Variable-diameter pipeline detection robot with obstacle avoidance function and use method

Abstract

The application discloses a variable-diameter pipeline detection robot with an obstacle avoidance function, relates to the technical field of detection robots, and comprises a crawler belt driving detection assembly, a control element storage bin, a grinding wheel polishing assembly, an edge brush cleaning assembly and a wheel train tensioning driving assembly. The crawler belt driving detection assembly is combinedly connected with the control element storage bin through an electric push rod and a universal joint. The crawler belt driving detection assembly comprises a walking driving motor, a walking transmission system and a single crawler belt driving structure. In the application, the crawler belt driving detection assembly is combinedly connected with the control element storage bin through the electric push rod and the universal joint, a multi-section robot is adopted in a series connection mode, the length of each section of the robot is shortened to the maximum extent to reduce the difficulty of the overall robot in passing through a bend, the electric push rod and the universal joint are combined at a connecting position to realize active turning of the head and head lifting and other actions to meet the requirements of obstacle avoidance, and the flexible movement requirements of the pipeline detection robot in an ultra-long or narrow pipeline are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot detection, in particular to a variable-diameter pipeline detection robot with obstacle avoidance function and a use method. BACKGROUND

[0002] The variable-diameter pipeline detection robot is a special pipeline robot, which can be applied to complex environments such as curved pipes, variable-diameter pipes, "T" type pipes and in-pipe welds, and is particularly suitable for complex industrial pipelines. The variable-diameter pipeline detection robot can realize self-adaptive passing through different pipe diameters through pre-tightening variable-diameter mechanism and spring sliding block self-adaptive adjusting mechanism. The variable-diameter pipeline detection robot replaces manual pipeline detection and maintenance work, provides important data support for pipeline repair and maintenance, and has a wide application prospect in the fields of municipal pipe network, energy pipe network and nuclear power station.

[0003] The defects of the existing pipeline detection robot are:

[0004] 1. Patent document CN118180067A discloses a pipeline robot which combines in-pipe walking and detection and maintenance functions, but is not suitable for long, narrow and deep cavity working environment. The overall robot has difficulty in bending, and the robot cannot perform active steering and head lifting actions, so it cannot realize obstacle avoidance function.

[0005] 2. Patent document CN110397820B discloses a multi-section spiral double-drive variable-diameter pipeline detection robot. The pipeline detection robot cannot realize one-stop detection, polishing and cleaning of the pipeline. The accumulation of impurities inside the pipeline is not conducive to displaying the state of the inner wall of the pipeline, and the precision and reliability of pipeline detection are poor.

[0006] 3. Patent document CN214119373U discloses a variable-diameter pipeline detection robot. The robot has difficulty in overall rotation when detecting and maintaining the inside of the pipeline. Posture adjustment will produce additional motion, which cannot guarantee the stability of the robot walking and working in the pipeline, and cannot adjust the contact force and angle between the robot and the inner wall of the pipeline.

[0007] 4. Patent document CN108662352B discloses a variable-diameter pipeline detection robot. Single-section driving of the pipeline detection robot will cause insufficient driving force and bending difficulty, and cannot realize long-distance wire dragging operation. Excessive load reduces the endurance of the pipeline robot. SUMMARY

[0008] The present application aims to provide a variable-diameter pipeline detection robot with obstacle avoidance function and a use method to solve the problems raised in the background art.

[0009] In order to achieve the above object, the present application provides the following technical scheme: a variable-diameter pipeline detection robot with obstacle avoidance function, comprising a crawler drive detection assembly, a control element storage bin, a grinding wheel polishing assembly, an edge brush cleaning assembly and a wheel train tensioning drive assembly, the crawler drive detection assembly and the control element storage bin are connected through an electric push rod and a universal joint, the control element storage bin, the grinding wheel polishing assembly, the edge brush cleaning assembly and the wheel train tensioning drive assembly are connected through universal joints respectively;

[0010] The crawler drive detection assembly comprises a walking drive motor, a walking transmission system and a single crawler drive structure, the walking drive motor is installed at the inner center position of the crawler drive detection assembly, and a front-end camera is installed at the front end of the crawler drive detection assembly.

[0011] Preferably, the walking transmission system comprises a walking drive shaft, a transmission gear, an output gear, a driving gear, a driven gear, a worm, a center shaft, a synchronous belt, a synchronous belt tensioning wheel, a driving synchronous belt pulley, a worm wheel, a driving crawler wheel and a driven synchronous belt pulley, the output gear is installed at the output end of the walking drive motor, the center shaft is installed at the inner side of the crawler drive detection assembly, the transmission gear is installed at the outer end of the center shaft, and the transmission gear is in meshing transmission with the output gear.

[0012] Preferably, the worm is arranged on the center shaft, the worm wheel and the driving gear are arranged inside the crawler drive detection assembly through a rotating shaft, the worm is in meshing transmission with the four worm wheels, the driven gear and the driving synchronous belt pulley are arranged inside the crawler drive detection assembly through a rotating shaft, the driving gear is in meshing transmission with the driven gear, the driving crawler wheel is installed at the outer end of the walking drive shaft, the driven synchronous belt pulley is installed at the outer side of the walking drive shaft, the driving synchronous belt pulley drives the driven synchronous belt pulley and the synchronous belt to drive the walking drive shaft to rotate, and the synchronous belt tensioning wheel is arranged inside the crawler drive detection assembly and matched with the driving synchronous belt pulley.

