A chassis type pipeline robot

Abstract

The present application relates to the technical field of pipeline robots, and in particular, to a chassis-type pipeline robot. A 3D camera and a controller are provided. The controller determines a target wheel diameter of a wheel and a target wheel width between two wheels of each set of variable-diameter wheels according to an image of the interior of a pipeline taken by the 3D camera, thereby controlling a first drive device and a first air pump device to adjust the wheel diameter and wheel width according to the target wheel diameter and target wheel width, so as to adjust the height of the chassis-type pipeline robot, thereby being able to effectively avoid water or silt in the pipeline.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline robots, and in particular to a chassis-type pipeline robot. Background Art

[0002] For underground drainage and sewage pipes, in order to facilitate the detection of the degree and location of damage inside the pipes, pipe robots are usually used for inspection. The more commonly used pipe robots include chassis-type pipe robots and support-type pipe robots. Among them, the chassis-type pipe robot moves at the bottom of the pipe by moving the chassis, and the support-type pipe robot is supported on the inner wall of the pipe by at least three groups of support wheel mechanisms arranged along the circumference, thereby moving on the central axis of the pipe.

[0003] In actual applications, there may sometimes be accumulated water or silt inside underground drainage and sewage pipes. For a supported pipeline robot, it is only necessary to adjust the circumferential angle so that the supporting wheel mechanism does not contact the accumulated water or silt to avoid the accumulated water or silt hindering the movement of the pipeline robot. Since the chassis-type pipeline robot moves at the bottom of the pipeline, and the structural dimensions of a general chassis-type pipeline robot cannot be adjusted online, it is difficult to avoid being hindered by accumulated water or silt. Therefore, for a chassis-type pipeline robot, how to avoid being hindered by accumulated water or silt is a technical problem to be solved. It is necessary to study a chassis-type pipeline robot that can adjust the height of the pipeline robot online to avoid accumulated water or silt in the pipeline.

[0004] There is currently no effective technical solution to the above problems. Summary of the invention

[0005] The purpose of the present application is to provide a chassis-type pipeline robot, which can adjust the height of the chassis-type pipeline robot online to avoid accumulated water or silt in the pipeline.

[0006] The present application provides a chassis-type pipeline robot, comprising: a 3D camera, a controller, a robot chassis, a first driving device, and at least two sets of variable-diameter wheels;

[0007] Each group of the variable diameter wheels includes two wheels respectively arranged on both sides of the robot chassis in the width direction, and each group of the variable diameter wheels is arranged along the length direction of the robot chassis, and the first driving device is used to drive all the wheels to rotate to drive the pipeline robot to move;

[0008] Each of the wheels is provided with an air pipe assembly, the air pipe assembly is used to connect to a first air pump device provided on the robot chassis, the first air pump device is used to inflate or exhaust air to the wheel to increase or decrease the wheel diameter of the wheel;

[0009] The wheelbase between the two wheels of each set of variable diameter wheels can be adjusted online;

[0010] The 3D camera is arranged on the robot chassis, and the 3D camera is used to capture the internal image of the pipeline;

[0011] The controller is arranged on the robot chassis, and is used to determine the target wheel diameter of the wheel and the target wheel width between the two wheels of each group of the variable-diameter wheels according to the internal image recognition of the pipeline, and adjust the wheel diameter and the wheel width according to the target wheel diameter and the target wheel width.

[0012] Through the above arrangement, the height of the chassis-type pipeline robot can be adjusted online to avoid accumulated water or silt in the pipeline.

[0013] Optionally, the wheel comprises: a wheel hub, an elastic wrapping layer and a plurality of air bags;

[0014] The multiple airbags are evenly spaced along the circumference of the wheel hub, and the multiple airbags are located between the wheel hub and the elastic wrapping layer, each of the airbags is connected to the air pipe assembly, the elastic wrapping layer is used to wrap all the airbags to form a continuous circumference of the wheel, and the elastic wrapping layer can undergo elastic deformation to adapt to the increase or decrease of all the airbags.

[0015] Through the above settings, the wheel diameter size can be adjusted according to actual needs.

[0016] Optionally, each of the wheels is connected to the robot chassis via a telescopic rod, and the telescopic rod is used to adjust the distance between the wheel and the robot chassis.

[0017] Optionally, the outlet of the first air pump device is located on a side of the robot chassis close to the wheel, and the inlet of the air pipe assembly on the wheel is used to align and connect with the outlet of the first air pump device when the wheel is close to the robot chassis.

[0018] Through the above arrangement, the wheel can be inflated or deflated quickly and conveniently.

[0019] Optionally, the telescopic rod comprises a first sliding tube portion, a first sliding rod portion and a piston, the piston is slidably disposed in an inner cavity of the first sliding tube portion, a first end of the first sliding rod portion is fixedly connected to the piston, and a second end extends out of the first sliding tube portion and is connected to the wheel;

[0020] The first slide tube portion is rotatably connected to the robot chassis, and one end of the first slide tube portion away from the wheel is rotatably connected to a fixed portion, the fixed portion and the rear end surface of the first slide tube portion enclose a ventilation cavity, and a third ventilation port connecting the ventilation cavity and the inner cavity of the first slide tube portion is provided on the rear end surface of the first slide tube portion, the fixed portion is provided with a first ventilation port connecting the ventilation cavity, and the first ventilation port is connected to a second air pump device on the robot chassis; the fixed portion is also provided with a second ventilation port coaxial with the first slide tube portion, and a first end of the second ventilation port is connected to the first air pump device;

[0021] The first sliding rod portion is provided with an air delivery channel along the axial direction, and a first flexible air pipe is provided in the inner cavity of the first sliding cylinder portion. The first end of the first flexible air pipe is rotatably connected to the second end of the second air vent, and the second end of the first flexible air pipe is fixedly connected to the piston and communicated with the air delivery channel through a connecting hole opened in the center of the piston, and the air delivery channel is connected to the air pipe assembly.

