms, characterized by comprising a body module, an active diameter-changing mechanism, a pipe diameter adaptive mechanism, and a motion module.

[0010] The body module includes a front body panel, a front lead screw bearing, a double-through body pillar, a rear lead screw bearing, and a rear body panel. The front body panel and the rear body panel are respectively installed at both ends of the double-through body pillar. The center of the front body panel and the rear body panel are respectively provided with bearing mounting countersunk holes. The front lead screw bearing and the rear lead screw bearing are respectively interference-fitted into the bearing mounting countersunk holes.

[0011] The active diameter-changing mechanism includes a lead screw nut, a T-shaped lead screw, a lead screw motor, a transmission gear, a motor gear, a Y-shaped connecting rod, and a connecting rod. One end of the Y-shaped connecting rod is hinged to the pipe diameter adaptive mechanism, and the other end is hinged to the lead screw nut. The connecting rod has the same length as the Y-shaped connecting rod. One end of the connecting rod is hinged to the pipe diameter adaptive mechanism, and the other end is hinged to the rear body panel. The Y-shaped connecting rod and the connecting rod are hinged at the midpoint. The T-shaped lead screw is provided with a front stepped shaft and a rear stepped shaft at its front and rear ends, respectively. The front stepped shaft is interference-fitted with the front lead screw bearing. The rear stepped shaft is interference-fitted with the rear lead screw bearing. The front and rear lead screw bearings are axially fixed by the shoulder of the T-shaped lead screw and the bearing mounting countersunk hole. The motor gear is fixedly mounted on the output shaft of the lead screw motor. The transmission gear is fixed to the rear stepped shaft of the T-shaped lead screw by a set screw and meshes with the motor gear. When the lead screw motor rotates, the T-shaped lead screw rotates through gear transmission. The lead screw nut moves on the T-shaped lead screw, driving the Y-shaped connecting rod and the connecting rod to move, thereby realizing active diameter change.

[0012] The motion module includes wheel plates, wheel plate support columns, a drive motor, a drive wheel, a track, a driven wheel, and a driven wheel axle. Two wheel plates are provided, positioned opposite each other. The two ends of the wheel plate support column are respectively connected and fixed to the opposite end faces of the two wheel plates to achieve connection and fixation. Each wheel plate has a front wheel mounting hole and a rear wheel mounting hole. The drive motor has two output shafts and is fixed to the wheel plates. The output shafts of the drive motor pass through the front wheel mounting holes. The drive wheels are respectively mounted on the output shafts of the drive motor. The rear wheel mounting hole is a transversely opened oval through hole. The driven wheel axle is movably mounted in the rear wheel mounting hole. The driven wheel is mounted on the driven wheel axle. The track is tensioned and mounted on the drive wheel and the driven wheel. By adjusting the position of the driven wheel axle in the oval through hole, the distance between the driven wheel axle and the drive motor output shaft is adjusted, thereby adjusting the track tension.

[0013] The pipe diameter adaptive mechanism includes a front connecting rod, a spring, a rear connecting rod, a front bushing, and a rear bushing. A wheel plate groove is laterally provided on the outer side of the wheel plate, and the wheel plate groove is located below the front wheel mounting hole and the rear wheel mounting hole. One end of the front connecting rod and the rear connecting rod are respectively hinged to the front bushing, the connecting rod and the Y-shaped connecting rod, and the rear bushing, and the other end is connected to the wheel plate groove and slides in the wheel plate groove. A spring mounting hole is provided in the wheel plate groove, and a spring is installed in the spring mounting hole. The spring constrains the rivet and the sliding of the front connecting rod and the rear connecting rod through the preload. When the pipe diameter decreases or an obstacle is encountered, the front connecting rod and the rear connecting rod move laterally in the wheel plate groove under the action of external force, and the motion module retracts inward to complete the passive diameter change.

[0014] It also includes a sensing module for observing the inside of the pipeline, an operation module for clearing obstacles inside the pipeline, and an external processing host. The sensing module and the operation module are respectively connected to the external processing host. A sensing module mounting hole is provided on the upper part of the front body panel, and the sensing module is installed in the sensing module mounting hole. The operation module is detachably installed on the front body panel and located below the sensing module.

[0015] As a preferred technical solution of the present invention: the front body panel and the rear body panel are provided with three identical countersunk holes for bolt installation at corresponding positions and the centers are 120° apart; the double-through body pillars are provided with three pillars, and the two ends of the three double-through body pillars are respectively fixed to the front body panel and the rear body panel at the through holes by bolts.

[0016] As a preferred technical solution of the present invention: the front body panel and the rear body panel are respectively configured as hexagonal shapes, and the front body panel and the rear body panel have the same shape and size.

[0017] As a preferred technical solution of the present invention: the sensing module is a high-definition camera or an infrared sensor, which is connected to an external processing host to display the captured image in real time.