[0013] Preferably, the two single crawler drive structures are symmetrically installed at the outer end of the walking drive shaft, the single crawler drive structure comprises a crawler tensioning wheel, a crawler belt, a driven crawler wheel, a support frame and a fixed side plate, the crawler belt is installed at the outer side of the driving crawler wheel and the driven crawler wheel, the crawler tensioning wheel is installed at the outer end of the driven crawler wheel, the support frame and the fixed side plate fix the driving crawler wheel, the driven crawler wheel and the crawler belt, and an infrared distance sensor is installed at the outer side of the crawler drive detection assembly.

[0014] Preferably, the opposite side of the grinding wheel polishing assembly shell is provided with a fixed optical axis, the outer side of the fixed optical axis is sleeved with an outer end frame, the inner side of the grinding wheel polishing assembly shell is provided with a telescopic motor, the outer end of the outer end frame is provided with a rotary fixed ring, the output end of the telescopic motor is provided with a lead screw one through a shaft coupling, a sliding nut on the lead screw one is connected with a telescopic sleeve, the rotary fixed ring and the outer side of the telescopic sleeve are provided with a support connecting rod, the other end of the support connecting rod is provided with a grinding wheel, the outer side of the lead screw one is provided with a brushless motor, and the brushless motor drives the grinding wheel.

[0015] Preferably, the inner side of the grinding wheel polishing assembly shell is provided with a rotary motor, the output end of the rotary motor is provided with a rotary output gear, the rotary output gear is engaged with a rotary transmission gear, and the rotary transmission gear is fixed with the telescopic sleeve through a connecting piece, the outer side of the fixed optical axis is provided with a limit block, the outer side of the fixed optical axis is provided with an adaptive sliding block, the outer side of the fixed optical axis is sleeved with two groups of springs, one group of springs is arranged between the limit block and the adaptive sliding block, the other group of springs is arranged between the outer end frame and the adaptive sliding block, the outer end of the grinding wheel polishing assembly shell is provided with a fixed rod, the outer end of the fixed rod is provided with an adaptive connecting rod, the outer end of the fixed rod is fixedly connected with a rubber walking wheel, and the rubber walking wheel is matched with the adaptive connecting rod.

[0016] Preferably, the wheel system tensioning drive assembly comprises a rudder, a driving wheel, a connecting rod, a driven wheel, a tensioning motor, a lead screw two, a sliding block and a support rod, the tensioning motor is arranged on the outer side of the main body of the wheel system tensioning drive assembly, the lead screw two is arranged on the output end of the tensioning motor, the sliding block is fixedly connected with the nut of the lead screw two, four groups of support rods are circumferentially arranged on the outer side of the sliding block, the other end of the support rod is connected with a fixed rotating rod, the rudder is arranged on the outer end of the fixed rotating rod, the output end of the rudder is provided with the driving wheel, and the driving wheel is connected with the driven wheel through the connecting rod.

[0017] Preferably, the control element storage bin is electrically connected with a programmable controller, the programmable controller is electrically connected with the track drive detection assembly, the grinding wheel polishing assembly, the side brush cleaning assembly and the wheel system tensioning drive assembly respectively, the programmable controller is bidirectionally electrically connected with a computer operation end system, the computer operation end system processes and controls according to preset logic, and the computer operation end system is electrically connected with a drive control unit, an image processing unit and a sensing attitude analysis unit.

[0018] A use method of a variable-diameter pipeline detection robot with an obstacle avoidance function, applicable to a variable-diameter pipeline detection robot with an obstacle avoidance function, preferably, the use method of the pipeline detection robot comprises the following steps:

[0019] Step S1, the crawler driving detection assembly adopts a single walking driving motor, the walking driving motor is output to the worm gear transmission through gear transmission, four groups of worm gears above and below are simultaneously driven by two groups of worm gears on the central shaft, four-side output is realized by combining gear transmission and synchronous belt transmission, and four-side crawler synchronous walking is driven;

[0020] Step S2, the pipe detection robot adopts the combination mode of the telescopic motor and the rotary motor during walking in the pipe, the rotary motor rotates the polishing and cleaning mechanism to the working surface through the epicyclic gear transmission mode, and the telescopic motor directly drives the lead screw II transmission, so that the polishing and cleaning mechanism is directly contacted to the obstacles in the pipe.

[0021] Step S3, the wheel train tension driving assembly adopts a tension motor to directly drive the lead screw II transmission, so that the driving wheel, the driven wheel and the inner side of the pipe wall are in close contact, the friction and the walking traction are increased, the crawler driving detection assembly and the wheel train tension driving assembly are simultaneously driven as the first and last ends, and the long-distance line dragging operation of large load is realized.

[0022] Preferably, in the step S2, the following steps are further included:

[0023] Step S21, the brushless motor directly drives the grinding wheel to polish, and the rudder in the rear end brush cleaning assembly directly drives the brush to gather the dust particles after polishing to the dust suction port, and the dust suction is performed in the differential pressure mode.

[0024] Compared with the prior art, the present application has the following advantages:

[0025] 1、The crawler driving detection assembly and the control element storage are connected through the electric push rod and the universal joint combination in the present application, the crawler driving detection assembly adopts a single walking driving motor, the walking driving motor is output to the worm gear transmission through gear transmission, four groups of worm gears above and below are simultaneously driven by two groups of worm gears on the central shaft, four-side output is realized by combining gear transmission and synchronous belt transmission, and four-side crawler synchronous walking is driven, a multi-section robot is adopted in series connection structure, the length of each section of the robot is shortened to the maximum extent to reduce the difficulty of the overall robot to bend, the electric push rod and the universal joint combination are adopted at the connection to realize the active steering and the head lifting of the head, and the up-down swinging and the left-right swinging of the pipe detection robot are used to achieve the requirements of obstacle avoidance, and the flexible movement requirements of the pipe detection robot in the super-long or narrow pipe are met.