[0022] Optionally, the telescopic rod comprises a coaxially arranged second slide tube portion, a second slide rod portion and a screw rod, the screw rod is rotatably arranged in the second slide tube portion and one end thereof extends out of the second slide tube portion, the second slide rod portion is slidably arranged in the second slide tube portion and one end thereof extends out of the second slide tube portion; the screw rod and the second slide rod portion are both axially provided with axial holes passing through both ends, the inner wall of the axial hole of the second slide rod portion is provided with an internal thread, and is threadedly connected to the screw rod through the internal thread; the second slide tube portion is rotatably connected to the robot chassis;

[0023] A connecting tube with an inner cavity is coaxially arranged on the wheel, and is connected to an end of the second slide rod extending out of the second slide tube through the connecting tube, and the air pipe assembly includes an air nozzle, and the air nozzle is arranged in the inner cavity of the connecting tube;

[0024] A second flexible air tube is inserted through the axial holes of the screw rod and the second sliding rod portion, one end of the second flexible air tube extends out of the screw rod and is connected to the first air pump device, and the other end extends into the inner cavity of the connecting tube and is connected to the air nozzle.

[0025] Optionally, each of the airbags is fixed to the wheel hub via a base.

[0026] Optionally, two baffles are provided on the base, and the two baffles are provided on both sides of the airbag and are respectively located on both side edges of the hub.

[0027] Optionally, a cup cover is provided on the base, and the cup cover surrounds a portion of the circumference of the airbag.

[0028] Optionally, the airbag is elliptical in shape, and the major axis diameter of the airbag points to the wheel hub.

[0029] Beneficial effect: The present application provides a chassis-type pipeline robot, which is equipped with a 3D camera and a controller. The controller determines the target wheel diameter of the wheel and the target wheel width between the two wheels of each set of variable-diameter wheels according to the internal image of the pipeline taken by the 3D camera, thereby controlling the first drive device and the first air pump device to adjust the wheel diameter and wheel width according to the target wheel diameter and target wheel width, so as to adjust the height of the chassis-type pipeline robot, thereby effectively avoiding accumulated water or silt in the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the overall structure of the chassis-type pipeline robot provided in this application.

[0031] Figure 2 A schematic diagram of the structure of the wheel provided in this application.

[0032] Figure 3 Schematic diagram of the position of the wheels and robot chassis provided for this application.

[0033] Figure 4 A schematic structural diagram of a telescopic rod provided in this application.

[0034] Figure 5 This is a schematic diagram of the position of the base and airbag provided in this application.

[0035] Figure 6 This is a schematic diagram of the positions of the cup and airbag provided in this application.

[0036] Figure 7 A schematic diagram of the position of the wheel track adjustment in the pipeline provided in this application.

[0037] Figure 8 A schematic diagram of the position of the wheel diameter of the adjustment wheel in the pipeline provided in this application.

[0038] Fig. 9 A schematic structural diagram of another telescopic rod provided in this application.

[0039] Fig.10 A schematic structural diagram of a gear transmission mechanism provided in this application.

[0040] Fig.11 This is a schematic structural diagram of a movable gear shaft provided in this application.

[0041] Explanation of reference numerals: 10, robot chassis; 11, first air pump device; 20, wheel; 21, wheel hub; 2101, connecting tube; 22, elastic wrapping layer; 23, airbag; 24, air pipe assembly; 2401, air nozzle; 31, air pressure sensor; 32, telescopic rod; 3201, first slide cylinder portion; 3202, first slide rod portion; 3203, piston; 3204, third vent; 3205, air delivery channel; 3206, connecting hole; 3207, limiting ring; 3208, slide groove; 3209, second slide cylinder portion; 3210, second slide rod portion; 3211, wire Rod; 3212, first bearing; 3213, second bearing; 33, fixing part; 3301, mouthpiece; 34, first vent; 35, first flexible air tube; 3501, plug-in nozzle; 36, second vent; 37, base; 38, cup cover; 39, first connecting part; 40, second flexible air tube; 41, second connecting part; 42, third connecting part; 43, gear transmission mechanism; 4301, driving gear; 4302, first driven gear; 4303, second driven gear; 4304, movable gear shaft; 4305, groove; 4306, telescopic protrusion. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0043] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0044] Please refer to Figure 1-Figure 8 As shown, the present application provides a chassis-type pipeline robot, comprising: a 3D camera, a controller, a robot chassis 10, a first driving device, and at least two sets of variable-diameter wheels;

