A multi-joint passive and active driving pipeline robot with large reduction ratio

Abstract

A large-diameter-ratio multi-joint passive and active driving pipeline robot relates to the technical field of pipeline detection and maintenance, a variable-diameter driving module, which comprises a double-shear fork telescopic structure and a driving mechanism, is used to realize flexible adjustment of the diameter of the robot, and a spring structure is connected between the double-shear fork telescopic structure and the movable section to realize passive self-adaptation of the variable diameter; a steering module, which comprises a deflection steering mechanism and a rotary steering mechanism, the deflection steering mechanism is driven by a steel wire rope traction, the rotary steering mechanism is driven by a servo motor-reducer structure, the deflection steering mechanism and the rotary steering mechanism are built-in integrated in the steering driving module, and omnidirectional steering movement of the robot in the pipeline is realized; a crawler belt moving branch and a driving unit thereof are used to drive the robot to move in the pipeline. The problems, such as difficulty in comprehensive coverage, residue influence and low cleaning efficiency, etc. existing in the traditional manual cleaning mode in the complex pipeline system are solved.

Description

Technical Field

[0001] This invention belongs to the field of pipeline inspection and maintenance technology, and specifically relates to a multi-joint active and passive drive pipeline robot with a large diameter ratio. Background Technology

[0002] In the daily operation and maintenance of hydropower stations, the cleanliness and unobstructed flow of oil, gas, and water pipelines of turbine generator units directly affect the safe and stable operation of the units and their power generation efficiency. Traditionally, cleaning these pipelines has relied mainly on manual methods, specifically using wire and cloth for physical wiping. However, this traditional method reveals significant limitations when faced with the complex and varied pipeline systems of modern hydropower stations. First, due to the complex pipeline layout, including horizontal, vertical, continuous bends, continuous diameter changes (from large to small diameter and in the opposite direction), and constant-diameter branch pipes with their continuous bends and variable-diameter branch pipes, traditional methods cannot cover all situations. Especially in confined spaces such as branch pipes and welds, foreign objects that are difficult to detect, such as thread ends and rag scraps, can easily remain. These residues not only affect the normal flow of fluids but may also cause wear and tear on internal components of the unit, or even lead to malfunctions. Second, the cleaned pipelines need to be thoroughly inspected using equipment such as endoscopes to confirm the absence of any foreign object residue. This process is not only time-consuming and labor-intensive, increasing maintenance costs, but also often requires disassembling the entire pipeline for cleaning after foreign objects are found during endoscopic examination. This undoubtedly further extends the maintenance cycle and reduces the operating efficiency of the power plant. Furthermore, traditional manual cleaning methods are labor-intensive, require highly skilled workers, and the cleaning effect is often greatly affected by human factors, making it difficult to guarantee consistent cleaning quality. Therefore, given the above technical challenges and practical needs, there is an urgent need to develop a highly efficient, intelligent, and residue-free oil, gas, and water pipeline cleaning technology to replace traditional manual cleaning methods. This new technology should be able to adapt to various complex pipeline structures, ensuring comprehensive cleaning without blind spots, while reducing labor intensity, improving cleaning efficiency and quality, and providing strong support for the maintenance of hydro-generator units. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a multi-joint active and passive driven pipeline robot with a large diameter ratio, which solves the limitations of traditional manual cleaning methods in complex pipeline systems, such as difficulty in full coverage, the influence of residues, and low cleaning efficiency.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A large diameter-ratio multi-joint active and passive driven pipeline robot includes a diameter-changing drive module. This module includes a double scissor telescopic structure and a drive mechanism to achieve flexible adjustment of the robot's diameter. A spring structure connects the double scissor telescopic structure and the movable section to achieve passive adaptive diameter change.

[0006] The steering module includes a yaw steering mechanism and a rotary steering mechanism. The yaw steering mechanism is driven by a wire rope traction, and the rotary steering mechanism is driven by a servo motor-reducer structure. The yaw steering mechanism and the rotary steering mechanism are integrated into the steering drive module to realize the robot's all-round steering movement in the pipeline.

[0007] Tracked moving branch and its drive unit are used to drive the robot to move inside the pipe.

[0008] Preferably, the driving mechanism of the variable diameter drive module includes a transmission screw and a transmission nut. The rotation of the transmission screw drives the transmission nut to drive the double scissor structure to achieve the variable diameter movement.

