A pipe robot

Abstract

The present application relates to the technical field of pipeline cleaning, and discloses a pipeline robot, which comprises a driving mechanism arranged at the front end of the pipeline robot, a detection mechanism connected with the rear end of the driving mechanism through a universal joint mechanism, a functional mechanism connected with the rear end of the detection mechanism through a universal joint mechanism, and a plurality of functional mechanisms connected in series with the rear end of the pipeline robot through a universal joint mechanism; the driving mechanism drives the pipeline robot to move forward or backward; a plurality of auxiliary wheel mechanisms are arranged on the shells of the detection mechanism and the functional mechanism. The novel pipeline robot provided by the present application is connected through universal joint mechanisms, and can effectively solve the problem that the robot is difficult to turn in the pipeline; the driving mechanism is composed of driving wheels and corresponding adjusting supports, the driving wheels are all provided with speed reducers, clutches and the like, and when part of the driving mechanisms fail, the remaining driving mechanisms can remove the pipeline robot from the pipeline, so that the pipeline robot is prevented from being blocked in the pipeline due to driving failure.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning technology, and more particularly to a pipeline robot. Background Technology

[0002] Pipelines serve as fundamental infrastructure in industries such as water, natural gas, and oil. As pipelines age, they inevitably experience problems such as internal siltation and pipe damage, leading to various safety hazards. Therefore, regular pipeline safety inspections are essential.

[0003] Wheeled pipeline robots offer advantages such as high stability, flexible operation, high speed, and the ability to carry large loads. Multiple drive wheel sets are evenly distributed across the robot's body, each driven by a motor and equipped with a retractable mechanism. When performing inspection tasks, the pipeline robot can move forward through the pipeline by driving each drive wheel set. Furthermore, when encountering changes in pipeline diameter or bends, the extension or retraction of support components in the support mechanism can be adjusted to meet the needs of different working environments.

[0004] However, if some drive wheels malfunction while the pipeline robot is working inside the pipeline, it can easily prevent the robot from exiting the pipeline on its own, requiring human intervention to pull it out using traction ropes or other means. When a malfunction occurs, the support components may extend and press against the pipe wall, or the robot may encounter obstacles it had previously avoided during the extraction process, making extraction difficult or even permanently leaving it inside the pipeline. Power outages or other factors can also cause the drive wheels to stop operating. Summary of the Invention

[0005] To address the aforementioned technical problem of pipeline robots failing to move during operation, requiring manual assistance to pull them out of the pipeline, or even becoming permanently stuck inside the pipeline due to difficulty in traction, this invention provides a pipeline robot. This invention primarily utilizes a drive mechanism, a detection mechanism, and a functional mechanism, interconnected by a universal joint mechanism, effectively solving the problem of the robot's difficulty in turning within the pipeline. Multiple sets of drive wheels and adjusting supports are provided; if some drives fail, the remaining drives can remove the pipeline robot from the pipeline, thus preventing blockage due to drive failure.

[0006] The technical means employed in this invention are as follows:

[0007] A pipeline robot includes: a drive mechanism, a detection mechanism, a functional mechanism, an auxiliary wheel mechanism, and a universal joint mechanism. The rear end of the drive mechanism is connected to the front end of the detection mechanism via the universal joint mechanism. The rear end of the detection mechanism is connected to the functional mechanism via the universal joint mechanism. Several functional mechanisms are connected in series at the rear end of the pipeline robot via the universal joint mechanism. The universal joint mechanism is used for the various mechanisms of the pipeline robot to be set at the bends in the pipeline.

[0008] Furthermore, the driving mechanism includes an energy storage mechanism, a support mechanism, and a drive wheel mechanism. The driving mechanism is located at the front end of the pipeline robot. The front end of the driving mechanism is provided with an energy storage mechanism. The energy storage mechanism is connected to the support mechanism. Several drive wheel mechanisms are provided around the support mechanism. The driving mechanism serves as the power source for the pipeline robot, driving the pipeline robot to move forward or backward.