[0018] As a preferred technical solution of the present invention: the operation module includes an electric drill and an electric drill motor for driving the electric drill. The electric drill is connected to the electric drill motor, and the motor is connected to an external processing host. When a blockage is detected in the pipe, the external processing host controls the electric drill to start working and clear the blockage.

[0019] As a preferred embodiment of the present invention, the lead screw motor is fixedly installed on the side of the rear vehicle body panel by fixing bolts.

[0020] As a preferred technical solution of the present invention: the motion module further includes hexagonal bolts and bearings with flanges, the center point of the driven wheel is provided with a through hole, the bearings with flanges are respectively installed on both sides of the driven wheel and are interference-fitted with it, the flanges are close to the outer side of the driven wheel, the driven wheel axle is a stepped axle with threaded holes at both ends, the driven wheel axle is interference-fitted with the bearings with flanges, and two hexagonal bolts are provided, one of which passes through the rear wheel mounting hole and is threaded to the driven wheel axle, and the other passes through the bearings with flanges and is threaded to the driven wheel axle.

[0021] As a preferred technical solution of the present invention: the pipe diameter adaptive mechanism further includes rivets, and the other ends of the front connecting rod and the rear connecting rod are riveted to the groove of the wheel plate by the rivets. At the same time, the rivets can drive the front connecting rod and the rear connecting rod to slide in the groove of the wheel plate.

[0022] In the above structure: the variable-diameter pipeline robot proposed in this invention, which combines active and passive operation, includes a body module, an active diameter-changing mechanism, a pipe diameter adaptive mechanism, a motion module, a sensing module, an operation module, and an external processing host. The body module is the main body of the pipeline robot. The active diameter-changing mechanism, sensing module, and operation module are all mounted on the body module. The sensing module and operation module are respectively connected to the external processing host, facilitating real-time observation of the pipeline and operation via the external processing host. The motion module enables the pipeline robot to move forward, backward, and turn within the pipeline. The body module is the main structure of the pipeline robot. The sensing module is a camera capable of inspecting the pipeline and uploading the inspection images to the display of the external processing host in real time. The operation module is a detachable component capable of performing pipeline unblocking operations. When there are relatively hard blockages in the pipeline, the operation module can break them down, unblocking the pipeline. The active diameter-changing mechanism is a mechanism capable of actively changing the pipe diameter, and the pipe diameter adaptive mechanism can adapt to changes in pipe diameter.

[0023] The working principle of this invention is as follows: First, the pipe robot is adjusted to match the pipe diameter and placed inside the pipe. Second, the drive motor drives the pipe robot forward via the track. The internal inspection image of the pipe is uploaded in real time by the sensing module to find the blockage. During normal movement, the pipe diameter adaptive mechanism can drive the motion module to complete radial extension and contraction through the extension and contraction of the spring, which together with the active diameter adjustment mechanism realizes the adaptation of the pipe diameter. Then, when the blockage is found, the electric drill at the head of the operation module starts to work. At the same time, the lead screw motor drives the T-shaped lead screw to rotate through gear transmission, thereby driving the motion module to extend outward, generating pressure against the inner wall of the pipe and increasing friction, thus preventing the pipe robot from sliding backward.

[0024] The body module is the main body of the pipeline robot, including a front body panel, a front lead screw bearing, a double-through body column, a rear lead screw bearing, and a rear body panel. The front and rear body panels are respectively installed at both ends of the double-through body column. The front body panel is hexagonal in shape and has three evenly distributed countersunk holes with included angles of 120° each, and a countersunk hole for mounting the front lead screw bearing. Therefore, the lead screw bearing is interference-fitted with the countersunk hole for mounting the front lead screw bearing. The double-through body column has threaded through holes, so the front body panel is fixed to one end of the double-through body column by standard bolts. The rear body panel is a component with the same shape and size as the front body panel. It has countersunk holes of the same specifications for fixing and mounting the rear lead screw bearing at the same position as the front body panel. Therefore, the rear lead screw bearing is interference-fitted with the countersunk hole for mounting the rear lead screw bearing. The other end of the rear body panel is also fixed to the double-through body column by standard bolts.

[0025] The active diameter-changing mechanism controls the extension and retraction of the motion module by controlling the rotation of the lead screw motor, thus achieving active diameter change to adapt to different pipe diameters. Simultaneously, during pipeline robot operation, the active diameter-changing mechanism increases the pressure between the robot and the pipe wall, thereby increasing friction and preventing slippage during operation. The active diameter-changing mechanism includes a lead screw motor, transmission gears, a T-shaped lead screw, a lead screw nut, a connecting rod, and a Y-shaped connecting rod. The T-shaped lead screw has stepped optical shafts at both ends; the shorter end is interference-fitted with the front lead screw bearing, and the longer end is interference-fitted with the rear lead screw bearing, enabling the T-shaped lead screw to be installed and fixed. The lead screw motor is bolted to the rear body panel. The system is now fixed in place. A motor gear is mounted on the output shaft of the lead screw motor, which meshes with the transmission gear to transmit power. The transmission gear is fixed to the T-shaped lead screw by a set screw. One end of the Y-shaped connecting rod is hinged to the lead screw nut, and the other end is hinged to the pipe diameter adaptive mechanism. One end of the connecting rod is hinged to the rear body panel, and the other end is hinged to the pipe diameter adaptive mechanism. The connecting rod and the Y-shaped connecting rod are of the same length and are hinged at the midpoint. When the lead screw motor rotates, the T-shaped lead screw rotates through gear transmission. The lead screw nut moves on the T-shaped lead screw, driving the Y-shaped connecting rod and the connecting rod to move, thereby realizing active diameter change. There are three sets of active diameter change mechanisms, with the included angle between their planes being 120°.

