Large-variable-diameter-ratio multi-joint active and passive driving pipeline robot

Abstract

The invention relates to the technical field of pipeline detection and maintenance, in particular to a large-variable-diameter-ratio multi-joint active and passive driving pipeline robot, which comprises a variable-diameter driving module, the variable-diameter driving module comprises a double-shear-fork telescopic structure and a driving mechanism and is used for realizing flexible adjustment of the diameter of the robot, and a spring structure is connected between the double-shear-fork telescopic structure and a movable section to realize variable-diameter passive self-adaption; the steering module comprises a deflection steering mechanism and a rotary steering mechanism, the deflection steering mechanism is dragged and driven by a steel wire rope, the rotary steering mechanism is driven by a servo motor-speed reducer structure, the deflection steering mechanism and the rotary steering mechanism are internally integrated in a steering driving module, and all-directional steering movement of the robot in the pipeline is achieved; and the crawler moving branch and the driving unit thereof are used for driving the robot to move in the pipeline. The problems of limitation of a traditional manual cleaning mode in a complex pipeline system, such as difficulty in complete coverage, residue influence, low cleaning efficiency and the like, are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline detection and maintenance, and in particular relates to a large diameter reduction ratio multi-joint active and passive drive pipeline robot. Background Art

[0002] In the daily operation and maintenance of hydropower stations, the cleanliness and patency of the oil, gas and water pipelines of the turbine generator set are directly related to the safe and stable operation and power generation efficiency of the unit. Traditionally, the cleaning of these pipelines mainly relies on manual methods, specifically using iron wire combined with rags for physical wiping. However, when faced with the complex and changeable pipeline systems in modern hydropower stations, this traditional method has obvious limitations. First, due to the complex layout of the pipeline, including horizontal, vertical, continuous bends, continuous diameter changes (from large diameter to small diameter and reverse), equal diameter branches and their continuous bends, variable diameter branches and other working conditions, traditional methods are difficult to fully cover, especially in small spaces such as branches and welds, it is easy to leave imperceptible foreign matter, such as thread ends, rag fragments, etc. These residues not only affect the normal flow of the fluid, but may also cause wear and tear on the internal components of the unit, and even cause failures. Secondly, the cleaned pipeline needs to be inspected in detail by equipment such as endoscopes to confirm whether there are any foreign objects left. This process is not only time-consuming and labor-intensive, increasing the cost of maintenance, but also, after the foreign matter is found during the endoscopic inspection, it is often necessary to dismantle the entire pipeline for cleaning, which undoubtedly further prolongs the maintenance cycle and reduces the operating efficiency of the power station. Furthermore, the traditional manual cleaning method is labor-intensive, has high technical requirements for workers, and the cleaning effect is often greatly affected by human factors, making it difficult to ensure the consistency of cleaning quality. Therefore, in view of the above technical difficulties and actual needs, it is urgent to develop an efficient, intelligent, and residue-free oil, gas, and water pipeline cleaning technology to replace the traditional manual cleaning method. This new technology should be able to adapt to various complex pipeline structures, ensure comprehensive cleaning without dead ends, reduce labor intensity, improve cleaning efficiency and quality, and provide strong support for the maintenance of hydropower generator sets. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a large diameter ratio multi-joint active and passive drive pipeline robot to solve the limitations of traditional manual cleaning methods in complex pipeline systems, such as difficulty in comprehensive coverage, residue impact, low cleaning efficiency and other problems.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: A large diameter-change ratio multi-joint active-passive drive pipeline robot, a diameter-change drive module, the module includes a double scissor-type telescopic structure and a drive mechanism, which is used to realize flexible adjustment of the robot diameter, and a spring structure is connected between the double scissor-type telescopic structure and the active section to realize passive self-adaptation of the diameter change; The steering module includes a yaw steering mechanism and a slew steering mechanism. The yaw steering mechanism is driven by wire rope traction, and the slew steering mechanism is driven by a servo motor-reducer structure. The yaw steering mechanism and the slew steering mechanism are built-in and integrated in the steering drive module to realize the omnidirectional steering movement of the robot in the pipeline; The crawler moving branch and its driving unit are used to drive the robot to move in the pipeline. Preferably, the driving mechanism of the variable diameter driving module comprises a transmission screw and a transmission nut, and the rotation of the transmission screw drives the transmission nut to drive the double scissors structure to realize the variable diameter movement.