[0009] Furthermore, the energy storage mechanism includes a base plate, on which two tracks are symmetrically arranged along the central axis of the long side of the base plate; an impeller is provided in the middle of the tracks; an impeller rod is located in the middle of the two tracks; the impeller rod is threaded; the two ends of the impeller rod are connected to a first deep groove ball bearing on their optical axes; the interior of the first deep groove ball bearing is connected to the optical axis of the impeller; the exterior of the first deep groove ball bearing is connected to a bearing seat; the bottom surface of the bearing seat is connected to the base plate; a slide rail is provided at the upper end of the tracks; a threaded hole is provided in the slide rail located in the middle of the two tracks; a connecting plate is provided at the top of the slide rail; a square groove for placing a magnet is provided at the top of the connecting plate; the other end of the magnet is suspended inside the coil; the coil is located at the top of the fixing block on the rear side of the top of the base plate; and an energy storage battery is provided on the top of the base plate near the fixing block.

[0010] Furthermore, the support mechanism includes a central shaft and a central support; the central shaft has a front end plate and a rear end plate at its two ends respectively; one end of the front end plate is connected to the energy storage mechanism; the central support is connected to both the front end plate and the rear end plate by an inner sleeve and an outer sleeve; the inner sleeve is located inside the outer sleeve and the two slide relative to each other; both ends of the inner sleeve are connected to the front end plate and the rear end plate by flanges; both ends of the outer sleeve are connected to the central support by flanges; several circular holes for connecting springs are evenly distributed on the outer periphery of the central support; a support frame is provided at the top of the spring; the two side walls of the support frame are connected to eight long connecting rods by pins; four long connecting rods are distributed between the support frame and the front end plate and the rear end plate respectively; one side of the support frame is connected to a short connecting rod located on the protruding shaft of the outer sleeve by two long connecting rods to form a parallelogram structure.

[0011] Furthermore, the drive wheel mechanism includes: a geared motor; the geared motor is matched and connected to the top circular hole of the support frame; a clutch is provided on one side of the geared motor; the motor shaft of the geared motor passes through the bracket and is connected to the transverse bevel gear in the bevel gear set; the vertical bevel gear in the bevel gear set is mounted on the wheel axle and meshes perpendicularly with the transverse bevel gear; second deep groove ball bearings are provided at both ends of the wheel axle; the interior of the second deep groove ball bearing is connected to the wheel axle; the exterior of the second deep groove ball bearing is installed in the circular hole of the bracket; a drive wheel is mounted on the outer wheel axle of the bracket; a protective cover is provided on the outer side of the wheel axle.

[0012] Furthermore, the detection mechanism includes: a first connecting plate, a second connecting plate, and a housing; the first connecting plate and the second connecting plate are respectively connected to both ends of the housing; the housing is divided into upper and lower parts; the upper and lower parts of the housing are connected by a rotatable gear ring; a camera is provided on the outside of the gear ring; a support rod is provided at the center of the inside of the housing; the support rod is internally connected to the first connecting plate and the second connecting plate; a motor is provided on the second connecting plate; the motor is connected to a cylindrical gear through a motor shaft; the cylindrical gear meshes with the inside of the gear ring; the detection mechanism drives the cylindrical gear to rotate through the motor, thereby driving the cylindrical gear to mesh with the gear ring to rotate, so that the camera on the gear ring can perform 360° pipe detection; the housing of the detection mechanism and the functional mechanism is provided with several sets of auxiliary wheel mechanisms.

[0013] Furthermore, the functional mechanism includes a third connecting plate, a body, and a fourth connecting plate; both ends of the body are connected to the third connecting plate and the fourth connecting plate, respectively; the exterior of the body is provided with several sets of auxiliary wheel mechanisms; and sensors are installed inside the functional mechanism.