[0009] Preferably, the track moving branch includes a track, 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 the track, pulleys, and synchronous pulleys through the transmission bevel gear set.

[0010] Preferably, it also includes a robot structural frame, on which a variable diameter drive module is provided.

[0011] Preferably, the variable diameter drive module includes a fixed support, a double scissor structure, a track drive branch, a movable support, and an electric push rod; wherein, the double scissor structure and the track drive branch form a variable diameter drive branch structure, and the variable diameter drive branch structure is symmetrically arranged in three groups on the robot structural frame.

[0012] The variable diameter drive branch structure is connected by 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 scissor structure to achieve variable diameter movement.

[0013] Preferably, the double scissor structure includes scissor bars and scissor hinges, and four sets of scissor bars and scissor hinges are connected to form a double scissor mechanism.

[0014] Preferably, the track moving branch and its driving unit consist of a track, pulleys, synchronous pulleys, 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 track, pulleys, synchronous pulleys, and transmission belt through the transmission gear set.

[0015] Preferably, it also includes a yaw steering module and a slewing steering module. The variable diameter drive module includes a variable diameter drive unit and a dual steering mechanism. The variable diameter drive unit consists of a dual steering mechanism, a track drive branch, a double scissor mechanism, a transmission screw, a transmission nut, a spring, and a fixing structure.

[0016] The track drive branch is a mobile walking unit composed of tracks, drive structure, and frame. The track drive branch is connected to two sets of double scissor lift mechanisms. The double scissor lift 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, spring structure, and nut are connected to the fixed structure. By driving the transmission screw to rotate, the two sets of transmission nuts drive the double scissor lift structure, and the spring structure achieves passive adaptive compensation for diameter changes.

[0017] Preferably, the variable diameter drive module consists of a second variable diameter drive unit, a yaw rotation mechanism, a slewing steering mechanism, and a second yaw rotation mechanism. The yaw rotation mechanism and the second yaw rotation mechanism are connected to the slewing steering mechanism at the front and rear, respectively, forming a three-axis steering structure. The drive push rod drives the double second double scissor variable diameter mechanism, and the drive push rod drives the double second double scissor variable diameter mechanism through a spring structure to achieve passive compensation for the variable diameter.

[0018] A method for operating a multi-joint actively and passively driven pipeline robot with a large diameter ratio includes the following working conditions:

[0019] Working Condition 1: The fixed support and the movable support are connected by an electric push rod, changing the distance between them and driving the movement of three symmetrically arranged double scissor structures to achieve diameter change. The double scissor structure consists of scissor rods and scissor hinges. Under the action of the electric push rod, its degree of deployment is changed, adjusting the overall diameter of the robot to adapt to pipelines of different diameters. The track drive branch consists of tracks, pulleys, synchronous pulleys, speed-regulating motors, reducers, transmission bevel gear sets, and transmission belts, providing power for the robot to move within the pipeline.

[0020] Working Condition 2: The variable diameter drive module adopts a double scissor mechanism and a lead screw drive to achieve flexible diameter adjustment; the rotation of the lead screw drives the transmission nut to move, which in turn drives the double scissor structure; a spring structure is connected between the nut and the moving section. When encountering different pipe diameter changes, the spring structure achieves passive adaptive compensation for the variable diameter, enabling the robot to adapt to changes in pipe diameter.

[0021] Working Condition 3: The steering function is achieved by the yaw steering module and the rotary steering module. The yaw steering module consists of a rotary structure driven by front and rear active drives and a yaw rotation mechanism. The yaw rotation mechanism is driven by wire rope traction, and the rotary structure is driven by a servo motor-reducer structure. Both are integrated into the steering drive module to achieve a rotation range of ±90°. The rotary steering module is located in the middle of the robot and consists of a rotary brushless motor and a structural frame to achieve 360° rotation of the robot around its axis. Through the combination of the two sets of yaw steering and rotary steering, the pipeline robot can achieve omnidirectional steering movement within the pipeline.

[0022] The present invention can achieve the following beneficial effects:

[0023] 1. Through a large diameter ratio design and a multi-joint drive structure, the robot can easily adapt to pipes of different diameters and complex shapes, achieving efficient movement.