[0005] Preferably, the crawler moving branch includes a crawler track, a pulley, a synchronous pulley, a speed regulating motor, a reducer and a transmission bevel gear set. The speed regulating motor is connected to the reducer and drives the walking mechanism composed of the crawler track, the pulley and the synchronous pulley through the transmission bevel gear set.

[0006] Preferably, it also includes a robot structure frame, on which a variable diameter driving module is provided.

[0007] Preferably, the variable diameter drive module includes a fixed support, a double scissor structure, a crawler drive branch, a movable support, and an electric push rod; wherein the double scissor structure and the crawler drive branch constitute a variable diameter drive branch structure, and the variable diameter drive branch structure is divided into three groups and symmetrically arranged on the robot structure frame; The variable diameter driving branch structure is connected through a fixed support and a movable support, and the fixed support and the movable support are connected by an electric push rod. The electric push rod is used to change the distance between the fixed support and the movable support, thereby driving the double scissors structure to achieve variable diameter movement.

[0008] Preferably, the double scissors structure includes scissor rods and scissor hinges, and four groups of scissor rods are connected with the scissor hinges to form a double scissors mechanism.

[0009] Preferably, the crawler moving branch and its driving unit are composed of a crawler track, a pulley, a synchronous pulley, a speed regulating motor, a reducer, a transmission bevel gear set and a transmission belt; the speed regulating motor is connected to the reducer and drives the walking mechanism composed of a crawler track, a pulley, a synchronous pulley and a transmission belt through the transmission gear set.

[0010] Preferably, it also includes a yaw steering module and a slew steering module, and the variable diameter drive module includes a variable diameter drive unit and a double steering mechanism; the variable diameter drive unit is composed of a double steering mechanism, a crawler drive branch, a double scissor mechanism, a transmission screw rod, a transmission nut, a spring, and a fixed structure; The crawler drive branch is a mobile walking unit composed of a crawler, a drive structure, and a frame. The crawler drive branch is connected to two sets of double scissor-type mechanisms, and the double scissor-type mechanisms are connected to a spring structure. The spring structure is connected to a transmission nut and driven by the transmission screw. The transmission screw, the spring structure, and the nut are connected to the fixed structure. The transmission screw is driven to rotate and drive the two sets of transmission nuts to drive the double scissor-type structures, and passive adaptive compensation of diameter change is achieved through the spring structure.

[0011] Preferably, the variable diameter drive module is composed of a second variable diameter drive unit, a yaw rotation mechanism, a slewing steering mechanism, and a second yaw rotation mechanism, wherein the yaw rotation mechanism and the second yaw rotation mechanism are respectively connected to the slewing steering mechanism front and back to form a three-axis steering structure, and the driving push rod drives the double second double scissors-type variable diameter mechanism, and the driving push rod drives the double second double scissors-type variable diameter mechanism, which is connected by a spring structure to achieve passive compensation of the diameter change.