[0026] 2、The brushless motor directly drives the grinding wheel for grinding, the rudder in the rear end edge brush cleaning assembly directly drives the edge brush, the dust particles after grinding are gathered to the dust suction port to realize one-stop detection and maintenance of the pipeline, the polishing, cleaning and dust suction system solve the problem of difficult impurity cleaning in the pipeline, the grinding wheel polishing assembly can accurately polish the inner wall of the pipeline, the edge brush cleaning assembly can effectively gather and remove the dust particles generated during polishing, the robot can complete multiple tasks such as detection, polishing and cleaning in the same operation, avoiding the tedious process of multiple entry and exit of the pipeline and replacement of equipment, and the gathering effect of the edge brush cleaning assembly also helps to more clearly show the state of the inner wall of the pipeline, improving the accuracy and reliability of pipeline detection.

[0027] 3、In the present application, the grinding wheel polishing assembly and the edge brush cleaning assembly both adopt the combination of telescopic motor and rotary motor, during the walking of the pipeline detection robot in the pipeline, the rotary motor rotates the polishing and cleaning mechanism to the working surface through the epicyclic gear transmission mode, the telescopic motor directly drives the lead screw to drive the polishing and cleaning mechanism to directly contact the obstacles in the pipeline, the polishing and cleaning function assembly adopts a tensioning rotary mechanism, avoiding attitude adjustment and improving the convenience of control, the internal tensioning rotary mechanism solves the difficulty of overall rotation of the robot, the independent control of the telescopic motor and the rotary motor enables the grinding wheel polishing assembly and the edge brush cleaning assembly to more accurately perform their respective tasks, reduces the additional movement caused by attitude adjustment, improves the stability of the robot walking and working in the pipeline, and the combination of the telescopic motor and the rotary motor enables the grinding wheel polishing assembly and the edge brush cleaning assembly to flexibly adjust the contact force and angle with the inner wall of the pipeline, thereby enhancing the adaptability to different pipeline environments.

[0028] 4、In the present application, the wheel train tensioning drive assembly adopts a tensioning motor to directly drive a lead screw to drive, so that the driving wheel, the driven wheel and the inner side of the pipe wall are in close contact, increasing the friction and walking traction, the drive shaft spine provides torque for the track of each component, four rudders can realize turning in the pipeline through differential drive, the crawler drive detection assembly and the wheel train tensioning drive assembly are used as the two ends, and the first and last ends are driven at the same time to realize long-distance wire dragging operation under large load, the wire dragging operation solves the problems of insufficient power and intermittent communication in deep cavity, enhances the endurance of the pipeline robot, and effectively solves the problems of insufficient driving force and difficult turning through the multi-robot series connection and simultaneous driving of the first and last ends. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a schematic diagram of the three-dimensional structure of the present application;

[0030] Figure 2 is a schematic diagram of the three-dimensional structure of the crawler drive detection assembly of the present application;

[0031] Figure 3 Fig. 1 is a schematic diagram of the internal structure of the track drive detection assembly of the present application;

[0032] Figure 4 Fig. 2 is a schematic diagram of the single-track drive structure of the present application;

[0033] Figure 5 Fig. 3 is a schematic diagram of the grinding wheel polishing assembly of the present application;

[0034] Figure 6 Fig. 4 is a schematic diagram of the wheel train tensioning drive assembly of the present application;

[0035] Figure 7 Fig. 5 is a circuit connection diagram of the present application;

[0036] Figure 8 Fig. 6 is a computer operation terminal system diagram of the present application.

[0037] In the figure: 1, track drive detection assembly; 101, single-track drive structure; 102, walking drive shaft; 103, support frame; 104, walking drive motor; 105, transmission gear; 106, output gear; 107, driving gear; 108, driven gear; 109, worm; 110, center shaft; 111, synchronous belt; 112, synchronous belt tensioner; 113, driving synchronous pulley; 114, worm gear; 115, front-end camera; 116, driving track wheel; 117, track tensioner; 118, track; 119, driven track wheel; 120, driven synchronous pulley; 121, fixed side plate; 2, control element storage; 3, grinding wheel polishing assembly; 301, telescopic motor; 302, shaft coupling; 303, rotary fixed ring; 304, lead screw one; 305, brushless motor; 306, support link; 307, rotary transmission gear; 308, rotary output gear; 309, rubber walking wheel; 310, spring; 311, grinding wheel; 312, fixed optical axis; 313, outer end frame; 314, rotary motor; 315, telescopic sleeve; 316, adaptive slider; 317, adaptive link; 318, fixed rod; 319, limit block; 4, side brush cleaning assembly; 5, wheel train tensioning drive assembly; 501, steering engine; 502, driving wheel; 503, connecting rod; 504, driven wheel; 505, tensioning motor; 506, lead screw two; 507, slider; 508, support rod; 6, electric push rod; 7, universal joint. DETAILED DESCRIPTION

[0038] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of the present application.

