Pipeline robot capable of actively adjusting posture

Abstract

The invention discloses an active posture adjusting pipeline robot which comprises a plurality of walking modules, and each walking module comprises a support, a walking assembly and a first posture adjusting assembly. The support is provided with a first end and a second end which are oppositely arranged. The walking assembly is installed on the support and configured to be tightly attached to the inner wall of the pipeline and drive the support to walk in the pipeline, and the walking direction is the direction of the connecting line of the first end and the second end of the support. The first posture adjusting assembly comprises a first rotating shaft, a first transmission assembly and a first actuating piece, and the first rotating shaft is rotatably connected to the first end of the support, is orthogonal to the walking direction and is fixedly connected with the second end of the support of the other walking module; the first actuating piece is installed on the support and is configured to drive the first rotating shaft to rotate through the first transmission assembly. The active posture adjusting robot can adapt to pipelines with different curvatures and can walk and work in the pipelines with multiple bending directions.

Description

Technical Field

[0001] The present application relates to the technical field of mobile devices in pipelines, and in particular to an active posture-adjusting pipeline robot. Background Art

[0002] The pipeline robot can automatically walk along the inside of the pipeline and carries one or more sensors and operating machinery. Under the operation of staff or automatic control of computers, it can perform pipeline inspection, maintenance, cleaning, transportation and other tasks.

[0003] At present, pipeline robots mainly travel in straight pipelines, or pipelines with small curvature and constant bending direction. For pipelines with large curvature and multiple bending directions, existing pipeline robots cannot travel and operate in them. Summary of the invention

[0004] The embodiment of the present application solves the technical problem that the existing pipeline robots are unable to walk and operate in a pipeline with a large curvature and multiple bending directions by providing an active posture adjustment pipeline robot.

[0005] An embodiment of the present application provides an active posture adjustment pipeline robot, which includes a plurality of walking modules connected in sequence, each of which includes: a bracket, the bracket having a first end and a second end arranged opposite to each other; a walking component, the walking component is installed on the bracket, configured to be close to the inner wall of the pipeline and drive the bracket to walk in the pipeline, and the walking direction is the direction of the line connecting the first end and the second end of the bracket; and a first posture adjustment component, the first posture adjustment component is installed on the bracket; wherein the first posture adjustment component includes: a first rotating shaft, the first rotating shaft is rotatably connected to the first end of the bracket, orthogonal to the walking direction, and is fixedly connected to the second end of the bracket of another walking module, when the first rotating shaft rotates, two adjacent walking modules rotate relative to each other around the axis of the first rotating shaft; a first actuator, the first actuator is installed on the bracket; and a first transmission assembly, the two transmission ends of the first transmission assembly are respectively connected to the power output end of the first actuator and the first rotating shaft.

[0006] In a possible implementation, the first transmission assembly includes a first gear and a second gear that are meshed with each other, the first gear is mounted on a power output end of the first actuator, and the second gear is mounted on the first rotating shaft.

[0007] In a possible implementation manner, the second gear is a partial tooth gear, and the portion of the second gear having teeth is located on the inner side of the bracket.

[0008] In a possible implementation, the active posture adjustment pipeline robot also includes: a second posture adjustment component, which is installed on the bracket; wherein the second posture adjustment component includes: a second rotating shaft, which is rotatably connected to the second end of the bracket, is orthogonal to the walking direction and the first rotating shaft, and is used to be fixedly connected to the first end of the bracket of another walking module, when the second rotating shaft rotates, two adjacent walking modules rotate relative to each other around the axis of the second rotating shaft; a second actuator, which is installed on the bracket; and a second transmission assembly, wherein the two transmission ends of the second transmission assembly are respectively connected to the power output end of the second actuator and the second rotating shaft.

[0009] In a possible implementation, the second transmission assembly includes a third gear and a fourth gear that are meshed with each other, the third gear is mounted on a power output end of the second actuator, and the fourth gear is mounted on the second rotating shaft.

[0010] In a possible implementation manner, the fourth gear is a partial tooth gear, and the portion of the fourth gear having teeth is located on the inner side of the bracket.