[0026] The motion module is set up with three sets, enabling the pipeline robot to perform various motion tasks such as forward, backward, and turning within the pipeline. The motion module includes a pair of wheel plates, a drive motor, two pairs of wheel plate support columns, a pair of drive wheels, a pair of driven wheels, a pair of tracks, a pair of driven wheel axles, and two pairs of bearings with flanges. The wheel plates have front wheel mounting holes and rear wheel mounting holes respectively. The drive motor has two output shafts and is fixed to the wheel plates. The output shafts of the drive motor pass through the front wheel mounting holes, and the drive wheels are mounted on the output shafts of the drive motors. The drive motors drive the drive wheels. The rear wheel mounting holes are horizontally opened oval through holes. The driven wheel axles are movably mounted in the rear wheel mounting holes, and the driven wheels are mounted on the driven wheel axles. The tracks are tensioned and mounted on the drive wheels and driven wheels, and the movement of the motion module is achieved through the transmission between the drive wheels and driven wheels via the tracks. Because the rear wheel mounting holes are oval through holes, the distance between the driven wheel axles and the drive motor output shafts can be adjusted by adjusting the position of the driven wheel axles within the oval through holes, thereby adjusting the track tension.

[0027] The pipe diameter adaptive mechanism can adapt to changes in pipe diameter, improving the obstacle-crossing ability of the pipeline robot. The pipe diameter adaptive mechanism includes a pair of front bushings, a pair of front connecting rods, a pair of rear bushings, a pair of rear connecting rods, two pairs of rivets, and two pairs of springs. One end of the front connecting rod and the rear connecting rod is hinged to the front bushing, the connecting rod and the Y-shaped connecting rod, and the rear bushing, respectively. The other end is connected to the wheel plate groove and slides in the wheel plate groove. The spring is installed in the wheel plate groove. The spring constrains the sliding of the rivets and the front and rear connecting rods through preload. In use, when the pipe diameter decreases or an obstacle is encountered, the front and rear connecting rods move laterally in the wheel plate groove under the action of external force, and the motion module retracts inward to complete the passive diameter change.

[0028] The sensing module can perform tasks such as detection and inspection inside the pipeline. The sensing module is installed in the sensing module mounting hole at the front of the vehicle body module for easy observation.

[0029] The operating module can perform operations inside the pipe, such as pipe dredging, and can also be removed from the front body panel when no operation is required.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] This invention enables pipeline operations such as inspection and unblocking to be performed inside pipelines. It is installed on a pipeline robot in a modular manner, and the sensing and operation modules can be freely installed and disassembled.

[0032] When performing tasks, this invention utilizes an active diameter-changing mechanism to increase the friction between the pipe robot and the inner wall of the pipe, preventing slippage. Simultaneously, the active diameter-changing mechanism allows the pipe robot to adapt to different pipe diameters.

[0033] In addition to the active diameter-changing mechanism, this invention also includes a pipe diameter adaptive mechanism, which has a strong obstacle-crossing capability.

[0034] This invention adopts a combined active and passive diameter changing method, which has a larger diameter changing range and is more adaptable to complex pipeline environments compared to the traditional parallelogram active diameter changing method. Attached Figure Description

[0035] Figure 1 Axonometric drawing of the overall structure of the pipeline robot;

[0036] Figure 2 This is a rear view of the overall structure of the pipeline robot.

[0037] Figure 3 Exploded view of the body module, active diameter changing mechanism and sensing module;

[0038] Figure 4A detailed connection model diagram of the pipe diameter adaptive mechanism and the motion module;

[0039] Figure 5 A detailed connection model diagram of the pipe diameter adaptive mechanism and the active diameter changing mechanism;

[0040] Figure 6 Schematic diagram of the pipe diameter adaptive mechanism;

[0041] Figure 7 This is an exploded view of the vehicle body module.