[0039] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connection" and the like should be understood broadly, for example, "connection" can be fixed connection or movable connection, can be detachable connection, or integral connection; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium; can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] Please refer to Figure 1 、 Figure 2 and Figure 3 , the present application provides an embodiment: a variable-diameter pipeline detection robot with obstacle avoidance function and a use method;

[0042] The track drive probe assembly 1 and the walking transmission system, the track drive probe assembly 1 is connected with the control element warehouse 2 through the electric push rod 6 and the universal joint 7 combination, the track drive probe assembly 1 includes walking drive motor 104, walking transmission system and single group track drive structure 101, walking drive motor 104 is installed in the inside center position of track drive probe assembly 1, walking transmission system includes walking drive shaft 102, transmission gear 105, output gear 106, driving gear 107, driven gear 108, worm 109, center shaft 110, synchronous belt 111, synchronous belt tensioner 112, driving synchronous pulley 113, worm wheel 114, driving track wheel 116 and driven synchronous pulley 120, output gear 106 is installed in the output end of walking drive motor 104, center shaft 110 is installed in the inside of track drive probe assembly 1, transmission gear 105 is installed in the outer end of center shaft 110, and transmission gear 105 is engaged with output gear 106 transmission;

[0043] Worm 109 is arranged on center shaft 110, worm wheel 114 is arranged in the inside of track drive probe assembly 1 with driving gear 107 through rotating shaft, and worm 109 is engaged with four groups of worm wheel 114 transmission, driven gear 108 is arranged in the inside of track drive probe assembly 1 with driving synchronous pulley 113 through rotating shaft, and driving gear 107 is engaged with driven gear 108 transmission, driving track wheel 116 is installed in the outer end of walking drive shaft 102, driven synchronous pulley 120 is installed in the outside of walking drive shaft 102, driving synchronous pulley 113 drives driven synchronous pulley 120 and synchronous belt 111 to drive walking drive shaft 102 to rotate, synchronous belt tensioner 112 is arranged in the inside of track drive probe assembly 1, and synchronous belt tensioner 112 is matched with driving synchronous pulley 113;

[0044] The crawler drive detection assembly 1 adopts a single walking drive motor 104, adopts a single motor design to minimize weight and maximize the available space of each part, and the walking transmission system realizes the traction of the robot crawler drive detection assembly 1 through worm 114 worm gear 109 and gear transmission. The walking drive motor 104 is transmitted to the worm 114 worm gear 109 through gear transmission output, the walking transmission system is driven by the transmission gear 105 on the motor output gear 106 to the center shaft 110, the worm 109 on the center shaft 110 drives the upper and lower four groups of worm gears 114 at the same time, the worm gears 114 and the driving gear 107 are fixed on the same rotating shaft, so that the rotation of the rotating shaft of the driven gear 108 can be driven by the driving gear 107, the driven gear 108 and the driving synchronous pulley 113 are fixed on the same rotating shaft, the driving synchronous pulley 113 drives the driven synchronous pulley 120 and the synchronous belt 111 to realize the rotation of the walking drive shaft 102 of the driving crawler wheel 116, the two groups of worm gears 114 on the center shaft 110 are driven by the two groups of worm gears 109, the gear transmission and the synchronous belt 111 transmission are combined to realize four-way output, drive four-way crawler 118 synchronous walking, adopt multi-section robot series structure, shorten the length of each section of robot to the greatest extent to reduce the difficulty of overall robot bending, the connection adopts the combination of electric push rod 6 and universal joint 7, respectively drive the extension and retraction of two groups of electric push rod 6, supplemented by the fixed connection of universal joint 7 can realize the active steering and head lifting of the head of the crawler drive detection assembly, so as to achieve the requirements of obstacle avoidance.

[0045] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , a variable diameter pipeline detection robot with obstacle avoidance function and use method;

[0046] The crawler drive detection assembly 1, a single group of crawler drive structure 101 and a walking drive shaft 102, two groups of single group of crawler drive structure 101 are symmetrically installed on the outer end of the walking drive shaft 102, the single group of crawler drive structure 101 includes a crawler tensioning wheel 117, a crawler 118, a driven crawler wheel 119, a support frame 103 and a fixed side plate 121, the crawler 118 is installed on the outer side of the driving crawler wheel 116 and the driven crawler wheel 119, the crawler tensioning wheel 117 is installed on the outer end of the driven crawler wheel 119, the support frame 103 and the fixed side plate 121 fix the driving crawler wheel 116, the driven crawler wheel 119 and the crawler 118, the front end of the crawler drive detection assembly 1 is provided with a front end camera 115, and the outer side of the crawler drive detection assembly 1 is provided with an infrared distance sensor;

[0047] The main drive sprocket wheel 116, the driven sprocket wheel 119 and the track 118 are fixed by the fixed side plate 121 and the support frame 103, forming a single track drive structure 101. Two sets of single track drive structures 101 and the driven synchronous sprocket wheel 120 are fixed on the walking drive shaft 102, forming a walking of a one-side track drive device, thereby forming a four-side synchronous drive of the track drive detection assembly 1. A front-end camera 115 is arranged at the outer front end of the track drive detection assembly 1 to observe the specific conditions in the pipeline. An infrared distance sensor is also installed in the track drive detection assembly 1 to assist the front-end camera 115 in detecting obstacles and damage in the pipeline.