[0014] Further, the auxiliary wheel mechanism includes: a passive wheel; a passive wheel assembly consisting of a pair of passive wheels and axles; two moving links are provided on the passive wheel axle near the passive wheel of the passive wheel assembly; the other end of the moving links is fixedly connected to a fixed link; the fixed link is installed on the outside of the body of the detection mechanism or functional mechanism; the passive device outer sleeve is electrically driven; the passive device outer sleeve drives the passive device inner sleeve; one end of the passive device outer sleeve is connected to the front connecting plate or rear connecting plate of the detection mechanism or functional mechanism; one end of the passive device inner sleeve is connected to the center of the passive wheel axle.

[0015] Furthermore, a cross coupling is provided at the center of the universal joint mechanism; each of the four end faces of the cross coupling is provided with a third deep groove ball bearing; the inner ring of the third deep groove ball bearing matches the outer top of the cross coupling; the outer ring of the third deep groove ball bearing is connected to the corresponding mounting hole on the mounting bracket; a connecting shaft is provided on the outer top and bottom of the mounting bracket; a connecting flange is provided on the top of the connecting shaft.

[0016] Furthermore, the detection unit inside the functional mechanism is an ultrasonic sensor or a camera.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. The drive mechanism, detection mechanism and functional mechanism of the novel pipeline robot provided by the present invention are all connected by a universal joint mechanism, which can effectively solve the problem of the robot being difficult to turn in the pipeline.

[0019] 2. The drive mechanism of this invention consists of 6 sets of drive wheels and corresponding adjustment brackets. Each drive wheel is equipped with a reduction motor, clutch, etc. When some drive wheels fail, the remaining drive wheels can remove the pipeline robot from the pipeline to prevent it from being blocked in the pipeline due to drive failure. The pipeline robot can be adjusted and used according to different pipe diameters.

[0020] 3. The drive support in this invention is mainly composed of a linkage mechanism, which ensures the stable movement of the pipeline robot in different pipe diameters; the impeller energy storage mechanism can generate and store electrical energy by rotating the impeller, and can supply some electrical energy to the drive wheel when necessary; the detection mechanism can achieve 360° rotation detection by relying on the rotatable gear ring. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is the main structural view of the present invention.

[0023] Figure 2 This is a schematic diagram of the driving mechanism of the present invention.

[0024] Figure 3 This is a schematic diagram of the energy storage mechanism of the drive mechanism of the present invention.

[0025] Figure 4 This is a schematic diagram of the support mechanism for the drive mechanism of the present invention.

[0026] Figure 5 This is a schematic diagram of the drive wheel mechanism of the drive mechanism of the present invention.

[0027] Figure 6 This is a schematic diagram of the testing mechanism of the present invention.

[0028] Figure 7 This is a schematic diagram of the functional structure of the present invention.

[0029] Figure 8 This is a schematic diagram of the auxiliary wheel mechanism of the present invention.

[0030] Figure 9 This is a schematic diagram of the universal joint module of the present invention.

[0031] In the diagram: 1. Drive mechanism; 2. Detection mechanism; 3. Functional mechanism; 4. Auxiliary wheel mechanism; 5. Universal joint mechanism; 11. Energy storage mechanism; 12. Protective cover; 13. Support mechanism; 14. Drive wheel mechanism; 1101. Impeller; 1102. Track; 1103. Connecting plate; 1104. Magnet; 1105. Coil; 1106. Energy storage battery; 1107. First deep groove ball bearing; 1108. Bearing housing; 1109. Slide rail; 1110. Base plate; 1301. Central support; 1302. Rear end plate; 1303. Inner sleeve; 1304. Outer sleeve; 1305. Support frame; 1306. Spring; 1307. Front end plate; 1308. Central shaft; 1309. Flange; 1310. Pin; 1311. Long connecting rod; 1312. Short connecting rod; 1401. Gear motor; 1402. Clutch; 1403. Drive wheel; 1404. Bracket; 1405. Second deep groove ball bearing; 1406. Axle; 1407. Bevel gear set; 201. First connecting plate; 202. Cylindrical gear; 203. Gear ring; 204. Motor; 205. Second connecting plate; 206. Housing; 207. Camera; 208. Support rod; 301. Third connecting plate; 302. Body; 303. Fourth connecting plate; 401. Driven wheel; 402. Inner sleeve of driven device; 403. Outer sleeve of driven device; 404. Driven wheel axle; 405. Moving connecting rod; 406. Fixed connecting rod; 501. Connecting flange; 502. Connecting shaft; 503. Mounting bracket; 504. Third deep groove ball bearing; 505. Cross coupling. Detailed Implementation