[0024] 2. The spring structure in the variable diameter drive module enables passive adaptive change of diameter, further enhancing the robot's adaptability to different pipeline environments.

[0025] 3. The optimized mechanical structure and transmission design ensure the stability and reliability of the robot during movement, reducing the failure rate and maintenance costs. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0027] Figure 1 This is a structural schematic diagram of Embodiment 1 of the present invention (three-dimensional perspective 1);

[0028] Figure 2 This is a structural schematic diagram of Embodiment 1 of the present invention (three-dimensional perspective 2);

[0029] Figure 3 This is a schematic diagram (front view) of the structure of Embodiment 1 of the present invention;

[0030] Figure 4 This is a schematic diagram (top view) of Embodiment 1 of the present invention;

[0031] Figure 5 This is a structural schematic diagram (three-dimensional view) of Embodiment 2 of the present invention;

[0032] Figure 6 This is a schematic diagram (front view) of the structure of Embodiment 2 of the present invention;

[0033] Figure 7 This is a structural schematic diagram (three-dimensional view) of Embodiment 3 of the present invention;

[0034] Figure 8 This is a schematic diagram (front view) of the structure of Embodiment 3 of the present invention.

[0035] In the diagram: a1-fixed support, a2-double scissor mechanism, a3-track drive branch, a4-movable support, a5-electric push rod, a21-scissor lever, a22-scissor hinge, a31-track, a32-pulley, a33-synchronous pulley, a34-speed regulating motor, a35-reducer, a36-transmission bevel gear, a37-transmission belt, b1-diameter change drive unit, b2-double steering mechanism, b3-track drive branch, b4-double scissor mechanism, b5-transmission screw, b6-transmission nut, b7-spring structure, b8-fixed structure, c1-second diameter change drive unit, c2-oscillating rotation mechanism, c3-slewing steering mechanism, c4-second oscillating rotation mechanism, c11-drive push rod, c12-track traveling unit, c13-second double scissor diameter change mechanism, c14-frame, c15-spring. Detailed Implementation

[0036] Preferred solutions include Figures 1 to 8 As shown, a multi-joint active and passive driven pipeline robot with a large diameter ratio is described, which combines a double scissor-type diameter-changing structure, tracked moving branches and other structural components, including three embodiments.

[0037] Example 1:

[0038] The specific components include a robot structural frame, a double scissor telescopic structure, an integrated dual-segment swingable track structure and its drive unit, which can enable the pipeline robot to move within pipelines with varying diameters.

[0039] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the structure includes a1 (fixed support), a double scissor lift structure a2, a track drive branch a3, a movable support a4, and an electric push rod a5. The double scissor lift structure a2 and the track drive branch a3 form a variable diameter drive branch structure, arranged symmetrically in three groups. The variable diameter drive branch structure is connected by 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. By changing the distance between the fixed support a1 and the movable support a4 through the electric push rod a5, the double scissor lift structure is driven to achieve variable diameter movement. The view after the diameter change is shown below. Figure 2 As shown. Figure 3 As shown, the double scissor lift structure includes scissor lift rods a21 and scissor lift hinges a22. Four sets of scissor lift rods a21 and scissor lift hinges are connected to form the double scissor lift mechanism a2. Figure 4As shown, the track drive branch unit a3 consists of a track a31, a pulley a32, a synchronous pulley a33, a speed-regulating motor a34, 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 track a31, pulley a32, synchronous pulley a33, and transmission belt a37 through the transmission gear set a36.

[0040] Example 2:

[0041] The system includes a diameter-changing drive module, a yaw steering module, and a rotary steering module. The diameter-changing drive module comprises two active and passive diameter-changing drive units, employing a double scissor mechanism and lead screw drive to achieve flexible diameter adjustment. A spring structure connects the lead screw nut to the moving section, enabling passive adaptive diameter changing. The yaw steering module consists of a front and rear actively driven rotary structure and a yaw rotation mechanism. The yaw rotation mechanism is driven by a steel cable, while the rotary structure is driven by a servo motor-reducer structure. Both are integrated into the steering drive module, achieving a ±90° rotation range and enhancing the robot's steering capability within the pipeline. The rotary steering module, located in the middle of the robot, consists of a rotary brushless motor and a structural frame, enabling 360° rotation of the robot around its axis. The combination of the two sets of yaw steering and rotary steering allows the pipeline robot to achieve omnidirectional steering movement within the pipeline.