[0048] Please refer to Figure 1 and Figure 5 A variable-diameter pipeline detection robot with obstacle avoidance function and use method;

[0049] The fixed optical shaft 312 is installed on the opposite side of the sanding assembly 3 shell, the outer side of the fixed optical shaft 312 is sleeved with the outer end frame 313, the inner side of the sanding assembly 3 shell is installed with the telescopic motor 301, the outer end of the outer end frame 313 is installed with the rotary fixed ring 303, the output end of the telescopic motor 301 is installed with the lead screw one 304 through the shaft coupling 302, the sliding nut on the lead screw one 304 is connected with the telescopic sleeve 315, the rotary fixed ring 303 and the outer side of the telescopic sleeve 315 are installed with the support connecting rod 306, the other end of the support connecting rod 306 is installed with the grinding wheel 311, the outer side of the lead screw one 304 is installed with the brushless motor 305, the brushless motor 305 drives the grinding wheel 311;

[0050] The inner side of the sanding assembly 3 shell is installed with the rotary motor 314, the output end of the rotary motor 314 is installed with the rotary output gear 308, the rotary output gear 308 is engaged with the rotary transmission gear 307, and the rotary transmission gear 307 is fixed with the telescopic sleeve 315 through the connecting piece, the outer side of the fixed optical shaft 312 is installed with the limit block 319, the outer side of the fixed optical shaft 312 is installed with the self-adaptive sliding block 316, the outer side of the fixed optical shaft 312 is sleeved with two groups of springs 310, one group of springs 310 is installed between the limit block 319 and the self-adaptive sliding block 316, the other group of springs 310 is installed between the outer end frame 313 and the self-adaptive sliding block 316, the outer end of the fixed rod 318 is installed with the self-adaptive connecting rod 317, the outer end of the fixed rod 318 is fixedly connected with the rubber walking wheel 309, and the rubber walking wheel 309 is matched with the self-adaptive connecting rod 317;

[0051] The brushless motor 305 directly drives the grinding wheel 311 to grind, solves the problem of difficult cleaning of impurities in the pipeline by adopting grinding, cleaning and matching with a dust collection system, the grinding wheel grinding assembly 3 can accurately grind the inner wall of the pipeline, the robot can complete multiple tasks such as detection, grinding and cleaning in the same operation, avoiding the tedious process of multiple entry and exit of the pipeline and replacement of equipment, the grinding wheel grinding assembly 3 can accurately grind the inner wall of the pipeline, remove dirt, rust and welding marks, etc., and ensure the cleanliness and smoothness of the inner wall of the pipeline;

[0052] The sliding nut on the lead screw one 304 in the grinding wheel grinding assembly 3 is fixedly connected with the telescopic sleeve 315, and the grinding wheel 311 can be extended during work and retracted during walking by means of the supporting connecting rod 306. The rotary transmission gear 307 is fixed with the telescopic sleeve 315 through the connecting piece, and the turning of the grinding wheel 311 can be completed inside the basic motion unit, so that it faces the correct working direction. The grinding wheel grinding assembly 3 is in the shape of a cylinder, and can adaptively walk in the pipeline through eight groups of rubber walking wheels 309. The rubber walking wheels 309 are fixedly connected with the fixed rod 318, and the contact between the rubber walking wheels 309 and the pipe wall is realized through the adaptive connecting rod 317.

[0053] During the walking process of the pipeline detection robot in the pipeline, the polishing and cleaning mechanism is rotated to the working surface by the rotation motor 314 through the epicyclic gear transmission mode, and the telescopic motor 301 directly drives the lead screw one 304 to drive the polishing and cleaning mechanism to extend and directly contact the obstacles in the pipeline. The polishing and cleaning function assembly adopts a tensioning rotary mechanism, which avoids posture adjustment and improves the convenience of control. The internal tensioning rotary mechanism solves the difficulty of overall rotation of the robot. The independent control of the telescopic motor 301 and the rotation motor 314 enables the grinding wheel grinding assembly 3 and the side brush cleaning assembly 4 to more accurately perform their respective tasks, reduces the additional movement caused by posture adjustment, and improves the stability of the robot walking and working in the pipeline. The combination of the telescopic motor 301 and the rotation motor 314 enables the grinding wheel grinding assembly 3 and the side brush cleaning assembly 4 to flexibly adjust the contact force and angle with the inner wall of the pipeline.

[0054] The need to avoid posture adjustment enables the robot to complete the grinding and cleaning tasks more quickly, reduces the operation time, improves the operation efficiency, helps to reduce the overall cost, frequent posture adjustment not only increases the wear of mechanical parts, but also consumes more energy. By reducing the need for posture adjustment, the service life of the robot can be prolonged and energy consumption can be reduced. The accurate control of the telescopic motor 301 and the rotation motor 314 enables the grinding wheel grinding assembly 3 and the side brush cleaning assembly 4 to work according to the preset parameters, thereby ensuring the consistency and stability of the operation quality.

[0055] Please refer to Figure 1 , Figure 5 and Figure 6A variable-diameter pipeline detection robot with obstacle avoidance function and use method

[0056] The sand wheel polishing assembly 3, the edge brush cleaning assembly 4 and the wheel system tensioning driving assembly 5 are connected through the universal joint 7 respectively between the control element storage 2, the sand wheel polishing assembly 3, the edge brush cleaning assembly 4 and the wheel system tensioning driving assembly 5, the wheel system tensioning driving assembly 5 includes the rudder 501, the driving wheel 502, the connecting rod 503, the driven wheel 504, the tensioning motor 505, the screw rod two 506, the sliding block 507 and the support rod 508, the tensioning motor 505 is installed outside the main body of the wheel system tensioning driving assembly 5, the screw rod two 506 is installed at the output end of the tensioning motor 505, the screw rod two 506 nut is fixedly connected with the sliding block 507, four groups of support rods 508 are installed on the outer side of the sliding block 507 in the circumferential direction, the other end of the support rod 508 is connected with the fixed rotating rod, the rudder 501 is installed at the outer end of the fixed rotating rod, the output end of the rudder 501 is provided with the driving wheel 502, and the driving wheel 502 is connected with the driven wheel 504 through the connecting rod 503;