[0042] List of reference numerals in the attached diagram:

[0043] 1. Motion Module; 101. Wheel Plate; 102. Wheel Plate Support Column; 103. Drive Motor; 104. Drive Wheel; 105. Track; 106. Hex Bolt; 107. Bearing with Flange; 108. Driven Wheel; 109. Driven Wheel Axle; 2. Body Module; 201. Front Body Plate; 202. Front Lead Screw Bearing; 203. Double-Pass Body Column; 204. Rear Lead Screw Bearing; 205. Rear Body Plate 3. Sensing module; 4. Operation module; 5. Active diameter changing mechanism; 501. Lead screw nut; 502. T-type lead screw; 503. Lead screw motor; 504. Transmission gear; 505. Motor gear; 506. Y-type connecting rod; 507. Connecting rod; 6. Pipe diameter adaptive mechanism; 601. Front connecting rod; 602. Rivet; 603. Spring; 604. Rear connecting rod; 605. Front bushing; 606. Rear bushing. Detailed Implementation

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0045] like Figure 1-7 As shown, this invention proposes a variable-diameter pipe robot that combines active and passive mechanisms, including a body module 2, an active diameter-changing mechanism 5, a pipe diameter adaptive mechanism 6, and a motion module 1.

[0046] The body module 2 includes a front body panel 201, a front lead screw bearing 202, a double-through body pillar 203, a rear lead screw bearing 204, and a rear body panel 205. The front body panel 201 and the rear body panel 205 are respectively installed at both ends of the double-through body pillar 203. The center of the front body panel 201 and the rear body panel 205 are respectively provided with bearing mounting countersunk holes. The front lead screw bearing 202 and the rear lead screw bearing 204 are respectively interference-fitted into the bearing mounting countersunk holes.

[0047] The active diameter changing mechanism 5 includes a lead screw nut 501, a T-shaped lead screw 502, a lead screw motor 503, a transmission gear 504, a motor gear 505, a Y-shaped connecting rod 506, and a connecting rod 507. One end of the Y-shaped connecting rod 506 is hinged to the pipe diameter adaptive mechanism 6, and the other end is hinged to the lead screw nut 501. The connecting rod 507 has the same length as the Y-shaped connecting rod 506. One end of the connecting rod 507 is hinged to the pipe diameter adaptive mechanism 6, and the other end is hinged to the rear body panel 205. The Y-shaped connecting rod 506 and the connecting rod 507 are hinged at the midpoint. The T-shaped lead screw 502 is provided with a front stepped shaft and a rear stepped shaft at its front and rear ends, respectively. The front stepped shaft is connected to the front lead screw bearing 20. 2. An interference fit is used. The rear stepped shaft is interference-fitted with the rear lead screw bearing 204. The front lead screw bearing 202 and the rear lead screw bearing 204 are axially fixed by the shoulder of the T-shaped lead screw 502 and the bearing mounting countersunk hole. The motor gear 505 is fixedly mounted on the output shaft of the lead screw motor 503. The transmission gear 504 is fixedly connected to the rear stepped shaft of the T-shaped lead screw 502 by a set screw and meshes with the motor gear 505. When the lead screw motor 503 rotates, the rotation of the T-shaped lead screw 502 is realized through gear transmission. The lead screw nut 501 moves on the T-shaped lead screw 502, driving the Y-shaped connecting rod 506 and connecting rod 507 to move, thereby realizing active diameter change.

[0048] The motion module 1 includes wheel plates 101, wheel plate support columns 102, drive motors 103, drive wheels 104, tracks 105, driven wheels 108, and driven wheel axles 109. Two wheel plates 101 are provided, positioned opposite each other. The two ends of the wheel plate support columns 102 are respectively connected and fixed to the opposite end faces of the two wheel plates 101 to achieve connection and fixation. Each wheel plate 101 has a front wheel mounting hole and a rear wheel mounting hole. The drive motor 103 has two output shafts and is fixed to the wheel plates 101. The output shafts of the drive motors 103 pass through the front wheel mounting holes. The drive wheels 104 are mounted on the output shafts of the drive motors 103. The rear wheel mounting holes are transversely opened oval through holes. The driven wheel shaft 109 is movably mounted in the rear wheel mounting holes. The driven wheel 108 is mounted on the driven wheel shaft 109. The track 105 is tensioned and mounted on the drive wheels 104 and the driven wheels 108. By adjusting the position of the driven wheel shaft 109 in the oval through hole, the distance between the driven wheel shaft 109 and the output shaft of the drive motor 103 is adjusted, thereby adjusting the tension of the track 105.

[0049] The pipe diameter adaptive mechanism 6 includes a front connecting rod 601, a spring 603, a rear connecting rod 604, a front bushing 605, and a rear bushing 606. A wheel plate 101 groove is laterally provided on the outer side of the wheel plate 101, located below the front wheel mounting hole and the rear wheel mounting hole. One end of the front connecting rod 601 and the rear connecting rod 604 is hinged to the front bushing 605, the connecting rod 507 and the Y-shaped connecting rod 506, and the rear bushing 606, respectively; the other end is connected to the wheel plate 101. The 01 groove is slidably disposed in the groove of the wheel plate 101. The groove of the wheel plate 101 is provided with a spring mounting hole, and a spring 603 is installed in the spring mounting hole. The spring 603 constrains the sliding of the rivet 602, the front connecting rod 601 and the rear connecting rod 604 by the preload. When the pipe diameter is reduced or an obstacle is encountered, the front connecting rod 601 and the rear connecting rod 604 move laterally in the groove of the wheel plate 101 under the action of external force, and the motion module 1 retracts inward to complete the passive diameter change.