[0045] Each set of variable diameter wheels includes two wheels 20 respectively arranged on both sides of the robot chassis 10 in the width direction, and each set of variable diameter wheels is arranged along the length direction of the robot chassis 10. The first driving device is used to drive all the wheels 20 to rotate to drive the pipeline robot to move;

[0046] Each wheel 20 is provided with an air pipe assembly 24, the air pipe assembly 24 is used to be connected to the first air pump device 11 disposed on the robot chassis 10, the first air pump device 11 is used to inflate or evacuate the wheel 20 to increase or decrease the wheel diameter of the wheel 20;

[0047] The wheelbase between the two wheels 20 of each set of variable diameter wheels can be adjusted online;

[0048] The 3D camera is arranged on the robot chassis 10, and the 3D camera is used to capture the internal image of the pipeline;

[0049] The controller is set on the robot chassis 10, and the controller is used to identify the first depth of water or silt in the pipeline according to the internal image of the pipeline, calculate the target wheel diameter of the wheel 20 and the target wheel width between the two wheels 20 of each set of variable diameter wheels according to the first depth, and adjust the wheel diameter and wheel width of the wheel 20 according to the target wheel diameter and target wheel width.

[0050] Specifically, by setting a 3D camera and a controller, the controller determines the target wheel diameter of the wheel 20 and the target wheel width between the two wheels 20 of each set of variable-diameter wheels according to the internal image of the pipeline taken by the 3D camera, and controls the first driving device and the first air pump device 11 to adjust the wheel diameter and wheel width of the wheel 20 according to the target wheel diameter and target wheel width, so as to adjust the height of the chassis-type pipeline robot. Thus, it can effectively avoid water or silt in the pipeline.

[0051] In some embodiments, when it is necessary to avoid accumulated water or silt in the pipe, the controller can first identify the first depth of the accumulated water or silt in the pipe based on the internal image of the pipe taken by the 3D camera, and then calculate the target wheel diameter of the wheel 20 and the target wheel spacing between the two wheels 20 of each set of variable diameter wheels based on the first depth.

[0052] Specifically, when identifying the first depth, the controller identifies the contour data of the cross section of the pipe according to the internal image of the pipe taken by the 3D camera (the specific identification method is a prior art and will not be described in detail here), and the controller calculates the first depth of the accumulated water or sludge according to the contour data of the cross section of the pipe. For example, the distance between the contour points of the cross section of the pipe is calculated, and the N pairs of contour points with the largest distances are extracted as reference points, where N is a preset positive integer and can be set according to actual needs (for example, 5, but not limited thereto), the centers of these reference points are calculated, the average distance between the reference point and the center is calculated (the average distance is actually an estimated value of the inner radius of the pipe), and the distance between each contour point and the center point is calculated, recorded as the center distance, and the minimum center distance is subtracted from the average distance to obtain the first depth of the accumulated water or sludge.

[0053] In actual application, the controller first determines whether the first distance between the bottom surface of the robot chassis 10 and the lowest point in the pipeline (for the convenience of description, the distance between the bottom surface of the robot chassis 10 and the lowest point in the pipeline is referred to as the first distance) is less than the first depth. If it is less than the first depth, the height of the chassis-type pipeline robot needs to be adjusted (by increasing the wheelbase and / or wheel diameter) so that the first distance is not less than the first depth, thereby effectively avoiding the accumulation of water or silt in the pipeline; if it is not less than the first depth, the height of the chassis-type pipeline robot does not need to be adjusted. At this time, the target wheel diameter and target wheelbase are the initial wheel diameter and initial wheelbase, respectively. Among them, the height difference between the bottom surface of the robot chassis 10 and the central axis of the wheel 20 is fixed and known, and the initial wheelbase and initial wheel diameter of the robot chassis 10 are also known. Using the aforementioned average distance, the initial wheelbase and initial wheel diameter of the robot chassis 10, and the height difference between the bottom surface of the robot chassis 10 and the central axis of the wheel 20, the distance between the bottom surface of the robot chassis 10 and the lowest point in the pipeline can be calculated through geometric relationships and recorded as the first distance (such as Figure 7 in H).

[0054] In some embodiments, the wheel 20 includes: a hub 21, an elastic wrapping layer 22, and a plurality of air bags 23;

[0055] Multiple airbags 23 are evenly spaced along the circumference of the wheel hub 21, and the multiple airbags 23 are located between the wheel hub 21 and the elastic wrapping layer 22. Each airbag 23 is connected to the air tube assembly 24. The elastic wrapping layer 22 is used to wrap all the airbags 23 to form a continuous circumference of the wheel 20. The elastic wrapping layer 22 can undergo elastic deformation to adapt to the increase or decrease of all the airbags 23.

[0056] Specifically, Figure 2As shown, by setting an elastic wrapping layer 22, multiple airbags 23 are wrapped on the wheel hub 21. When the first air pump device 11 inflates the air pipe assembly 24, the multiple airbags 23 are simultaneously enlarged, and the elastic wrapping layer 22 also increases accordingly, thereby increasing the wheel diameter of the wheel 20. When the first air pump device 11 deflates the air pipe assembly 24, the multiple airbags 23 are simultaneously reduced, and the elastic wrapping layer 22 also shrinks accordingly, thereby reducing the wheel diameter of the wheel 20.