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0035] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0036] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0037] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0038] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0039] Example 1

[0040] like Figure 1-9 As shown, the present invention provides a pipeline robot, comprising: a drive mechanism 1, a detection mechanism 2, a functional mechanism 3, an auxiliary wheel mechanism 4, and a universal joint mechanism 5. The drive mechanism 1 is disposed at the front end of the pipeline robot; the rear end of the drive mechanism 1 is connected to the front end of the detection mechanism 2 through the universal joint mechanism 5; the rear end of the detection mechanism 2 is connected to the functional mechanism 3 through the universal joint mechanism 5; and a plurality of functional mechanisms 3 are connected in series at the rear end of the pipeline robot through the universal joint mechanism 5.

[0041] The drive mechanism 1 serves as the power source for the pipeline robot, driving it to move forward or backward. The outer shell of the detection mechanism 2 and the functional mechanism 3 is equipped with several sets of auxiliary wheel mechanisms 4. The universal joint mechanism 5 is used for the various mechanisms of the pipeline robot to be set at the bends in the pipeline.

[0042] The detection mechanism 2 and the functional mechanism 3 are evenly distributed in two rows of auxiliary wheel mechanisms 4 along the circumference; the functional mechanism rear connecting plate 303 on the functional mechanism 3 can still be connected to other functional mechanisms 3 through the universal joint mechanism 5, and the number of functional mechanisms 3 is gradually increased.

[0043] Example 2

[0044] like Figure 2-5As shown, the drive mechanism 1 of the present invention includes: an energy storage mechanism 11, a support mechanism 13 and a drive wheel mechanism 14. The front end of the drive mechanism 1 is provided with an energy storage mechanism 11; the energy storage mechanism 11 is connected to the support mechanism 13; and a plurality of drive wheel mechanisms 14 are provided around the support mechanism 13.

[0045] The energy storage mechanism 11 includes a base plate 1110. Two tracks 1102 are symmetrically arranged along the central axis of the long side of the base plate 1110. An impeller 1101 is located in the middle of each track 1102. An impeller rod is positioned between the two tracks 1102 and is threaded. The two ends of the impeller rod are connected to a first deep groove ball bearing 1107 on their optical axes. The interior of the first deep groove ball bearing 1107 is connected to the optical axis portion of the impeller 1101. The exterior of the first deep groove ball bearing 1107 is connected to a bearing housing 1108. The bearing housing 110... The bottom surface of 8 is connected to the base plate 1110; the upper end of the track 1102 is provided with a slide rail 1109; the slide rail 1109 is provided with a threaded hole in the middle of the two tracks; the top of the slide rail 1109 is provided with a connecting plate 1103; the top of the connecting plate 1103 is provided with a square groove for placing a magnet 1104; the other end of the magnet 1104 is suspended inside the coil 1105; the coil 1105 is located at the top of the fixing block on the rear side of the top of the base plate 1110; the top of the base plate 1110 is provided with an energy storage battery 1106 close to the fixing block.