[0050] It also includes a sensing module 3 for observing the inside of the pipeline, an operation module 4 for clearing obstacles inside the pipeline, and an external processing host. The sensing module 3 and the operation module 4 are respectively connected to the external processing host. The front body panel 201 has a mounting hole for the sensing module 3, and the sensing module 3 is installed in the mounting hole. The operation module 4 is detachably installed on the front body panel 201 and located below the sensing module 3.

[0051] The front body panel 201 and the rear body panel 205 are provided with three identical countersunk holes for bolt installation at corresponding positions, with their centers at 120° to each other. There are three double-through body pillars 203, and the two ends of the three double-through body pillars 203 are respectively fixed to the front body panel 201 and the rear body panel 205 at the through holes by bolts.

[0052] The front body panel 201 and the rear body panel 205 are respectively configured as hexagonal shapes, and the front body panel 201 and the rear body panel 205 have the same shape and size.

[0053] The sensing module 3 is a high-definition camera or an infrared sensor, which is connected to an external processing host to display the captured image in real time.

[0054] The operation module 4 includes an electric drill and an electric drill motor for driving the electric drill. The electric drill is connected to the electric drill motor, and the motor is connected to an external processing host. When a blockage is detected in the pipe, the external processing host controls the electric drill to start working and clear the blockage.

[0055] The lead screw motor 503 is fixedly installed on the side of the rear body panel 205 by fixing bolts.

[0056] The motion module 1 also includes hexagonal bolts 106 and flange bearings 107 with flanges. The center point of the driven wheel 108 has a through hole. The flange bearings 107 with flanges are respectively installed on both sides of the driven wheel 108 and are interference-fitted with it. The flanges are close to the outside of the driven wheel 108. The driven wheel axle 109 is a stepped axle with threaded holes at both ends. The driven wheel axle 109 is interference-fitted with the flange bearings 107 with flanges. Two hexagonal bolts 106 are provided. One passes through the rear wheel mounting hole and is threaded to the driven wheel axle 109. The other passes through the flange bearings 107 and is threaded to the driven wheel axle 109 with flanges.

[0057] The pipe diameter adaptive mechanism 6 also includes a rivet 602. The other ends of the front connecting rod 601 and the rear connecting rod 604 are riveted to the groove of the wheel plate 101 by the rivet 602. At the same time, the rivet 602 can drive the front connecting rod 601 and the rear connecting rod 604 to slide in the groove of the wheel plate 101.

[0058] This invention proposes a variable-diameter pipeline robot combining active and passive mechanisms, comprising a body module 2, an active diameter-changing mechanism 5, a pipe diameter adaptive mechanism 6, a motion module 1, a sensing module 3, an operation module 4, and an external processing host. The body module 2 is the main body of the pipeline robot, and the active diameter-changing mechanism 5, sensing module 3, and operation module 4 are all mounted on it. The sensing module 3 and operation module 4 are connected to the external processing host, facilitating real-time observation of the pipeline and operation via the host. The motion module 1 enables the pipeline robot to move forward, backward, and turn within the pipeline. The body module 2 is the main structure of the pipeline robot. The sensing module 3 is a camera capable of inspecting the pipeline and uploading the inspection images to the external processing host's display in real time. The operation module 4 is a detachable component capable of clearing pipeline blockages; when hard blockages are present, they can be broken up and the pipeline cleared. The active diameter-changing mechanism 5 is a mechanism capable of active diameter changing, and the pipe diameter adaptive mechanism 6 adapts to changes in pipe diameter.

[0059] The working principle of this invention is as follows: First, the pipe robot is adjusted to match the pipe diameter and placed inside the pipe. Then, the drive motor 103 drives the pipe robot forward through the track 105. The pipe internal inspection image uploaded in real time by the sensing module 3 is used to find the blockage. During normal movement, the pipe diameter adaptive mechanism 6 can drive the motion module 1 to complete radial extension and contraction through the extension and contraction of the spring 603, which together with the active diameter adjustment mechanism 5 realizes the adaptation of the pipe diameter. Then, when the blockage is found, the electric drill at the head of the operation module 4 starts to work. At the same time, the lead screw motor 503 drives the T-shaped lead screw 502 to rotate through gear transmission, thereby driving the motion module 1 to extend outward, generating pressure against the inner wall of the pipe and increasing friction, thus preventing the pipe robot from sliding backward.