[0011] In a possible implementation, the walking assembly includes a support assembly, a third actuator, a plurality of walking wheels and a plurality of third transmission assemblies; the support assembly is mounted on the bracket and has a plurality of outer ends located outside the bracket, and the support assembly is configured to adjust the distance between the plurality of outer ends of the support assembly and the bracket; the third actuator is mounted on the bracket; the plurality of walking wheels are respectively mounted on the plurality of outer ends of the support assembly, and the axes of the plurality of walking wheels are orthogonal to the walking direction; one transmission end of the plurality of third transmission assemblies are each connected to the third actuator, and the other transmission ends of the plurality of third transmission assemblies are respectively connected to the plurality of walking wheels.

[0012] In a possible implementation, the support assembly includes a linear actuation assembly, a plurality of connecting rods and a plurality of push rods; the linear actuation assembly is mounted on the bracket, and a power output end of the linear actuation assembly is configured to move along the length direction of the walking module; the plurality of connecting rods are arranged around the periphery of the bracket, and one end of the plurality of connecting rods is rotatably connected to the bracket, and the other ends of the plurality of connecting rods extend out of the bracket and are respectively equipped with the walking wheels; the plurality of push rods are arranged around the periphery of the bracket, and one end of the plurality of push rods is rotatably connected to the power output end of the linear actuation assembly, and the other ends of the plurality of push rods are respectively rotatably connected to the rod bodies of the plurality of connecting rods.

[0013] In one possible implementation, the linear actuation assembly includes a fourth actuator, a screw and a sliding member; the fourth actuator is mounted on the bracket; the screw is arranged along the walking direction, and one end of the screw is fixedly connected to the output end of the fourth actuator, and the other end of the screw is rotatably connected to the bracket; the sliding member is threadedly connected to the screw and is slidably connected to the bracket; wherein the ends of the multiple push rods away from the connecting rod are rotatably connected to the sliding member.

[0014] In a possible implementation, the third transmission assembly includes a fifth gear, multiple sixth gears and multiple belt transmission assemblies; the fifth gear is installed at the output end of the third actuator; the multiple sixth gears are respectively installed on the connecting rods, and the multiple sixth gears are all meshed with the fifth gear; wherein the axes of the multiple sixth gears respectively coincide with the rotation axes of the multiple connecting rods; the multiple belt transmission assemblies are respectively installed on the multiple connecting rods, and the first ends of the multiple belt transmission assemblies are respectively connected to the multiple walking wheels, and the second ends of the multiple belt transmission assemblies are respectively connected to the multiple sixth gears.

[0015] The technical solution provided in the embodiments of the present application has at least the following technical effects: The embodiment of the present application provides an active posture adjustment pipeline robot, which includes a plurality of walking modules connected in sequence, each walking module includes a bracket, a walking component and a first posture adjustment component, and the first posture adjustment component includes a first rotating shaft, a first transmission component and a first actuator. When the active posture adjustment pipeline robot works in a pipeline, the walking component is close to the inner wall of the pipeline and drives the bracket to walk. When the pipeline is bent, the first actuator drives the first rotating shaft to rotate through the first transmission component, so that two adjacent walking modules rotate relative to each other around the axis of the first rotating shaft, and then the active posture adjustment pipeline robot bends. By controlling the rotation angle of the first rotating shaft, the bending degree of the active posture adjustment pipeline robot can be changed, so that the active posture adjustment pipeline robot can adapt to pipelines with different curvatures. In addition, by controlling the rotation direction of multiple first rotating shafts, the active posture adjustment pipeline robot can have multiple bending directions, so that it can walk and work in a pipeline with multiple bending directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1A schematic diagram of the structure of the active posture adjustment pipeline robot provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of the walking module provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure of a walking assembly provided in an embodiment of the present application; Figure 4 A schematic diagram of the structure of a first posture adjustment component provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of a second posture adjustment component provided in an embodiment of the present application; Figure 6 A schematic diagram of the structure of the bracket provided in an embodiment of the present application.