[0046] The support mechanism 13 includes a central shaft 1308 and a central support 1301; the central shaft 1308 has a front end plate 1307 and a rear end plate 1302 at its two ends respectively; one end of the front end plate 1307 is connected to the energy storage mechanism 11; the central support 1301 is connected to the front end plate 1307 and the rear end plate 1302 by an inner sleeve 1303 and an outer sleeve 1304; the inner sleeve 1303 is located inside the outer sleeve 1304 and the two slide relative to each other; both ends of the inner sleeve 1303 are connected to the front end plate 1307 and the rear end plate 1302 by flanges 1309; the outer sleeve 1304... Both ends are connected to the central support 1301 via flanges 1309; several circular holes for connecting springs 1306 are evenly distributed on the outer periphery of the central support 1301; a support frame 1305 is provided at the top of the spring 1306; eight long connecting rods 1311 are connected to the two side walls of the support frame 1305 via pins 1310; four long connecting rods 1311 are distributed between the support frame 1305 and the front end plate 1307 and the rear end plate 1302; one side of the support frame 1305 is connected to a short connecting rod 1312 located on the protruding shaft of the outer sleeve 1304 via two long connecting rods 1311 to form a parallelogram structure.

[0047] The drive wheel mechanism 14 includes: a reduction motor 1401; the reduction motor 1401 is matched and connected to the top circular hole of the support frame 1305; a clutch 1402 is provided on one side of the reduction motor 1401; the motor shaft of the reduction motor 1401 passes through the bracket 1404 and is connected to the transverse bevel gear in the bevel gear set 1407; the vertical bevel gear in the bevel gear set 1407 is installed on the wheel axle 1406 and meshes perpendicularly with the transverse bevel gear; the two ends of the wheel axle 1406 are provided with second deep groove ball bearings 1405; the interior of the second deep groove ball bearings 1405 is connected to the wheel axle 1406; the exterior of the second deep groove ball bearings 1405 is installed in the circular hole of the bracket 1404; a drive wheel 1403 is installed on the outer wheel axle 1406 of the bracket 1404; a protective cover 12 is provided on the outer side of the wheel axle 1406.

[0048] The energy storage mechanism 11 is implemented as follows: During the movement of the pipeline robot, the impeller 1101 is rotated by the pressure difference on both sides. The impeller shaft has a thread and meshes with the threaded hole in the middle of the slide rail 1109. When the impeller 1103 rotates, the slide rail 1109 is constrained by the track 1102 and can only move back and forth on the track 1102. Thus, the rotational motion of the impeller 1101 is converted into the translational motion of the slide rail 1109. When the slide rail 1109 moves, the connecting plate 1103 mounted on it and the magnet 1104 fixed on the connecting plate 1103 also move. The magnet 1104 moves continuously in the coil 1105, cutting the magnetic field lines and generating a certain current according to Faraday's law of electromagnetic induction. The coil 1105 and the energy storage battery 1106 can be connected by a wire to store the generated electrical energy and connect to the geared motor 1401 through the wire, providing another power supply method when connected to an external power source.

[0049] The drive support mechanism 13 is implemented as follows: a spring 1306 in the circular hole on the central support 1301 presses against the support frame 1305 and the drive wheel mechanism 14. At the same time, the spring is telescopic to ensure that the drive mechanism can be applied to pipes of different diameters. The support frame 1305, the long connecting rod 1311, and the short connecting rod 1312 set on the outer sleeve 1304 form a parallelogram mechanism. Two sets of the parallelogram mechanism are respectively set between the front end plate 1307 and the support frame 1305 and between the rear end plate 1302 and the support frame 1305, and displacement compensation is performed during the extension and contraction of the spring. Optionally, a small spring is added between the inner sleeve 1303 and the outer sleeve 1304 to ensure the tension of the parallelogram mechanism formed by the connecting rod.

[0050] The drive wheel mechanism 14 is implemented as follows: the geared motor 1401 is determined by the clutch 1402 to connect to the bevel gear set 1407. When the clutch 1402 is connected, the geared motor 1401 drives the bevel gear set 1407, thereby driving the wheel axle 1406 and the drive wheel 1403 on the wheel axle 1406 to rotate, thereby driving the entire drive mechanism to move.