[0060] The body module 2 is the main body of the pipeline robot, including a front body panel 201, a front lead screw bearing 202, a double-through body pillar 203, a rear lead screw bearing 204, and a rear body panel 205. The front body panel 201 and rear body panel 205 are respectively installed at both ends of the double-through body pillar 203. The front body panel 201 is hexagonal in shape and has three evenly distributed countersunk holes with included angles of 120° each, which are fixed for connection to the countersunk hole of the front lead screw bearing 202. Therefore, the lead screw bearing is interference-fitted into the countersunk hole of the front lead screw bearing 202. The body pillar 203 is provided with threaded through holes. Therefore, the front body panel 201 is fixed to one end of the double-through body pillar 203 by standard bolts. The rear body panel 205 is a component with the same shape and size as the front body panel 201. It is provided with a fixed connection countersunk through hole of the same specification and a rear end screw bearing 204 mounting countersunk hole at the same position as the front body panel 201. Therefore, the rear end screw bearing 204 is interference-fitted to the rear end screw bearing 204 mounting countersunk hole. The other end of the rear body panel 205 is also fixed to the double-through body pillar 203 by standard bolts.

[0061] The active diameter changing mechanism 5 can control the extension and retraction of the motion module 1 by controlling the rotation of the lead screw motor 503, thus achieving active diameter changing to adapt to different pipe diameters. Simultaneously, during pipeline robot operation, the active diameter changing mechanism 5 can increase the pressure between the robot and the pipe wall, thereby increasing friction and preventing slippage during operation. The active diameter changing mechanism 5 includes a lead screw motor 503, a transmission gear 504, a T-shaped lead screw 502, a lead screw nut 501, a connecting rod 507, and a Y-shaped connecting rod 506. The T-shaped lead screw 502 has stepped optical shafts at both ends; the shorter end is interference-fitted with the front lead screw bearing 202, and the longer end is interference-fitted with the rear lead screw bearing 204, thus securing the T-shaped lead screw 502. The lead screw motor 503 is bolted to the rear body panel 205 for installation and fixation. A motor gear 505 is installed on the output shaft of the lead screw motor 503, which meshes with the transmission gear 504 to realize power transmission. The transmission gear 504 is fixed to the T-shaped lead screw 502 by a set screw. One end of the Y-shaped connecting rod 506 is hinged to the lead screw nut 501, and the other end is hinged to the pipe diameter adaptive mechanism 6. One end of the connecting rod 507 is hinged to the rear body panel 205, and the other end is hinged to the pipe diameter adaptive mechanism 6. At the same time, the connecting rod 507 and the Y-shaped connecting rod 506 have the same length and are hinged at the midpoint. When the lead screw motor 503 rotates, the T-shaped lead screw 502 rotates through gear transmission. The lead screw nut 501 moves on the T-shaped lead screw 502, driving the Y-shaped connecting rod 506 and the connecting rod 507 to move, thereby realizing active diameter change. There are three sets of active diameter change mechanisms 5, and the included angle between their planes is 120°.

[0062] The motion module 1 has three sets, enabling the pipeline robot to perform various motion tasks such as forward movement, backward movement, and turning within the pipeline. The motion module 1 includes a pair of wheel plates 101, a drive motor 103, two pairs of wheel plate support columns 102, a pair of drive wheels 104, a pair of driven wheels 108, a pair of tracks 105, a pair of driven wheel axles 109, and two pairs of bearings 107 with flanged edges. The wheel plates 101 have front wheel mounting holes and rear wheel mounting holes. The drive motor 103 has two output shafts and is fixed to the wheel plates 101. The output shafts of the drive motor 103 pass through the front wheel mounting holes. The drive wheels 104 are mounted on the drive motor 104. On the output shaft of 03, the drive motor 103 can drive the drive wheel 104 to move. The rear wheel mounting hole is a transversely opened oval through hole. The driven wheel shaft 109 is movably installed in the rear wheel mounting hole. The driven wheel 108 is installed on the driven wheel shaft 109. The track 105 is tensioned and installed on the drive wheel 104 and the driven wheel 108. The drive wheel 104 and the driven wheel 108 are driven by the track 105, thereby realizing the movement of the motion module 1. Since the rear wheel mounting hole is an oval through hole, the distance between the driven wheel shaft 109 and the output shaft of the drive motor 103 can be adjusted by adjusting the position of the driven wheel shaft 109 in the oval through hole, thereby adjusting the tension of the track 105.

[0063] The pipe diameter adaptive mechanism 6 can adapt to changes in pipe diameter, improving the obstacle-crossing ability of the pipeline robot. The pipe diameter adaptive mechanism 6 includes a pair of front bushings 605, a pair of front connecting rods 601, a pair of rear bushings 606, a pair of rear connecting rods 604, two pairs of rivets 602, and two pairs of springs 603. One end of the front connecting rods 601 and 604 is hinged to the front bushings 605, connecting rods 507 and Y-shaped connecting rods 506, and rear bushings 606, respectively. The other end is connected to the groove of the wheel plate 101 and slides in the groove of the wheel plate 101. The springs 603 are installed in the groove of the wheel plate 101. The springs 603 constrain the sliding of the rivets 602 and the front connecting rods 601 and 604 through preload. In use, when the pipe diameter decreases or an obstacle is encountered, the front connecting rods 601 and 604 move laterally in the groove of the wheel plate 101 under the action of external force, and the motion module 1 retracts inward to complete the passive diameter change.