[0012] An operation method of a large diameter ratio multi-joint active and passive drive pipeline robot includes the following working conditions: Working condition 1: The fixed support and the movable support are connected by an electric push rod to change the distance between the two, drive the three sets of symmetrically arranged double scissor structures to move, and realize diameter change; the double scissor structure is composed of scissor rods and scissor hinges. Under the action of the electric push rod, its expansion degree is changed to adjust the overall diameter of the robot to adapt to pipelines with different diameters; the crawler drive branch is composed of crawlers, pulleys, synchronous pulleys, speed regulating motors, reducers, transmission bevel gear sets, and transmission belts, which provide power for the robot to move in the pipeline; Working condition 2: The variable diameter drive module adopts a double scissor mechanism and a lead screw drive to achieve flexible diameter adjustment; the lead screw rotates to drive the transmission nut to move, thereby driving the double scissor structure; a spring structure is connected between the nut and the movable section. When encountering different pipe diameter changes, the spring structure realizes passive adaptive compensation of the variable diameter, so that the robot can adapt to the change of pipe diameter; Working condition three: The steering function is realized by the yaw steering module and the slew steering module; the yaw steering module consists of a slew rotation structure and a yaw rotation mechanism that are actively driven front and rear; the yaw rotation mechanism is driven by wire rope traction, and the slew rotation structure is driven by a servo motor-reducer structure, both of which are built-in and integrated in the steering drive module to achieve a rotation range of ±90°; the slew steering module is located in the middle of the robot, and consists of a slew brushless motor and a structural frame, which enables the robot to rotate 360° around its axis; through the combination of two sets of yaw steering and slew steering, the pipeline robot can achieve all-round steering movement in the pipeline.

[0013] The present invention can achieve the following beneficial effects: 1. Through the large diameter ratio design and multi-joint drive structure, the robot can easily adapt to pipes of different diameters and complex shapes to achieve efficient movement.

[0014] 2. The spring structure in the variable diameter drive module realizes passive adaptation of the variable diameter, further enhancing the robot's adaptability in different pipeline environments.

[0015] 3. The optimized mechanical structure and transmission design ensure the stability and reliability of the robot during movement, reducing the failure rate and maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a structural schematic diagram of Embodiment 1 of the present invention (three-dimensional perspective 1); Figure 2 It is a structural schematic diagram of Embodiment 1 of the present invention (three-dimensional perspective 2); Figure 3 This is a schematic diagram of the structure of Embodiment 1 of the present invention (front view); Figure 4 A schematic diagram of the structure of Example 1 of the present invention (top view); Figure 5 This is a schematic diagram of the structure of Embodiment 2 of the present invention (three-dimensional perspective); Figure 6 This is a schematic diagram of the structure of Embodiment 2 of the present invention (front view); Figure 7 This is a schematic diagram of the structure of Embodiment 3 of the present invention (three-dimensional perspective); Figure 8 This is a schematic diagram of the structure of Example 3 of the present invention (front view).

[0017] In the figure: a1-fixed support, a2-double scissors structure, a3-track drive branch, a4-movable support, a5-electric push rod, a21-scissors rod, a22-scissors hinge, a31-track, a32-pulley, a33-synchronous pulley, a34-speed regulating motor, a35-reducer, a36-transmission bevel gear, a37-transmission belt, b1-variable drive unit, b2-double steering mechanism, b3-track drive branch, b4-double scissors mechanism, b5-transmission screw, b6-transmission nut, b7-spring structure, b8-fixed structure, c1-second variable drive unit, c2-sway rotation mechanism, c3-slewing steering mechanism, c4-second sway rotation mechanism, c11-drive push rod, c12-track walking unit, c13-second double scissors variable diameter mechanism, c14-frame, c15-spring. DETAILED DESCRIPTION

[0018] The preferred solution is Figures 1 to 8 As shown, a large diameter-change ratio multi-joint active-passive drive pipeline robot, combined with double scissor-type diameter-change structure, crawler moving branch and other structural components, includes three embodiments.

[0019] Embodiment 1: The specific mechanism includes a robot structural frame, a double scissor-type telescopic structure, an integrated double-section swingable crawler structure and its drive unit, which can realize the movement of the pipeline robot in pipelines with large diameter changes.