[0057] Among them, during the inflation process, each airbag 23 is connected to the trachea assembly 24, and the volume of each airbag 23 is made consistent under the action of air pressure (the gas in the airbag 23 with high pressure will flow to the airbag 23 with low pressure until the pressure of each airbag 23 tends to be balanced). As the airbag 23 gradually expands, the evenly distributed airbags 23 will squeeze the outer elastic wrapping layer 22, thereby increasing the wheel diameter. In addition, during the deflating process, the pressure of the airbag 23 will continue to decrease as the gas decreases, the contraction force of the elastic wrapping layer 22 is greater than the pressure of the airbag 23, and the wheel diameter will gradually shrink until the contraction force of the elastic wrapping layer 22 is equivalent to the pressure of the airbag 23.

[0058] In some embodiments, an air pressure sensor 31 is disposed in at least one of the airbags 23 , and the air pressure sensor 31 is used to detect the pressure in the airbag 23 .

[0059] Specifically, since the pressure inside the airbag 23 is different under different wheel diameters, the current wheel diameter size can be determined based on the detection data of the air pressure sensor 31, wherein the pressure corresponding to different wheel diameters can be obtained in advance through experimental detection.

[0060] In some embodiments, the elastic wrapping layer 22 is made of PA6 nylon plastic or TPU plastic.

[0061] Specifically, by setting the material of the elastic wrapping layer 22 to be PA6 nylon plastic or TPU plastic raw material, the elastic wrapping layer 22 can be elastically deformed to adapt to the increase or decrease of all airbags 23 .

[0062] Specifically, each wheel 20 is connected to the robot chassis 10 via a telescopic rod 32 , and the telescopic rod 32 is used to adjust the distance between the wheel 20 and the robot chassis 10 .

[0063] By setting the telescopic rod 32, the distance between the wheel 20 and the robot chassis 10 is adjusted, so that the wheelbase between the two wheels 20 of each set of variable diameter wheels can be adjusted online.

[0064] In some embodiments, the outlet of the first air pump device 11 is located on the side of the robot chassis 10 close to the wheel 20, and the inlet of the air pipe assembly 24 on the wheel 20 is used to align and connect with the outlet of the first air pump device 11 when the wheel 20 is close to the robot chassis 10.

[0065] Specifically, in order to facilitate the first air pump device 11 to inflate or exhaust air to the wheel 20, when the wheel diameter of the wheel 20 needs to be adjusted, the telescopic rod 32 is first driven to contract, so that when the wheel 20 is close to the robot chassis 10, the inlet of the air pipe assembly 24 on the wheel 20 is aligned and connected with the outlet of the first air pump device 11 on the robot chassis 10, thereby inflating or exhausting air to the wheel 20. Among them, the first air pump device 11 can be provided with multiple outlets so that it can inflate or exhaust air to each wheel 20 at the same time, ensuring the synchronization between each wheel 20.

[0066] Among them, the inlet of the air pipe assembly 24 and the outlet of the first air pump device 11 are both provided with normally closed solenoid valves. When inflation or exhaust is required, the controller on the robot chassis 10 controls the normally closed solenoid valves to be energized, thereby opening the inlet of the air pipe assembly 24 and the outlet of the first air pump device 11. When inflation or exhaust is not required, the controller on the robot chassis 10 controls the two normally closed solenoid valves to be de-energized.

[0067] In this embodiment, since the driving telescopic rod 32 needs to be retracted first when adjusting the wheel diameter of the wheel 20, if only adjusting the wheelbase can make the bottom surface of the robot chassis 10 not lower than the accumulated water or silt, it is preferred to only adjust the wheelbase (thereby eliminating the need to adjust the wheel diameter and achieving higher adjustment efficiency). At this time, the target wheel diameter is the initial wheel diameter, and then the target wheelbase is calculated; otherwise, the target wheelbase can be set to the maximum wheelbase, and then the height that needs to be further raised at the maximum wheelbase is calculated, recorded as the supplementary height, and finally the initial radius of the wheel 20 plus the supplementary height multiplied by 2 to obtain the target wheel diameter.

[0068] Among them, reference Figure 7 , when the target wheel diameter is the initial wheel diameter, the target wheelbase can be obtained by solving the following formula:

[0069] ;

[0070] ;

[0071] ;

[0072] In the formula, is the target wheelbase, is half of the target wheelbase. is the aforementioned average distance, is the redundancy depth corresponding to the first depth (the redundancy depth is k times the first depth, k is a safety factor greater than or equal to 1, for example, 1.2, but not limited thereto), 2 is the height difference between the central axis of the pipeline and the central axis of the wheel 20, is the height difference between the bottom surface of the robot chassis 10 and the central axis of the wheel 20, is the initial radius of the wheel 20 (ie, half of the initial wheel diameter).

[0073] Among them, the supplementary height can be obtained by solving the following formula:

[0074] ;

[0075] ;

[0076] In the formula, is the maximum wheelbase (a known value), To add height.