[0064] The sensing module 3 can perform tasks such as detection and inspection inside the pipeline. The sensing module 3 is installed in the sensing module 3 mounting hole at the front of the vehicle body module 2 for easy observation.

[0065] The operation module 4 can perform operations inside the pipe, such as pipe dredging operations, and can also be removed from the front body panel 201 when no operation is required.

[0066] Figure 6The diagram shows the principle of the pipe diameter adaptive mechanism. When the positions of Y-shaped connecting rods 506 and 507 are fixed, the motion trajectory of the front connecting rod 601 is a circle with center O1 and radius O1A; the motion trajectory of the rear connecting rod 604 is a circle with center O2 and radius O2B. Figure 6 The diagram illustrates two possible movements of rivet 602 starting from points A and B: point A moves to point A1, point A moves to point A2, point B moves to point B1, and point B moves to point B2. Figure 6 As shown, the wheel plate 101 has 9 possible positional variations: A1B1, A1B, A1B2, AB1, AB, AB2, A2B1, A2B, and A2B2. When encountering obstacles in the pipe, the pipe diameter adaptive mechanism 6 can enhance the obstacle-crossing ability of the pipe robot; when the pipe diameter changes, it can adaptively adjust.

[0067] This invention enables pipeline operations such as inspection and unblocking to be performed inside pipelines. It is installed on a pipeline robot in a modular manner, and the sensing and operation modules can be freely installed and disassembled.

[0068] When performing tasks, the present invention utilizes an active diameter-changing mechanism 5 to increase the friction between the pipe robot and the inner wall of the pipe, preventing slippage. Simultaneously, the active diameter-changing mechanism 5 allows the pipe robot to adapt to different pipe diameters.

[0069] In addition to the active diameter changing mechanism 5, this invention also has a pipe diameter adaptive mechanism 6, which has a strong obstacle-crossing ability.

[0070] This invention adopts a combined active and passive diameter changing method, which has a larger diameter changing range and is more adaptable to complex pipeline environments compared to the traditional parallelogram active diameter changing method.

[0071] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any modifications or equivalent changes made based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A variable-diameter pipeline robot combining active and passive operation, characterized in that: It includes a body module (2), an active diameter adjustment mechanism (5), a pipe diameter adaptive mechanism (6), and a motion module (1). The body module (2) includes a front body panel (201), a front lead screw bearing (202), a double-through body pillar (203), a rear lead screw bearing (204), and a rear body panel (205). The front body panel (201) and the rear body panel (205) are respectively installed at both ends of the double-through body pillar (203). The center of the front body panel (201) and the rear body panel (205) are respectively provided with bearing mounting countersunk holes. The front lead screw bearing (202) and the rear lead screw bearing (204) are respectively interference-fitted into the bearing mounting countersunk holes. The active diameter changing mechanism (5) includes a lead screw nut (501), a T-shaped lead screw (502), a lead screw motor (503), a transmission gear (504), a motor gear (505), a Y-shaped connecting rod (506), and a connecting rod (507). One end of the Y-shaped connecting rod (506) is hinged to the pipe diameter adaptive mechanism (6), and the other end is hinged to the lead screw nut (501). The connecting rod (507) has the same length as the Y-shaped connecting rod (506). One end of the connecting rod (507) is hinged to the pipe diameter adaptive mechanism (6), and the other end is hinged to the rear body panel (205). The Y-shaped connecting rod (506) and the connecting rod (507) are hinged at the midpoint. The T-shaped lead screw (502) is provided with a front stepped shaft and a rear stepped shaft at its front and rear ends, respectively. The front stepped shaft is connected to the front lead screw shaft. The bearing (202) is interference-fitted, and the rear stepped shaft is interference-fitted with the rear lead screw bearing (204). The front lead screw bearing (202) and the rear lead screw bearing (204) are axially fixed by the shoulder of the T-shaped lead screw (502) and the bearing mounting countersunk hole. The motor gear (505) is fixedly installed on the output shaft of the lead screw motor (503). The transmission gear (504) is fixedly connected to the rear stepped shaft of the T-shaped lead screw (502) by a set screw and meshes with the motor gear (505). When the lead screw motor (503) rotates, the T-shaped lead screw (502) is rotated through gear transmission. The lead screw nut (501) moves on the T-shaped lead screw (502), driving the Y-shaped connecting rod (506) and the connecting rod (507) to move, thereby realizing active diameter change. The motion module (1) includes wheel plates (101), wheel plate support columns (102), drive motors (103), drive wheels (104), tracks (105), driven wheels (108), and driven wheel axles (109). Two wheel plates (101) are provided, positioned opposite each other. The two ends of the wheel plate support columns (102) are respectively connected and fixed to the opposite end faces of the two wheel plates (101) to achieve connection and fixation. Front wheel mounting holes and rear wheel mounting holes are respectively provided on the wheel plates (101). The drive motor (103) is provided with two output shafts and is fixed to the wheel plates (101). The output shafts of the drive motor (103) pass through the front wheel mounting holes, the drive wheels (104) are mounted on the output shafts of the drive motor (103), the rear wheel mounting holes are transversely opened oval through holes, the driven wheel shaft (109) is movably mounted in the rear wheel mounting holes, the driven wheel (108) is mounted on the driven wheel shaft (109), and the track (105) is tensioned and mounted on the drive wheel (104) and the driven wheel (108). By adjusting the position of the driven wheel shaft (109) in the oval through hole, the distance between the driven wheel shaft (109) and the output shaft of the drive motor (103) can be adjusted, thereby adjusting the tension of the track (105). The pipe diameter adaptive mechanism (6) includes a front connecting rod (601), a spring (603), a rear connecting rod (604), a front bushing (605), and a rear bushing (606). A wheel plate groove is laterally provided on the outer side of the wheel plate (101), located below the front wheel mounting hole and the rear wheel mounting hole. One end of the front connecting rod (601) and the rear connecting rod (604) are respectively hinged to the front bushing (605), the connecting rod (507), the Y-shaped connecting rod (506), and the rear bushing (606). The end is connected to the groove of the wheel plate and slides in the groove of the wheel plate. The groove of the wheel plate is provided with a spring mounting hole. A spring (603) is installed in the spring mounting hole. The spring (603) constrains the rivet (602) and the sliding of the front connecting rod (601) and the rear connecting rod (604) by the pre-tightening force. When the pipe diameter is reduced or an obstacle is encountered, the front connecting rod (601) and the rear connecting rod (604) move laterally in the groove of the wheel plate under the action of external force. The motion module (1) retracts inward to complete the passive diameter change. It also includes a sensing module (3) for observing the inside of the pipe, an operation module (4) for clearing obstacles inside the pipe, and an external processing host. The sensing module (3) and the operation module (4) are respectively connected to the external processing host. The front body panel (201) is provided with a mounting hole for the sensing module (3). The sensing module (3) is installed in the mounting hole for the sensing module (3). The operation module (4) is detachably installed on the front body panel (201) and located below the sensing module (3).