[0057] The structure of the edge brush cleaning assembly 4 is completely same as that of the sand wheel polishing assembly 3, but the operation function is directly connected with the edge brush through the rudder, the dust particles after the edge brush gathers and polishes the rock fragments, and the dust collection system is provided to remove the dust outside the pipeline, the edge brush cleaning assembly 4 can effectively gather and remove the dust particles generated during polishing, prevent the dust from accumulating in the pipeline, and further improve the cleanliness of the pipeline, the dust collection is performed in the differential pressure mode, the rudder in the rear end edge brush cleaning assembly 4 directly drives the edge brush, gathers the dust particles after polishing to the dust suction port, realizes one-stop detection and maintenance of the pipeline, and the gathering effect of the edge brush cleaning assembly 4 helps to more clearly show the state of the inner wall of the pipeline;

[0058] The wheel system tensioning driving assembly 5 directly drives the screw rod two 506 through the tensioning motor 505 to drive, so that the driving wheel 502 and the driven wheel 504 are in close contact with the inner side of the pipe wall, the friction and the walking traction are increased, the driving shaft spine provides torque for the track of each component, the four groups of rudders 501 can realize the turning in the pipeline through the differential driving, the track driving detection assembly 1 and the wheel system tensioning driving assembly 5 are used as two ends, the first and last ends are driven at the same time, the large load long-distance dragging operation is realized, the multi-section robot series connection mode and the first and last ends are driven at the same time, the robot control system can be more focused on the core task of walking and operation, the robot posture does not need to be adjusted frequently, the complexity of the control system is simplified, the failure rate is reduced, and the overall reliability and stability of the system are improved, in the variable-diameter pipeline, the robot needs to constantly adapt to the shape and size of the pipeline, one end of the four groups of support rods 508 is fixed to the four sides of the sliding block 507, and the other end is fixed to the fixed rotating rod to realize the tensioning of the wheel system.

[0059] Please refer to Figure 1 ,Figure 3 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8 A variable-diameter pipeline detection robot with obstacle avoidance function and use method;

[0060] The control element warehouse 2 is electrically connected with the programmable controller, the programmable controller is electrically connected with the track drive detection assembly 1, the grinding wheel polishing assembly 3, the side brush cleaning assembly 4 and the wheel train tensioning drive assembly 5 respectively, the programmable controller is bidirectionally electrically connected with the computer operation end system, the computer operation end system processes and controls according to preset logic, the computer operation end system is electrically connected with the drive control unit, the image processing unit and the sensing posture analysis unit;

[0061] The main body of the control element warehouse 2 is composed of rigid plates and presents a cuboid as a whole, walking universal wheels are arranged around the main body and follow the track drive detection assembly 1, the programmable controller STM32 serves as a central control unit, STM32 receives data feedback from each module to the computer operation end QT system, so as to process and control according to preset logic;

[0062] Each of the track drive detection assembly 1, the grinding wheel polishing assembly 3, the side brush cleaning assembly 4 and the wheel train tensioning drive assembly 5 is equipped with a fisheye camera with infrared night vision, so as to ensure that images of a wide field of view can be captured under various light conditions, the wide-angle field of view feature can provide more extensive visual information, which is crucial for improving work efficiency and accuracy, the camera equipped in the track drive detection assembly 1 is responsible for path finding, real-time monitoring and feedback of the internal condition of the pipeline, including identifying the specific position of obstacles or damage, so as to adapt to complex working environments, the cameras in the grinding wheel polishing assembly 3 and the side brush cleaning assembly 4 need to observe the working state in real time, so as to ensure the accuracy and efficiency of operation, the camera in the wheel train tensioning drive assembly 5 monitors the walking state and is responsible for inspecting the pipeline state after polishing and cleaning, the control element warehouse 2 is equipped with a camera with infrared night vision function, which is used to monitor the connection state of internal key equipment such as power supply, power carrier module and circuit board, so as to prevent potential failure, all cameras are connected to the programmable controller through USB interface, so as to ensure real-time transmission of image data;

[0063] The image processing unit can accurately receive and process the image information returned by the camera, provide the basis for the decision of the system, thereby realizing efficient management and analysis of the image, improving the intelligent level and work efficiency of the whole system, and the posture detection module is arranged in the sand wheel polishing assembly 3 and the edge brush cleaning assembly 4, according to the output type of the sensor and the posture detection module, the corresponding input channel is configured in the programmable controller, and the serial port is configured in the programmable controller, so that the system can receive data, the sensing posture analysis unit analyzes the data and analyzes the posture, judges whether the sand wheel polishing and the edge brush cleaning direction are consistent with the contact surface of the obstacle, and adjusts the posture of the sand wheel polishing function 3 and the edge brush cleaning assembly 4 according to the analysis result, so as to process the obstacle, thereby improving the overall work efficiency of the robot.