[0020] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, it includes a1-fixed support a1, double scissor structure a2, crawler drive branch a3, movable support a4, electric push rod a5, the double scissor structure a2 and crawler drive branch a3 form a variable diameter drive branch structure, which is symmetrically arranged in three groups. The variable diameter drive branch structure is connected through the fixed support a1 and the movable support a4, and the electric push rod a5 connects the fixed support a1 and the movable support a4. The electric push rod a5 changes the distance between the fixed support a1 and the movable support a4, thereby driving the double scissor structure to achieve variable diameter movement. The view after the diameter change is as shown in FIG. Figure 2 As shown. Figure 3 As shown, the double scissor structure includes scissor rods a21 and scissor hinges a22. Four groups of scissor rods a21 are connected with the scissor hinges to form the double scissor mechanism a2. Figure 4 As shown, the crawler drive branch unit a3 is composed of a crawler a31, a pulley a32, a synchronous pulley a33, a speed regulating motor 34, a reducer a35, a transmission bevel gear set a36, and a transmission belt a37. The speed regulating motor a34 is fixedly connected to the reducer a35, and drives the walking mechanism composed of the crawler a31, the pulley a32, the synchronous pulley a33, and the transmission belt a37 through the transmission gear set a36.

[0021] Embodiment 2: It includes a variable diameter drive module, a yaw steering module, and a rotary steering module. Among them, the variable diameter drive module includes two active and passive variable diameter drive units at the front and rear, which adopt a double scissor mechanism and a lead screw drive to realize flexible adjustment of the diameter. At the same time, a spring structure is connected between the nut and the movable section to realize passive self-adaptation of the variable diameter. The yaw steering module consists of a rotary rotation structure and a yaw rotation mechanism that are actively driven at the front and rear, wherein the yaw rotation mechanism is driven by wire rope traction, and the rotary rotation structure is driven by a servo motor-reducer structure. Both are built-in and integrated in the steering drive module to achieve a rotation range of ±90° and enhance the robot's steering ability in the pipeline. The rotary steering module is located in the middle of the robot and consists of a rotary brushless motor and a structural frame to realize a 360° rotation of the robot around its axis. The combination of two sets of yaw steering and rotary steering can realize the full-range steering movement of the pipeline robot in the pipeline.

[0022] like Figure 5 , 6 As shown, it includes a variable diameter drive unit b1 and a double steering mechanism b2. The variable diameter drive unit b1 is composed of a double steering mechanism b2, a crawler drive branch b3, a double scissor mechanism b4, a transmission screw b5, a transmission nut b6, a spring b7, and a fixed structure b8. The crawler drive branch b3 is a mobile walking unit composed of crawlers, a drive structure, and a frame. The specific structure can refer to the crawler drive branch a3 of the first embodiment. The crawler drive branch b3 is connected to two groups of the double scissor mechanisms b4, and the double scissor mechanisms b4 are connected to the spring structure b7. The spring structure is connected to the transmission nut b6 and driven by the screw b5. The above structure is connected to the fixed structure b8 through the screw b5, the spring structure b7, and the nut b6. The double scissor structure b4 is driven by driving the screw to rotate, and the passive adaptive compensation of the variable diameter is achieved through the spring structure b7.

[0023] Embodiment 3: It is another structural form of Example 2, and its basic structural form, principle, and movement form are the same. The specific differences lie in the driving form of the double scissors structure, the structural form of the yaw steering, and the structural form of the rotary steering. In addition, an overall protective shell structure is added to enhance the environmental adaptability of the robot in complex pipelines.

[0024] like Figure 7 , Figure 8As shown, it includes a second variable diameter driving unit c1, a yaw rotation mechanism c2, a slewing steering mechanism c3, and a second yaw rotation mechanism c4, wherein the yaw rotation mechanism c2 and the second yaw rotation mechanism c4 are respectively connected to the slewing steering mechanism c3 front and back to form a three-axis steering structure, and its function is the same as that of the double steering mechanism b2 described in the second embodiment. The driving push rod c11 drives the double second double scissor-type variable diameter mechanism c13, and the driving push rod c11 drives the double second double scissor-type variable diameter mechanism c13 connected by the spring structure 15 to achieve passive compensation of the variable diameter. The structure of the crawler walking unit c12 is consistent with the structure of the crawler drive branch b3.