[0077] In other embodiments, the telescopic rod 32 includes a first sliding cylinder portion 3201, a first sliding rod portion 3202 and a piston 3203, the piston 3203 is slidably disposed in the inner cavity of the first sliding cylinder portion 3201, the first end of the first sliding rod portion 3202 is fixedly connected to the piston 3203, and the second end extends out of the first sliding cylinder portion 3201 and is connected to the wheel 20;

[0078] The first slide tube portion 3201 is rotatably connected to the robot chassis 10, and the end of the first slide tube portion 3201 away from the wheel 20 is rotatably connected to a fixed portion 33, the fixed portion 33 and the rear end surface of the first slide tube portion 3201 form a ventilation cavity, and a third vent 3204 connecting the ventilation cavity and the inner cavity of the first slide tube portion 3201 is provided on the rear end surface of the first slide tube portion 3201 (i.e., the end surface of the end away from the wheel 20), and a first vent 34 connecting the ventilation cavity is provided on the fixed portion 33, and the first vent 34 is connected to the second air pump device on the robot chassis 10; the fixed portion 33 is also provided with a second vent 36 coaxial with the first slide tube portion 3201, and the first end of the second vent 36 is connected to the first air pump device 11;

[0079] The first sliding rod portion 3202 is axially provided with an air delivery channel 3205, and the inner cavity of the first sliding cylinder portion 3201 is provided with a first flexible air tube 35. The first end of the first flexible air tube 35 is rotatably connected to the second end of the second air vent 36, and the second end of the first flexible air tube 35 is fixedly connected to the piston 3203, and is connected to the air delivery channel 3205 through a connecting hole 3206 opened in the center of the piston 3203, and the air delivery channel 3205 is connected to the air pipe assembly 24.

[0080] Specifically, Figure 4As shown, the first slide cylinder portion 3201 is driven to rotate by the first driving device to drive the wheel 20 to rotate, and the second air pump device is used to inflate / exhaust air to the first vent 34 so that the piston 3203 slides in the inner cavity of the first slide cylinder portion 3201. When the second air pump device inflates the first vent 34, the first slide rod portion 3202 is driven to extend. At this time, the first flexible air tube 35 is stretched. When the second air pump device exhausts air to the first vent 34, the first slide rod portion 3202 is driven to contract. At this time, the first flexible air tube 35 is stacked on the first slide cylinder portion 3 201, and then adjust the wheel width between the two wheels 20 of each set of variable diameter wheels; when the wheel diameter of each wheel 20 needs to be adjusted, the first air pump device 11 inflates / exhausts air to the first flexible air tube 35 and the air delivery channel 3205 through the second air vent 36, and the air delivery channel 3205 then inflates / exhausts air to the wheel 20 through the air pipe assembly 24 to achieve wheel diameter adjustment of the wheel 20. Through the above structure, the wheel width between the two wheels 20 of each set of variable diameter wheels can be changed without affecting the wheel diameter adjustment of the wheel 20, so as to facilitate the adjustment of the height of the chassis-type pipeline robot.

[0081] Based on the above-mentioned telescopic rod 32 structure, if only the wheel diameter of the wheel 20 is adjusted to make the bottom surface of the robot chassis 10 not lower than the accumulated water or mud, it is preferred to only adjust the wheel diameter. At this time, the target wheel track is the initial wheel track, and then the target wheel diameter is calculated; otherwise, the target wheel diameter can be set to the maximum wheel diameter, and then the target wheel track under the maximum wheel diameter is calculated.

[0082] Among them, reference Figure 8 , when the target wheelbase is the initial wheelbase, the target wheel diameter can be obtained by solving the following formula:

[0083] ;

[0084] ;

[0085] ;

[0086] In the formula, is the target wheel diameter, is half of the target wheelbase. Half of the initial wheelbase.

[0087] Among them, the target wheelbase under the maximum wheel diameter can be obtained by solving the following formula:

[0088] ;

[0089] ;

[0090] In the formula, The maximum wheel diameter.

[0091] Optionally, the first slide cylinder portion 3201 is drivingly connected to the first driving device via a first connecting portion 39 , wherein the first connecting portion 39 may be a gear, but is not limited thereto.

[0092] Preferably, a limit ring 3207 is provided in the inner cavity of the first slide cylinder portion 3201, and there is a gap between the limit ring 3207 and the rear end face of the first slide cylinder portion 3201. The limit ring 3207 is used to limit the position of the piston 3203 in the inner cavity of the first slide cylinder portion 3201, thereby providing stacking space for the first flexible air tube 35 to avoid breaking the first flexible air tube 35.

[0093] Optionally, a slide groove 3208 extending axially is provided on the circumferential surface of the first slide rod portion 3202, and the front end face of the first slide tube portion 3201 (i.e., the end face close to one end of the wheel 20) extends into the slide groove 3208 or is key-connected to the slide groove 3208, thereby transmitting torque to the first slide rod portion 3202 to drive the first slide rod portion 3202 to rotate.

[0094] Optionally, one end of the first flexible air tube 35 is connected to a plug-in nozzle 3501, which is fixedly inserted into the center of the rear end surface of the first slide tube portion 3201. A sleeve nozzle 3301 coaxial with the first slide tube portion 3201 is provided on the inner side of the fixed portion 33. The sleeve nozzle 3301 is connected to the second air vent 36. One end of the plug-in nozzle 3501 away from the first flexible air tube 35 is inserted into the sleeve nozzle 3301 and is rotatably sealed and connected with the sleeve nozzle 3301.