[0051] Example 3

[0052] like Figure 6-9 As shown, the detection mechanism 2 of the present invention includes: a first connecting plate 201, a second connecting plate 205, and a housing 206; the first connecting plate 201 and the second connecting plate 205 are respectively connected to the two ends of the housing 206; the housing 206 is divided into upper and lower parts; the upper and lower parts of the housing 206 are connected by a rotatable gear ring 203; a camera 207 is provided on the outside of the gear ring 203; a support rod 208 is provided at the center of the inside of the housing 206; the support rod 208 is internally connected to the first connecting plate 201 and the second connecting plate 205; a motor 204 is provided on the second connecting plate 205; the motor 204 is connected to a cylindrical gear 202 through a motor shaft; the cylindrical gear 202 meshes with the inside of the gear ring 203; the detection mechanism 2 drives the cylindrical gear 202 to rotate through the motor 204, thereby driving the cylindrical gear 202 to mesh with the gear ring 203 to rotate, so that the camera 207 on the gear ring 203 can perform 360° pipeline detection.

[0053] The functional mechanism 3 includes a third connecting plate 301, a body 302, and a fourth connecting plate 303; the two ends of the body 302 are respectively connected to the third connecting plate 301 and the fourth connecting plate 303; a number of auxiliary wheel mechanisms 4 are provided on the outside of the body 302; and sensors are provided inside the functional mechanism 3.

[0054] The auxiliary wheel mechanism 4 includes: a passive wheel 401; a passive wheel assembly consisting of a pair of passive wheels 401 and a wheel axle 404; two moving links 405 are provided on the passive wheel axle 404 near the passive wheel 401 of the passive wheel assembly; the other end of the moving link 405 is fixedly connected to a fixed link 406; the fixed link 406 is installed on the outside of the body of the detection mechanism 2 or the functional mechanism 3; the passive device outer sleeve 403 is electrically driven; the passive device outer sleeve 403 drives the passive device inner sleeve 402; one end of the passive device outer sleeve 403 is connected to the front connecting plate or the rear connecting plate of the detection mechanism 2 or the functional mechanism 3; one end of the passive device inner sleeve 402 is connected to the center of the passive wheel axle 404.

[0055] The auxiliary wheel mechanism 4 is evenly distributed in three groups along the circumference on the detection mechanism 2 or the functional mechanism 3, and arranged in two rows along the axial direction. In each auxiliary wheel mechanism 4, the passive device outer sleeve 403 is electrically driven. The passive device outer sleeve 403 drives the passive device inner sleeve 402, and the moving fixed link 406, the moving link 405, and the passive wheel axle 404 form a parallelogram mechanism. When the passive device outer sleeve 403 is pulled up, the passive device inner sleeve 402 moves and extends at the same time to compensate for displacement, and at the same time drives the parallelogram mechanism on the other side. When the passive device outer sleeve 403 is lowered, the passive device inner sleeve 402 moves and retracts at the same time to compensate for displacement, and at the same time drives the parallelogram mechanism on the other side. The movement of the electrically driven passive device outer sleeve 403 ensures that the non-driven mechanism can adapt to different pipe diameters.

[0056] A cross coupling 505 is provided at the center of the universal joint mechanism 5; a third deep groove ball bearing 504 is provided on each of the four end faces of the cross coupling 505; the inner ring of the third deep groove ball bearing 504 matches the outer top of the cross coupling 505; the outer ring of the third deep groove ball bearing 504 is connected to the corresponding mounting hole on the mounting bracket 503; a connecting shaft 502 is provided on the top and bottom outer sides of the mounting bracket 503; a connecting flange 501 is provided on the top of the connecting shaft 502.