[0042] like Figure 5 , 6 As shown, the system includes a variable diameter drive unit b1 and a dual steering mechanism b2. The variable diameter drive unit b1 consists of the dual steering mechanism b2, a track 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 track drive branch b3 is a mobile walking unit composed of a track, a drive structure, and a frame; its specific structure can be referenced from the track drive branch a3 in the first embodiment. The track drive branch b3 is connected to two sets of the double scissor mechanisms b4. The double scissor mechanisms b4 are connected to the spring structure b7, and the spring structure is connected to the transmission nut b6 and driven by the screw b5. All these structures are connected to the fixed structure b8 via the screw b5, the spring structure b7, and the nut b6. Driving the screw to rotate drives the two sets of transmission nuts b6 to drive the double scissor mechanism b4, and the spring structure b7 achieves passive adaptive compensation for the variable diameter.

[0043] Example 3:

[0044] This is another structural form of Example 2. Its basic structural form, principle and motion form are the same. The specific differences are in the driving form of the double scissor structure, the yaw steering structure, and the rotary steering structure. In addition, an overall protective shell structure is added to enhance the robot's environmental adaptability in complex pipelines.

[0045] like Figure 7 , Figure 8 As shown, it comprises a second diameter-changing drive unit c1, a yaw rotation mechanism c2, a slewing steering mechanism c3, and a second yaw rotation mechanism c4. The yaw rotation mechanism c2 and the second yaw rotation mechanism c4 are connected to the slewing steering mechanism c3, forming a three-axis steering structure, which performs the same function as the dual steering mechanism b2 described in the second embodiment. The drive push rod c11 drives the double second double scissor diameter-changing mechanism c13, and the drive push rod c11 and the double second double scissor diameter-changing mechanism c13 are connected by the spring structure 15 to achieve passive compensation for the diameter change. The structure of the track walking unit c12 is consistent with the structure of the track drive branch b3.

[0046] Preferably, the pipeline robot can be powered by a cable or a built-in battery unit;

[0047] Preferably, the double scissor structure can have 3 branches or more branches;

[0048] Preferably, the three-axis steering mechanism can be driven by a rope.

[0049] This invention achieves efficient, safe, and residue-free cleaning in complex and variable pipelines by integrating a double-scissor-type diameter-changing structure, tracked moving branches, and multi-joint active and passive drive functions. Specifically, this invention provides three embodiments: a three-branch large-diameter-ratio pipeline robot unit based on a double-scissor mechanism; an omnidirectional steering robot including a diameter-changing drive module, a yaw steering module, and a slewing steering module; and a third embodiment with an added protective shell structure to enhance environmental adaptability. The robot system of this invention has the advantages of a large diameter-ratio design and a multi-joint drive structure, enabling it to easily adapt to pipelines of different diameters and complex shapes. The passive adaptive diameter change is achieved through a spring structure in the diameter-changing drive module, further enhancing its adaptability to different pipeline environments. Furthermore, the optimized mechanical structure and transmission design ensure the stability and reliability of the robot during movement, reducing the failure rate and maintenance costs.