[0025] Preferably, the pipeline robot may be powered by a cable or a built-in battery unit; Preferably, the double scissor structure may be three-branch or multi-branch; Preferably, the driving form of the three-axis steering mechanism may be rope drive.

[0026] The present invention realizes efficient, safe and residue-free cleaning in complex and changeable pipelines by integrating a double scissor-type variable diameter structure, crawler moving branches and multi-joint active and passive driving functions. Specifically, the present invention provides three embodiments, including a three-branch large diameter ratio pipeline robot unit based on a double scissor-type mechanism, an omnidirectional steering robot including a variable diameter drive module, a yaw steering module and a rotary steering module, and a third embodiment that adds a protective shell structure to enhance environmental adaptability. The robot system of the present invention has the advantages of a large diameter ratio design and a multi-joint drive structure, and can easily adapt to pipes of different diameters and complex shapes, and realizes passive adaptation of the diameter change through the spring structure in the variable diameter drive module, further enhancing the adaptability in different pipeline environments. In addition, the optimized mechanical structure and transmission design ensure the stability and reliability of the robot during movement, reducing the failure rate and maintenance costs.

[0027] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A large diameter ratio multi-joint active and passive drive pipeline robot, characterized in that: include: A variable diameter driving module, which includes a double scissor-type telescopic structure and a driving mechanism, is used to realize flexible adjustment of the robot diameter, and a spring structure is connected between the double scissor-type telescopic structure and the movable section to realize passive self-adaptation of the variable diameter; The steering module includes a yaw steering mechanism and a slew steering mechanism. The yaw steering mechanism is driven by wire rope traction, and the slew steering mechanism is driven by a servo motor-reducer structure. The yaw steering mechanism and the slew steering mechanism are built-in and integrated in the steering drive module to realize the omnidirectional steering movement of the robot in the pipeline; The crawler moving branch and its driving unit are used to drive the robot to move in the pipeline.

2. According to claim 1, a large diameter ratio multi-joint active and passive drive pipeline robot, characterized in that: The driving mechanism of the variable diameter driving module includes a transmission screw and a transmission nut. The rotation of the transmission screw drives the transmission nut to drive the double scissors structure to realize the variable diameter movement.

3. According to claim 1, a large diameter ratio multi-joint active and passive drive pipeline robot, characterized in that: The crawler moving branch includes crawlers, pulleys, synchronous pulleys, a speed regulating motor, a reducer and a transmission bevel gear set. The speed regulating motor is connected to the reducer and drives the walking mechanism composed of crawlers, pulleys and synchronous pulleys through the transmission bevel gear set.

4. The large diameter ratio multi-joint active and passive drive pipeline robot according to claim 1, characterized in that: It also includes a robot structure frame, on which a variable diameter driving module is arranged.

5. The large diameter ratio multi-joint active and passive drive pipeline robot according to claim 4, characterized in that: The variable diameter drive module includes a fixed support, a double scissor structure, a crawler drive branch, a movable support, and an electric push rod; wherein the double scissor structure and the crawler drive branch constitute a variable diameter drive branch structure, and the variable diameter drive branch structure is divided into three groups and symmetrically arranged on the robot structure frame; The variable diameter driving branch structure is connected through a fixed support and a movable support, and the fixed support and the movable support are connected by an electric push rod. The electric push rod is used to change the distance between the fixed support and the movable support, thereby driving the double scissors structure to achieve variable diameter movement.