[0064] The method for using the pipeline detection robot comprises the following steps:

[0065] In step S1, the crawler driving detection assembly 1 adopts a single walking driving motor 104, the walking driving motor 104 is output to the worm gear 114 worm 109 through gear transmission, the two groups of worm gears 109 on the central shaft 110 are driven at the same time, the gear transmission and synchronous belt 111 transmission are combined to realize four-face output, and the four-face crawler 118 is driven to walk synchronously;

[0066] In step S2, the sand wheel polishing assembly 3 and the edge brush cleaning assembly 4 in the pipeline detection robot during walking in the pipeline adopt the mode of combination of the telescopic motor 301 and the rotating motor 314, the rotating motor 314 rotates the polishing and cleaning mechanism to the working surface through the epicyclic gear transmission mode, and the telescopic motor 301 directly drives the lead screw one 304 to drive, so that the polishing and cleaning mechanism is directly contacted to the obstacle in the pipeline;

[0067] In step S3, the wheel train tensioning driving assembly 5 adopts a tensioning motor 505 to directly drive a lead screw two 506 to drive, so that the driving wheel 502 and the driven wheel 504 are in close contact with the inner side of the pipe wall, the friction and the walking traction are increased, the crawler driving detection assembly 1 and the wheel train tensioning driving assembly 5 are driven at the same time at the beginning and the end, and the long-distance dragging operation of large load is realized.

[0068] In step S2, the following steps are further included:

[0069] In step S21, the brushless motor 305 directly drives the sand wheel 311 to polish, and the rudder in the rear edge brush cleaning assembly 4 directly drives the edge brush to gather the dust particles after polishing to the dust suction port, and the dust suction is carried out in the differential pressure mode.

[0070] Working principle: when using the device, first, the crawler drive detection assembly 1 uses a single walking drive motor 104, the walking drive motor 104 is transmitted to the worm gear 114 worm 109 through the gear transmission, the two groups of worm 109 on the center shaft 110 drive the upper and lower four groups of worm gears 114 at the same time, the gear transmission and synchronous belt 111 transmission combination realize four side output, drive four side crawler 118 synchronous walking;

[0071] The pipe detection robot adopts the combination of the telescopic motor 301 and the rotary motor 314 during walking in the pipe, the rotary motor 314 rotates the polishing and cleaning mechanism to the working surface through the epicyclic gear transmission mode, the telescopic motor 301 directly drives the lead screw 304 transmission, so that the polishing and cleaning mechanism directly contacts the obstacle in the pipe, the brushless motor 305 directly drives the grinding wheel 311 to polish, and the rudder in the rear end brush cleaning assembly 4 directly drives the brush to gather the dust particles after polishing to the dust suction port, and the dust suction adopts the differential pressure mode to suck up;

[0072] The wheel train tensioning drive assembly 5 directly drives the lead screw 506 through the tensioning motor 505, so that the driving wheel 502 and the driven wheel 504 are in close contact with the inner side of the pipe wall, the friction and walking traction are increased, the crawler drive detection assembly 1 and the wheel train tensioning drive assembly 5 are used as the two ends, the first and last ends are driven at the same time, and the long-distance line dragging operation of large load is realized.

[0073] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims.

Claims

1. A variable-diameter pipeline inspection robot with obstacle avoidance function, comprising a crawler drive detection assembly (1), a control element storage bin (2), a grinding wheel polishing assembly (3), an edge brush cleaning assembly (4) and a wheel train tensioning drive assembly (5), characterized in that: The track drive detection assembly (1) is connected with the control element storage (2) through the combination of the electric push rod (6) and the universal joint (7), the control element storage (2), the grinding wheel polishing assembly (3), the side brush cleaning assembly (4) and the wheel train tensioning drive assembly (5) are connected through the universal joint (7) respectively; The track drive detection assembly (1) includes a walking drive motor (104), a walking transmission system and a single track drive structure (101), the walking drive motor (104) is installed at the inner center position of the track drive detection assembly (1), and a front-end camera (115) is installed at the front end of the track drive detection assembly (1); The walking transmission system includes a walking drive shaft (102), a transmission gear (105), an output gear (106), a driving gear (107), a driven gear (108), a worm (109), a center shaft (110), a synchronous belt (111), a synchronous belt tensioning wheel (112), a driving synchronous belt wheel (113), a worm wheel (114), a driving track wheel (116) and a driven synchronous belt wheel (120), the output gear (106) is installed at the output end of the walking drive motor (104), the center shaft (110) is installed at the inner side of the track drive detection assembly (1), the transmission gear (105) is installed at the outer end of the center shaft (110), and the transmission gear (105) is in meshing transmission with the output gear (106); The opposite side of the shell of the grinding wheel polishing assembly (3) is provided with a fixed optical axis (312), the outer side of the fixed optical axis (312) is sleeved with an outer end frame (313), the inner side of the shell of the grinding wheel polishing assembly (3) is provided with a telescopic motor (301), the outer end of the outer end frame (313) is provided with a rotary fixed ring (303), the output end of the telescopic motor (301) is provided with a lead screw (304) through a shaft coupling (302), a telescopic sleeve (315) is connected to the sliding nut on the lead screw (304), the rotary fixed ring (303) and the outer side of the telescopic sleeve (315) are provided with a supporting connecting rod (306), the other end of the supporting connecting rod (306) is provided with a grinding wheel (311), the outer side of the lead screw (304) is provided with a brushless motor (305), and the brushless motor (305) drives the grinding wheel (311); The control element storage (2) is electrically connected with a programmable controller, the programmable controller is electrically connected with the track drive detection assembly (1), the grinding wheel polishing assembly (3), the side brush cleaning assembly (4) and the wheel train tensioning drive assembly (5) respectively, the programmable controller is bidirectionally electrically connected with a computer operation end system, the computer operation end system processes and controls according to a preset logic, and the computer operation end system is electrically connected with a driving control unit, an image processing unit and a sensing posture analysis unit; The worm (109) is arranged on the central shaft (110), the worm gear (114) is arranged inside the track drive detection assembly (1) through the rotating shaft with the driving gear (107), and the worm (109) is engaged and driven with the four groups of worm gears (114), the driven gear (108) is arranged inside the track drive detection assembly (1) through the rotating shaft with the driving synchronous pulley (113), and the driving gear (107) is engaged and driven with the driven gear (108), the driving track wheel (116) is installed on the outer end of the walking driving shaft (102), the outer side of the walking driving shaft (102) is provided with the driven synchronous pulley (120), the driving synchronous pulley (113) drives the driven synchronous pulley (120) and the synchronous belt (111) to drive the walking driving shaft (102) to rotate, and the synchronous belt tensioning wheel (112) is arranged inside the track drive detection assembly (1), and the synchronous belt tensioning wheel (112) is matched with the driving synchronous pulley (113). The inside of the shell of the grinding wheel polishing assembly (3) is provided with a rotating motor (314), the output end of the rotating motor (314) is provided with a rotating output gear (308), the rotating output gear (308) is engaged with a rotating transmission gear (307), and the rotating transmission gear (307) is fixed with the telescopic sleeve (315) through a connecting piece, the outer side of the fixed optical axis (312) is provided with a limiting block (319), the outer side of the fixed optical axis (312) is provided with an adaptive sliding block (316), the outer side of the fixed optical axis (312) is sleeved with two groups of springs (310), one group of springs (310) is arranged between the limiting block (319) and the adaptive sliding block (316), the other group of springs (310) is arranged between the outer end frame (313) and the adaptive sliding block (316), the outer end of the shell of the grinding wheel polishing assembly (3) is provided with a fixed rod (318), the outer end of the fixed rod (318) is provided with an adaptive connecting rod (317), the outer end of the fixed rod (318) is fixedly connected with a rubber walking wheel (309), and the rubber walking wheel (309) is matched with the adaptive connecting rod (317).