[0095] In other embodiments, see Fig. 9 The telescopic rod 32 includes a coaxially arranged second slide tube portion 3209, a second slide rod portion 3210 and a screw rod 3211, the screw rod 3211 is rotatably arranged in the second slide tube portion 3209 and one end thereof extends out of the second slide tube portion 3209, the second slide rod portion 3210 is slidably arranged in the second slide tube portion 3209 and one end thereof extends out of the second slide tube portion 3209; the screw rod 3211 and the second slide rod portion 3210 are both axially provided with axial holes passing through both ends, the inner wall of the axial hole of the second slide rod portion 3210 is provided with an internal thread, and is threadedly connected to the screw rod 3211 through the internal thread; the second slide tube portion 3209 is rotatably connected to the robot chassis 10;

[0096] A connecting tube 2101 with an inner cavity is coaxially arranged on the wheel 20 (the connecting tube 2101 is fixedly connected to the wheel hub 21), and is connected to an end of the second slide rod portion 3210 extending out of the second slide tube portion 3209 through the connecting tube 2101. The air pipe assembly 24 includes an air nozzle 2401, and the air nozzle 2401 is arranged in the inner cavity of the connecting tube 2101;

[0097] A second flexible air tube 40 is passed through the axial hole of the screw rod 3211 and the second sliding rod portion 3210 . One end of the second flexible air tube 40 extends out of the screw rod 3211 and is connected to the first air pump device 11 , and the other end extends into the inner cavity of the connecting tube 2101 and is connected to the air nozzle 2401 .

[0098] When telescoping, the second slide bar portion 3210 can be driven to telescope by the screw rod 3211 by rotating, thereby realizing wheelbase adjustment; wherein, the second flexible air tube 40 and the first air pump device 11 and / or the second flexible air tube 40 and the air nozzle 2401 can be connected by a rotary joint; when the second flexible air tube 40 and the first air pump device 11 are fixedly connected, the second flexible air tube 40 needs to be able to rotate relative to the screw rod 3211 and the second slide bar portion 3210, and the second flexible air tube 40 can ... The second flexible air tube 40 needs to be connected to the air nozzle 2401 through a rotating joint to prevent the second flexible air tube 40 from being damaged by twisting as the telescopic rod 32 rotates; when the second flexible air tube 40 is connected to the first air pump device 11 through a rotating joint, the second flexible air tube 40 and the screw rod 3211, the second slide bar portion 3210 and the air nozzle 2401 can be relatively fixed in the circumferential direction (i.e., cannot rotate relative to each other), or can be rotatably connected to the screw rod 3211, the second slide bar portion 3210 and the air nozzle 2401. Fig. 9 In the embodiment, the second flexible air tube 40 is fixedly connected to the first air pump device 11, the second flexible air tube 40 can rotate relative to the screw rod 3211 and the second sliding rod portion 3210, and the second flexible air tube 40 is connected to the air nozzle 2401 via a rotary joint.

[0099] The connecting tube 2101 can provide a closed accommodation space for the rotary joint, the air nozzle 2401 and the end of the second flexible air pipe 40, so as to prevent the rotary joint and the end of the second flexible air pipe 40 from being exposed and corroded by sewage, silt and the like.

[0100] The first bearing 3212 can be provided at the end of the shaft hole of the screw rod 3211 away from the wheel 20, and the second bearing 3213 can be provided at the end of the shaft hole of the second slide rod 3210 close to the end away from the wheel 20, and the second flexible air tube 40 is passed through the first bearing 3212 and the second bearing 3213 (such as Fig. 9 As shown); on the one hand, the second flexible air tube 40 can be rotated relative to the screw rod 3211 and the second sliding rod portion 3210 to avoid twisting damage to the second flexible air tube 40. On the other hand, the axial relative position and radial relative position of the two ends of the second flexible air tube 40 and the screw rod 3211 and the second sliding rod portion 3210 are fixed to avoid scratches and damage to the second flexible air tube 40 and the ends of the screw rod 3211 and the ends of the second sliding rod portion 3210 when the telescopic rod 32 is extended and rotated.

[0101] The second connecting portion 41 may be provided on the second slide cylinder portion 3209 for driving connection with the first driving device so that the first driving device drives the telescopic rod 32 to rotate. The second connecting portion 41 may be a gear, but is not limited thereto.

[0102] The third connection part 42 may be provided at one end of the screw rod 3211 extending from the second slide tube part 3209, and the first driving device may be driven to connect with the third connection part 42, so that the first driving device drives the screw rod 3211 to rotate. Alternatively, a separate screw driving device may be provided in the robot chassis 10 to drive the screw rod 3211 to rotate. The third connection part 42 may be a gear, but is not limited thereto.