[0057] The detection unit of the detection mechanism 2 or the functional mechanism 3 is described in this application. The detection method is not the main invention of this application, so it will not be described in detail. As long as it can realize the method of detecting information of the pipeline robot in the pipeline, it is sufficient.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pipeline robot, characterized in that, include: The pipeline robot comprises a drive mechanism (1), a detection mechanism (2), a functional mechanism (3), an auxiliary wheel mechanism (4), and a universal joint mechanism (5). The rear end of the drive mechanism (1) is connected to the front end of the detection mechanism (2) via the universal joint mechanism (5). The rear end of the detection mechanism (2) is connected to the functional mechanism (3) via the universal joint mechanism (5). The rear end of the pipeline robot is connected in series with several functional mechanisms (3) via the universal joint mechanism (5). The universal joint mechanism (5) is used to set the various mechanisms of the pipeline robot at the bends in the pipeline. The drive mechanism (1) includes an energy storage mechanism (11), a support mechanism (13), and a drive wheel mechanism (14). The drive mechanism (1) is located at the front end of the pipeline robot. The front end of the drive mechanism (1) is provided with an energy storage mechanism (11). The energy storage mechanism (11) is connected to the support mechanism (13). Several drive wheel mechanisms (14) are provided around the support mechanism (13). The drive mechanism (1) serves as the power source for the pipeline robot, driving the pipeline robot to move forward or backward. The energy storage mechanism (11) includes a base plate (1110), and two tracks (1102) are symmetrically arranged on the top of the base plate (1110) along the central axis of the long side of the base plate (1110). An impeller (1101) is provided at the front of the track (1102). An impeller rod is located in the middle of the two tracks (1102). The impeller rod is threaded. The two ends of the impeller rod are connected to a first deep groove ball bearing (1107) on the optical axis. The interior of the first deep groove ball bearing (1107) is connected to the optical axis of the impeller rod. The exterior of the first deep groove ball bearing (1107) is connected to a bearing seat (1108). The bottom surface of the bearing seat (1108) It is connected to the base plate (1110); the upper end of the track (1102) is provided with a slide rail (1109); the slide rail (1109) is provided with a threaded hole in the middle of the two tracks; the top of the slide rail (1109) is provided with a connecting plate (1103); the top of the connecting plate (1103) is provided with a square groove for placing a magnet (1104); the other end of the magnet (1104) is suspended inside the coil (1105); the coil (1105) is located at the top of the fixing block on the rear side of the top of the base plate (1110); the top of the base plate (1110) is provided with an energy storage battery (1106) close to the fixing block. The support mechanism (13) includes a central shaft (1308) and a central support (1301); the central shaft (1308) has a front end plate (1307) and a rear end plate (1302) at both ends; one end of the front end plate (1307) is connected to the energy storage mechanism (11); the central support (1301) is connected to the front end plate (1307) and the rear end plate (1302) by an inner sleeve (1303) and an outer sleeve (1304); the inner sleeve (1303) is located inside the outer sleeve (1304), and the two slide relative to each other; both ends of the inner sleeve (1303) are connected to the front end plate (1307) and the rear end plate (1302) by flanges (1309); the outer sleeve (1301) is connected to the front end plate (1307) and the rear end plate (1302) by flanges (1309); the outer sleeve (1301) is connected to the front end plate (1307) and the rear end plate (1302) by flanges (1309); the central support (1301) is connected to the energy storage mechanism (11) at one end; ... 4) Both ends are connected to the central support (1301) via flanges (1309); several round holes for connecting springs (1306) are evenly distributed on the outer periphery of the central support (1301); a support frame (1305) is provided at the top of the spring (1306); the two side walls of the support frame (1305) are connected to eight long connecting rods (1311) via pins (1310); four long connecting rods (1311) are distributed between the support frame (1305) and the front end plate (1307) and the rear end plate (1302); one side of the support frame (1305) is connected to a short connecting rod (1312) located on the protruding shaft of the outer sleeve (1304) via two long connecting rods (1311) to form a parallelogram structure; The drive wheel mechanism (14) includes: a geared motor (1401); the geared motor (1401) is matched and connected to a round hole at the top of the support frame (1305); a clutch (1402) is provided on one side of the geared motor (1401); the motor shaft of the geared motor (1401) passes through the bracket (1404) and is connected to the transverse bevel gear in the bevel gear set (1407); the vertical bevel gear in the bevel gear set (1407) is installed on the axle (1406). The upper part meshes perpendicularly with the transverse bevel gear; both ends of the axle (1406) are provided with second deep groove ball bearings (1405); the interior of the second deep groove ball bearing (1405) is connected to the axle (1406); the exterior of the second deep groove ball bearing (1405) is installed in the round hole of the bracket (1404); the drive wheel (1403) is installed on the outer axle (1406) of the bracket (1404); a protective cover (12) is provided on the outer side of the axle (1406). The drive mechanism (1) consists of 6 sets of drive wheels (1403) and corresponding adjustment brackets. Each drive wheel (1403) is equipped with a geared motor (1401) and a clutch. When some drive wheels (1403) fail, the remaining drive wheels (1403) can remove the pipeline robot from the pipeline to prevent it from being blocked in the pipeline due to drive failure. The impeller (1101) energy storage mechanism (11) generates and stores electrical energy by rotating the impeller (1101) and supplies electrical energy to the drive wheel (1403).