2. The variable-diameter pipeline robot combining active and passive operation according to claim 1, characterized in that: The front body panel (201) and the rear body panel (205) are provided with three identical countersunk holes for bolt installation at corresponding positions, with their centers at 120° to each other. There are three double-through body pillars (203), and the two ends of the three double-through body pillars (203) are respectively fixed to the front body panel (201) and the rear body panel (205) at the through holes by bolts.

3. The variable-diameter pipeline robot combining active and passive operation according to claim 2, characterized in that: The front body panel (201) and the rear body panel (205) are respectively configured as hexagonal shapes, and the front body panel (201) and the rear body panel (205) have the same shape and size.

4. The variable-diameter pipeline robot combining active and passive operation according to claim 1, characterized in that: The sensing module (3) is a high-definition camera or an infrared sensor. The high-definition camera or infrared sensor is connected to an external processing host to display the captured image in real time.

5. The variable-diameter pipeline robot combining active and passive operation according to claim 1, characterized in that: The operation module (4) includes an electric drill and an electric drill motor for driving the electric drill. The electric drill is connected to the electric drill motor, and the electric drill motor is connected to an external processing host. When a blockage is detected in the pipe, the external processing host controls the electric drill to start working and clear the blockage.

6. The variable-diameter pipeline robot combining active and passive operation according to claim 1, characterized in that: The lead screw motor (503) is fixedly installed on the side of the rear body panel (205) by fixing bolts.

7. A variable-diameter pipeline robot combining active and passive operation according to claim 1, characterized in that: The motion module (1) also includes hexagonal bolts (106) and flange bearings (107). The center point of the driven wheel (108) is provided with a through hole. The flange bearings (107) are respectively installed on both sides of the driven wheel (108) and are interference-fitted with it. The flanges are close to the outside of the driven wheel (108). The driven wheel axle (109) is a stepped axle with threaded holes at both ends. The driven wheel axle (109) is interference-fitted with the flange bearings (107). There are two hexagonal bolts (106). One passes through the rear wheel mounting hole and is threaded to the driven wheel axle (109). The other passes through the flange bearings (107) and is threaded to the driven wheel axle (109).

8. A variable-diameter pipeline robot combining active and passive operation according to claim 1, characterized in that: The pipe diameter adaptive mechanism (6) also includes a rivet (602). The other ends of the front connecting rod (601) and the rear connecting rod (604) are riveted to the groove of the wheel plate by the rivet (602). At the same time, the rivet (602) can drive the front connecting rod (601) and the rear connecting rod (604) to slide in the groove of the wheel plate.

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