6. The large diameter ratio multi-joint active and passive drive pipeline robot according to claim 5, characterized in that: The double scissor structure comprises scissor rods and scissor hinges, and four groups of scissor rods are connected with the scissor hinges to form a double scissor mechanism.

7. The large diameter ratio multi-joint active and passive drive pipeline robot according to claim 6, characterized in that: The crawler moving branch and its driving unit are composed of a crawler, a pulley, a synchronous pulley, a speed regulating motor, a reducer, a transmission bevel gear set and a transmission belt; the speed regulating motor is connected to the reducer and drives the walking mechanism composed of the crawler, the pulley, the synchronous pulley and the transmission belt through the transmission gear set.

8. The large diameter ratio multi-joint active and passive drive pipeline robot according to claim 1, characterized in that: It also includes a yaw steering module and a slew steering module. The variable diameter drive module includes a variable diameter drive unit and a double steering mechanism. The variable diameter drive unit is composed of a double steering mechanism, a crawler drive branch, a double scissor mechanism, a transmission screw rod, a transmission nut, a spring, and a fixed structure. The crawler drive branch is a mobile walking unit composed of a crawler, a drive structure, and a frame. The crawler drive branch is connected to two sets of double scissor-type mechanisms, and the double scissor-type mechanisms are connected to a spring structure. The spring structure is connected to a transmission nut and driven by the transmission screw. The transmission screw, the spring structure, and the nut are connected to the fixed structure. The transmission screw is driven to rotate and drive the two sets of transmission nuts to drive the double scissor-type structures, and passive adaptive compensation of diameter change is achieved through the spring structure.

9. The large diameter ratio multi-joint active and passive drive pipeline robot according to claim 1, characterized in that: The variable diameter driving module is composed of a second variable diameter driving unit, a yaw rotation mechanism, a slewing steering mechanism, and a second yaw rotation mechanism, wherein the yaw rotation mechanism and the second yaw rotation mechanism are respectively connected to the slewing steering mechanism front and back to form a three-axis steering structure, the driving push rod drives the double second double scissors-type variable diameter mechanism, and the driving push rod drives the double second double scissors-type variable diameter mechanism, which is connected by a spring structure to achieve passive compensation of the diameter change.

10. The operation method of a large diameter ratio multi-joint active and passive drive pipeline robot according to any one of claims 1 to 9, characterized in that: The following conditions are included: Working condition 1: The fixed support and the movable support are connected by an electric push rod to change the distance between the two, drive the three sets of symmetrically arranged double scissor structures to move, and realize diameter change; the double scissor structure is composed of scissor rods and scissor hinges. Under the action of the electric push rod, its expansion degree is changed to adjust the overall diameter of the robot to adapt to pipelines with different diameters; the crawler drive branch is composed of crawlers, pulleys, synchronous pulleys, speed regulating motors, reducers, transmission bevel gear sets, and transmission belts, which provide power for the robot to move in the pipeline; Working condition 2: The variable diameter drive module adopts a double scissor mechanism and a lead screw drive to achieve flexible diameter adjustment; the lead screw rotates to drive the transmission nut to move, thereby driving the double scissor structure; a spring structure is connected between the nut and the movable section. When encountering different pipe diameter changes, the spring structure realizes passive adaptive compensation of the variable diameter, so that the robot can adapt to the change of pipe diameter; Working condition three: The steering function is realized by the yaw steering module and the slew steering module; the yaw steering module consists of a slew rotation structure and a yaw rotation mechanism that are actively driven front and rear; the yaw rotation mechanism is driven by wire rope traction, and the slew rotation structure is driven by a servo motor-reducer structure, both of which are built-in and integrated in the steering drive module to achieve a rotation range of ±90°; the slew steering module is located in the middle of the robot, and consists of a slew brushless motor and a structural frame, which enables the robot to rotate 360° around its axis; through the combination of two sets of yaw steering and slew steering, the pipeline robot can achieve all-round steering movement in the pipeline.

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