2. The pipeline robot according to claim 1, characterized in that, The detection mechanism (2) includes: a first connecting plate (201), a second connecting plate (205), and a housing (206); the first connecting plate (201) and the second connecting plate (205) are respectively connected to both ends of the housing (206); the housing (206) is divided into upper and lower parts; the upper and lower parts of the housing (206) are connected by a rotatable gear ring (203); a camera (207) is provided on the outside of the gear ring (203); a support rod (208) is provided at the center of the interior of the housing (206); the support rod (208) is connected to the first connecting plate (201) and the second connecting plate (205). The internal connection of the plate (205); a motor (204) is provided on the second connecting plate (205); the motor (204) is connected to the cylindrical gear (202) through the motor shaft; the cylindrical gear (202) meshes with the gear ring (203) internally; the detection mechanism (2) drives the cylindrical gear (202) to rotate through the motor (204) and then drives the cylindrical gear (202) to mesh with the gear ring (203) to rotate, so that the camera (207) on the gear ring (203) can perform 360° pipeline detection; the outer shell of the detection mechanism (2) and the functional mechanism (3) is provided with several sets of auxiliary wheel mechanisms (4).

3. A pipeline robot according to claim 1, characterized in that, The functional mechanism (3) includes a third connecting plate (301), a body (302) and a fourth connecting plate (303); the two ends of the body (302) are connected to the third connecting plate (301) and the fourth connecting plate (303) respectively; the body (302) is provided with a number of auxiliary wheel mechanisms (4) on its exterior; and the functional mechanism (3) is provided with sensors inside.

4. A pipeline robot according to claim 1, characterized in that, The auxiliary wheel mechanism (4) includes: a passive wheel (401); a passive wheel assembly consisting of a pair of passive wheels (401) and a passive wheel axle (404); two moving links (405) are provided on the passive wheel axle (404) near the passive wheel (401); the other end of the moving link (405) is fixedly connected to a fixed link (406); the fixed link (406) is installed on the outside of the body of the detection mechanism (2) or the functional mechanism (3); the passive device outer sleeve (403) is electrically driven; the passive device outer sleeve (403) drives the passive device inner sleeve (402); one end of the passive device outer sleeve (403) is connected to the connecting plate of the detection mechanism (2) or the functional mechanism (3); one end of the passive device inner sleeve (402) is connected to the center of the passive wheel axle (404).

5. A pipeline robot according to claim 1, characterized in that, The universal joint mechanism (5) is provided with a cross coupling (505) at its center; each of the four end faces of the cross coupling (505) is provided with a third deep groove ball bearing (504); the inner ring of the third deep groove ball bearing (504) matches the outer top of the cross coupling (505); the outer ring of the third deep groove ball bearing (504) is connected to the corresponding mounting hole on the mounting bracket (503); the top and bottom outer sides of the mounting bracket (503) are provided with a connecting shaft (502); the top of the connecting shaft (502) is provided with a connecting flange (501).

6. A pipeline robot according to any one of claims 1-5, characterized in that, The internal detection unit of the functional mechanism (3) is an ultrasonic sensor or a camera (207).

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