[0050] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A multi-joint active and passive drive pipeline robot with a large diameter ratio, characterized in that: include: The variable diameter drive module includes a double scissor telescopic structure and a drive mechanism, which is used to flexibly adjust the robot's diameter. The double scissor telescopic structure is connected to the moving section by a spring structure to achieve passive adaptive variable diameter. The steering module includes a yaw steering mechanism and a rotary steering mechanism. The yaw steering mechanism is driven by a wire rope traction, and the rotary steering mechanism is driven by a servo motor-reducer structure. The yaw steering mechanism and the rotary steering mechanism are integrated into the steering drive module to realize the robot's all-round steering movement in the pipeline. Tracked moving branch and its drive unit are used to drive the robot to move inside the pipe; It also includes a yaw steering module and a slewing steering module. The variable diameter drive module includes a variable diameter drive unit and a dual steering mechanism. The variable diameter drive unit consists of a dual steering mechanism, a track drive branch, a double scissor mechanism, a transmission screw, a transmission nut, a spring, and a fixing structure. Alternatively, the variable diameter drive module consists of a second variable diameter drive unit, a yaw rotation mechanism, a rotary steering mechanism, and a second yaw rotation mechanism. The yaw rotation mechanism and the second yaw rotation mechanism are connected to the rotary steering mechanism at the front and rear, respectively, forming a three-axis steering structure. The drive push rod drives the double second double scissor variable diameter mechanism, and the drive push rod drives the double second double scissor variable diameter mechanism through a spring structure to achieve passive compensation for the variable diameter. The operation method of a multi-joint active and passive drive pipeline robot with a large diameter ratio includes the following working conditions: Working Condition 1: The fixed support and the movable support are connected by an electric push rod, changing the distance between them and driving the movement of three symmetrically arranged double scissor structures to achieve diameter change. The double scissor structure consists of scissor rods and scissor hinges. Under the action of the electric push rod, its degree of deployment is changed, adjusting the overall diameter of the robot to adapt to pipelines of different diameters. The track drive branch consists of tracks, pulleys, synchronous pulleys, speed-regulating motors, reducers, transmission bevel gear sets, and transmission belts, providing power for the robot to move within the pipeline. Working Condition 2: The variable diameter drive module adopts a double scissor mechanism and a lead screw drive to achieve flexible adjustment of the diameter; the rotation of the lead screw drives the transmission nut to move, which in turn drives the double scissor structure; a spring structure is connected between the nut and the moving section. When encountering different pipe diameter changes, the spring structure achieves passive adaptive compensation for the variable diameter, enabling the robot to adapt to changes in pipe diameter. Working Condition 3: The steering function is achieved by the yaw steering module and the rotary steering module. The yaw steering module consists of a rotary structure driven by front and rear active drives and a yaw rotation mechanism. The yaw rotation mechanism is driven by wire rope traction, and the rotary structure is driven by a servo motor-reducer structure. Both are integrated into the steering drive module to achieve a rotation range of ±90°. The rotary steering module is located in the middle of the robot and consists of a rotary brushless motor and a structural frame to achieve 360° rotation of the robot around its axis. Through the combination of the two sets of yaw steering and rotary steering, the pipeline robot can achieve omnidirectional steering movement within the pipeline.

2. The large-ratio-of-diameter-reduction multi-joint master-slave driving pipe robot according to claim 1, characterized in that: The driving mechanism of the variable diameter drive module includes a transmission screw and a transmission nut. The rotation of the transmission screw drives the transmission nut to drive the double scissor structure to achieve the variable diameter movement.

3. The large-diameter-reduction multi-joint master-slave driving pipe robot according to claim 1, characterized in that: The track moving branch includes a track, 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 the track, pulleys, and synchronous pulleys through the transmission bevel gear set.

4. The large-ratio-of-diameter-reduction multi-joint master-slave driving pipe robot according to claim 1, characterized in that: It also includes a robot structural frame, on which a variable diameter drive module is installed.

5. The large-diameter-reduction multi-joint master-slave driving pipe robot according to claim 4, characterized in that: The variable diameter drive module includes a fixed support, a double scissor structure, a track drive branch, a movable support, and an electric push rod; among them, the double scissor structure and the track drive branch form the variable diameter drive branch structure, which is symmetrically arranged in three groups on the robot's structural frame. The variable diameter drive branch structure is connected by 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 scissor structure to achieve variable diameter movement.

6. The large-ratio-of-diameter-change multi-joint master-slave driving pipe robot according to claim 5, characterized in that: The double scissor structure includes scissor bars and scissor hinges, and four sets of scissor bars and scissor hinges are connected to form a double scissor mechanism.

7. The large-diameter-reduction multi-joint master-slave driving pipe robot according to claim 6, characterized in that: The track moving branch and its drive unit consist of a track, pulleys, synchronous pulleys, 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 track, pulleys, synchronous pulleys, and transmission belt through the transmission gear set.

8. The large-ratio-of-diameter-change multi-joint master-slave driving pipe robot according to claim 1, characterized in that: The track drive branch is a mobile walking unit composed of tracks, drive structure, and frame. The track drive branch is connected to two sets of double scissor lift mechanisms. The double scissor lift 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, spring structure, and nut are connected to the fixed structure. By driving the transmission screw to rotate, the two sets of transmission nuts drive the double scissor lift structure, and the spring structure achieves passive adaptive compensation for diameter changes.

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