[0103] In some embodiments, see Fig.10 , Fig.11 , the first driving device can be connected to the second connecting part 41 and the third connecting part 42 through a gear transmission mechanism 43; specifically, the gear transmission mechanism 43 includes a driving gear 4301, a first driven gear 4302, a second driven gear 4303 and two movable gear shafts 4304; the driving gear 4301 is connected to the first driving device by driving; the first driven gear 4302 is meshed with the driving gear 4301 and is connected to the second connecting part 41 by driving (for example, directly meshed or connected by driving through an intermediate transmission member); the second driven gear 4303 is meshed with the driving gear 4301 and is connected to the third connecting part 42 by driving (for example, directly meshed or connected by driving through an intermediate transmission member). The first driven gear 4302 and the second driven gear 4303 are both provided with shaft connecting holes in their centers, and at least one groove 4305 is provided on the circumference of the shaft connecting holes. A movable gear shaft 4304 is inserted into each shaft connecting hole, and at least one telescopic protrusion 4306 (such as a telescopic key, telescopic bead, etc.) is provided on the circumference of the movable gear shaft 4304. The telescopic protrusion 4306 can extend out of the circumference of the movable gear shaft 4304 to extend into the corresponding groove 4305, and can also be completely retracted into the movable gear shaft 4304 (the telescopic protrusion 4306 can be telescopic by electromagnetic drive, pneumatic drive, etc.).

[0104] Thus, when the pipeline robot moves, the telescopic protrusion 4306 of the movable gear shaft 4304 connected to the first driven gear 4302 extends out and is inserted into the corresponding groove 4305, and the telescopic protrusion 4306 of the movable gear shaft 4304 connected to the second driven gear 4303 is completely retracted into the movable gear shaft 4304, so that the second driven gear 4303 will not transmit torque to the screw rod 3211 when rotating with the driving gear 4301; when it is necessary to adjust the length of the telescopic rod 32, the telescopic protrusion 4306 of the movable gear shaft 4304 connected to the first driven gear 4302 is completely retracted into the movable gear shaft 4304, and the telescopic protrusion 4306 of the movable gear shaft 4304 connected to the second driven gear 4303 extends out and is inserted into the corresponding groove 4305, thereby driving the screw rod 3211 to rotate relative to the second slide cylinder portion 3209, thereby realizing the telescopic movement of the second slide rod portion 3210.

[0105] In some embodiments, three sets of variable diameter wheels are provided on the robot chassis 10, but this is not limited thereto.

[0106] In some embodiments, each airbag 23 is fixed to the hub 21 via a base 37 .

[0107] Specifically, Figure 5 As shown, by providing a base 37 , it is convenient to fix each airbag 23 on the wheel hub 21 , thereby improving the installation stability of each airbag 23 .

[0108] In some embodiments, two baffles (not shown) are disposed on the base 37 . The two baffles are disposed on both sides of the airbag 23 and are respectively located on both side edges of the wheel hub 21 .

[0109] Specifically, baffles are provided on both sides of the airbag 23 and on both side edges of the wheel hub 21 to limit the expansion direction of the airbag 23, which helps the airbag 23 expand away from the base 37 during inflation, thereby quickly increasing the wheel diameter of the wheel 20.

[0110] In some embodiments, a cup cover 38 is disposed on the base 37 , and the cup cover 38 surrounds a portion of the circumference of the airbag 23 .

[0111] Specifically, Figure 6 As shown, by setting a cup cover 38 on the base 37, the cup cover 38 blocks the circumferential expansion of the airbag 23, forcing the airbag 23 to expand in a direction away from the cup cover 38, thereby quickly increasing the wheel diameter of the wheel 20, which is beneficial to improving the efficiency of online adjustment of the height of the chassis-type pipeline robot.

[0112] In some embodiments, the airbag 23 is elliptical in shape, and the major axis diameter of the airbag 23 points to the hub 21 .

[0113] Specifically, Figure 2 As shown, when the shape of the airbag 23 is elliptical and the long axis diameter of the airbag 23 points to the wheel hub 21, the airbag 23 expands rapidly along the long axis diameter direction during the inflation process, thereby rapidly increasing the wheel diameter of the wheel 20 to improve the efficiency of the online adjustment of the chassis-type pipeline robot.

[0114] It should be noted that when using a pipeline robot to inspect the pipeline, in order to ensure a comprehensive shot of the pipeline, the camera (3D camera) is required to be as close to the center of the pipeline as possible (for example, the distance from the center of the pipeline is not greater than 10% of the pipe diameter), and the diameters of the inspected pipes in different inspected areas are often not uniform. In this case, using the chassis-type pipeline robot of the present application, the height of the chassis-type pipeline robot can also be adjusted according to the real-time detected inner radius of the pipeline (i.e., the average distance in the previous text) so that the distance between the 3D camera and the center of the pipeline meets the corresponding requirements and ensures image quality.