2. The variable-diameter pipeline inspection robot with obstacle avoidance function according to claim 1, characterized in that: The two groups of single group track drive structures (101) are symmetrically arranged on the outer end of the walking driving shaft (102), the single group track drive structure (101) comprises a track tensioning wheel (117), a track (118), a driven track wheel (119), a support frame (103) and a fixed side plate (121), the track (118) is arranged on the outer side of the driving track wheel (116) and the driven track wheel (119), the track tensioning wheel (117) is arranged on the outer end of the driven track wheel (119), the support frame (103) and the fixed side plate (121) fix the driving track wheel (116), the driven track wheel (119) and the track (118), and the outer side of the track drive detection assembly (1) is provided with an infrared distance sensor.

3. The variable-diameter pipeline inspection robot with obstacle avoidance function according to claim 1, characterized in that: The wheel train tensioning drive assembly (5) comprises a steering wheel (501), a driving wheel (502), a connecting rod (503), a driven wheel (504), a tensioning motor (505), a screw No.2 (506), a sliding block (507) and a support rod (508), the tensioning motor (505) is installed outside the main body of the wheel train tensioning drive assembly (5), the screw No.2 (506) is installed at the output end of the tensioning motor (505), the screw No.2 (506) is fixedly connected with the sliding block (507), four groups of support rods (508) are installed on the outer side of the sliding block (507) in a circumferential direction, the other end of the support rod (508) is connected with a fixed rotating rod, the steering wheel (501) is installed at the outer end of the fixed rotating rod, the output end of the steering wheel (501) is provided with the driving wheel (502), and the driving wheel (502) is connected with the driven wheel (504) through the connecting rod (503).

4. The use of a variable-diameter pipeline inspection robot with obstacle avoidance function, which is suitable for the variable-diameter pipeline inspection robot with obstacle avoidance function according to any one of claims 1-3, characterized in that, The use method of the pipeline detection robot comprises the following steps: Step S1, the crawler drive detection assembly (1) adopts a single walking drive motor (104), the walking drive motor (104) is output to the worm gear (114) worm (109) transmission through gear transmission, the two groups of worm gears (109) on the central shaft (110) drive the upper and lower and left and right four groups of worm gears (114) at the same time, the gear transmission is combined with the synchronous belt (111) transmission to realize four-face output, and the four-face crawler belt (118) is driven to walk synchronously; Step S2, the abrasive wheel polishing assembly (3) and the edge brush cleaning assembly (4) adopt the mode of combination of the telescopic motor (301) and the rotary motor (314) during the walking process of the pipeline detection robot in the pipeline, the rotary motor (314) rotates the polishing and cleaning mechanism to the working surface through the epicyclic gear transmission mode, and the telescopic motor (301) directly drives the lead screw No.1 (304) to drive, so that the polishing and cleaning mechanism is directly contacted to the obstacles in the pipeline; Step S3, the wheel train tensioning drive assembly (5) adopts the tensioning motor (505) to directly drive the lead screw No.2 (506) to drive, so that the driving wheel (502), the driven wheel (504) and the inner side of the pipe wall are in close contact, the friction and the walking traction are increased, the crawler drive detection assembly (1) and the wheel train tensioning drive assembly (5) are driven at the same time as the two ends, and the long-distance line dragging operation under large load is realized.

5. The use method of the variable-diameter pipeline detection robot with an obstacle avoidance function according to claim 4, characterized in that, In the step S2, the following steps are further included: Step S21, the brushless motor (305) directly drives the abrasive wheel (311) to polish, and the steering wheel in the rear edge brush cleaning assembly (4) directly drives the edge brush to gather the dust particles after polishing to the dust suction port, and the dust suction is performed in a differential pressure mode.

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