[0115] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0116] The above are only embodiments of the present application and are not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A chassis-type pipeline robot, characterized in that: include: A 3D camera, a controller, a robot chassis (10), a first driving device and at least two sets of variable diameter wheels; Each group of the variable diameter wheels comprises two wheels (20) respectively arranged on both sides in the width direction of the robot chassis (10), and each group of the variable diameter wheels is arranged along the length direction of the robot chassis (10), and the first driving device is used to drive all the wheels (20) to rotate so as to drive the pipeline robot to move; Each of the wheels (20) is provided with an air pipe assembly (24), the air pipe assembly (24) being used to be connected to a first air pump device (11) provided on the robot chassis (10), the first air pump device (11) being used to inflate or exhaust air into the wheel (20) so as to increase or decrease the wheel diameter of the wheel (20); The wheelbase between the two wheels (20) of each set of variable diameter wheels can be adjusted online; The 3D camera is arranged on the robot chassis (10), and is used to capture images of the interior of the pipeline; The controller is arranged on the robot chassis (10), and is used to determine the target wheel diameter of the wheel (20) and the target wheel width between the two wheels (20) of each group of the variable-diameter wheels according to the internal image of the pipeline, and to adjust the wheel diameter and the wheel width of the wheel (20) according to the target wheel diameter and the target wheel width; Each of the wheels (20) is connected to the robot chassis (10) via a telescopic rod (32), and the telescopic rod (32) is used to adjust the distance between the wheel (20) and the robot chassis (10); The outlet of the first air pump device (11) is located on a side of the robot chassis (10) close to the wheel (20), and the inlet of the air pipe assembly (24) on the wheel (20) is used to align and connect with the outlet of the first air pump device (11) when the wheel (20) is close to the robot chassis (10); Alternatively, the telescopic rod (32) comprises a first slide tube portion (3201), a first slide rod portion (3202) and a piston (3203); the piston (3203) is slidably disposed in an inner cavity of the first slide tube portion (3201); a first end of the first slide rod portion (3202) is fixedly connected to the piston (3203); a second end of the first slide rod portion (3202) extends out of the first slide tube portion (3201) and is connected to the wheel (20); the first slide tube portion (3201) is connected to the machine The robot chassis (10) is rotatably connected, and one end of the first slide tube part (3201) away from the wheel (20) is rotatably connected to a fixed part (33), the fixed part (33) and the rear end surface of the first slide tube part (3201) enclose a ventilation cavity, the rear end surface of the first slide tube part (3201) is provided with a third ventilation port (3204) connecting the ventilation cavity and the inner cavity of the first slide tube part (3201), and the fixed part (33) is provided with a third ventilation port (3204) connecting the ventilation cavity and the inner cavity of the first slide tube part (3201). The ventilation cavity has a first vent (34), the first vent (34) being connected to a second air pump device on the robot chassis (10); the fixing portion (33) is further provided with a second vent (36) coaxial with the first slide tube portion (3201), the first end of the second vent (36) being connected to the first air pump device (11); the first slide rod portion (3202) is provided with an air delivery channel (3205) along the axial direction, the inner cavity of the first slide tube portion (3201) is provided with a first flexible air tube (35), the first end of the first flexible air tube (35) being rotatably connected to the second end of the second vent (36), the second end of the first flexible air tube (35) being fixedly connected to the piston (3203), and being communicated with the air delivery channel (3205) via a connection hole (3206) provided at the center of the piston (3203), and the air delivery channel (3205) being communicated with the air tube assembly (24); Alternatively, the telescopic rod (32) comprises a coaxially arranged second slide tube portion (3209), a second slide rod portion (3210) and a screw rod (3211); the screw rod (3211) is rotatably arranged in the second slide tube portion (3209) and one end thereof extends out of the second slide tube portion (3209); the second slide rod portion (3210) is slidably arranged in the second slide tube portion (3209) and one end thereof extends out of the second slide tube portion (3209); the screw rod (3211) and the second slide rod portion (3210) are both axially provided with axial holes passing through both ends; the inner wall of the axial hole of the second slide rod portion (3210) is provided with an internal thread and is threadedly connected to the screw rod (3211) via the internal thread; the second slide tube portion (3209) is rotatably connected to the robot chassis (10); A connecting tube (2101) having an inner cavity is coaxially arranged on the wheel (20), and is connected to an end of the second slide rod portion (3210) extending out of the second slide tube portion (3209) through the connecting tube (2101); the air pipe assembly (24) comprises an air nozzle (2401), and the air nozzle (2401) is arranged in the inner cavity of the connecting tube (2101); A second flexible air tube (40) is inserted through the axial holes of the screw rod (3211) and the second sliding rod portion (3210); one end of the second flexible air tube (40) extends out of the screw rod (3211) and is connected to the first air pump device (11), and the other end extends into the inner cavity of the connecting tube (2101) and is connected to the air nozzle (2401).

2. The chassis-type pipeline robot according to claim 1, characterized in that: The wheel (20) comprises: a wheel hub (21), an elastic wrapping layer (22) and a plurality of air bags (23); The plurality of airbags (23) are evenly spaced along the circumference of the wheel hub (21), and the plurality of airbags (23) are located between the wheel hub (21) and the elastic wrapping layer (22), each of the airbags (23) is connected to the air pipe assembly (24), the elastic wrapping layer (22) is used to wrap all of the airbags (23) to form a continuous circumference of the wheel (20), and the elastic wrapping layer (22) can undergo elastic deformation to adapt to the increase or decrease of all of the airbags (23).

3. The chassis-type pipeline robot according to claim 2, characterized in that: Each of the airbags (23) is fixed on the wheel hub (21) via a base (37).

4. The chassis-type pipeline robot according to claim 3, characterized in that: Two baffles are arranged on the base (37), and the two baffles are arranged on both sides of the airbag (23) and are respectively located on both side edges of the wheel hub (21).

5. The chassis-type pipeline robot according to claim 3, characterized in that: A cup cover (38) is provided on the base (37), and the cup cover (38) surrounds a portion of the circumference of the airbag (23).

6. The chassis-type pipeline robot according to claim 2, characterized in that: The shape of the airbag (23) is elliptical, and the major axis diameter of the airbag (23) points toward the wheel hub (21).

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