[0018] Description of reference numerals: 10-walking module; 12-bracket; 14-first end; 16-second end; 18-fixed rod; 20-connecting piece; 22-first rotating bracket; 24-second rotating bracket; 26-walking assembly; 28-support assembly; 30-linear actuating assembly; 32-fourth actuating member; 34-screw; 36-sliding member; 38-connecting rod; 40-push rod; 42-third actuating member; 44-walking wheel; 46-third transmission assembly; 48-fifth gear; 50-sixth gear; 52-belt transmission assembly; 54-first posture adjustment assembly; 56-first rotating shaft; 58-first transmission assembly; 60-first gear; 62-second gear; 64-first actuating member; 66-second posture adjustment assembly; 68-second rotating shaft; 70-second transmission assembly; 72-third gear; 74-fourth gear; 76-second actuating member; 78-white light camera; 80-thermal imaging camera. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. The terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the insides of two elements. In addition, the term "multiple" means two or more. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0021] The present application embodiment provides an active posture adjustment pipeline robot, such as Figures 1 to 6 As shown, the active posture adjustment pipeline robot includes a plurality of walking modules 10 connected in sequence, and each walking module 10 includes a bracket 12, a walking component 26 and a first posture adjustment component 54.

[0022] like Figure 2 As shown, the bracket 12 has a first end 14 and a second end 16 disposed opposite to each other. Figure 6 As shown, the embodiment of the present application provides a specific structure of the bracket 12, which includes a plurality of fixed rods 18, a plurality of connecting members 20 and two first rotating brackets 22; the plurality of fixed rods 18 are arranged in parallel; the plurality of connecting members 20 are arranged at intervals along the length direction of the fixed rods 18, and each connecting member 20 is connected to the plurality of fixed rods 18; the two first rotating brackets 22 are arranged at intervals and connected to one end of the plurality of fixed rods 18.

[0023] like Figure 3 As shown, the walking assembly 26 is installed on the bracket 12, and is configured to be close to the inner wall of the pipeline and drive the bracket 12 to walk in the pipeline, and the walking direction is the direction of the line connecting the first end 14 and the second end 16 of the bracket 12. Specifically, the bracket 12 is Figure 6 In the structure shown, the travel assembly 26 is connected to the connecting member 20.

[0024] The first posture adjustment component 54 is installed on the bracket 12, and is used to adjust the bending degree between two adjacent walking modules 10. Figure 4The first posture adjustment component 54 includes a first rotating shaft 56, a first transmission component 58 and a first actuator 64. The first rotating shaft 56 is rotatably connected to the first end 14 of the bracket 12, orthogonal to the walking direction, and is used to be fixedly connected to the second end 16 of the bracket 12 of another walking module 10. When the first rotating shaft 56 rotates, two adjacent walking modules 10 rotate relative to each other around the axis of the first rotating shaft 56. The two transmission ends of the first transmission component 58 are respectively connected to the power output end of the first actuator 64 and the first rotating shaft 56. The first actuator 64 is installed on the bracket 12 and is configured to drive the first rotating shaft 56 to rotate through the first transmission component 58; illustratively, the first actuator 64 can be a torsion motor, and the rotating shaft of the torsion motor is connected to one transmission end of the first transmission component 58.

[0025] Specifically, the bracket 12 is Figure 6 In the structure shown, both ends of the first rotating shaft 56 are rotatably connected to the two first rotating brackets 22 respectively; the first actuator 64 is connected to the connecting member 20 close to the first end 14 of the bracket 12, and the power output end of the first actuator 64 faces the first rotating shaft 56.

[0026] In the structure of the first posture adjustment component 54, the first actuator 64 can control the rotation angle and rotation direction of the first rotating shaft 56. The rotation direction of the first rotating shaft 56 determines the bending direction of the active posture adjustment pipeline robot; the rotation angle of the first rotating shaft 56 determines the bending degree of the active posture adjustment pipeline robot. The larger the rotation angle of the first rotating shaft 56, the greater the bending degree of the active posture adjustment pipeline robot.

[0027] When the active posture adjustment pipeline robot works in the pipeline, the walking assembly 26 is close to the inner wall of the pipeline and drives the bracket 12 to walk. When the pipeline is bent, the first actuator 64 drives the first rotating shaft 56 to rotate through the first transmission assembly 58, so that two adjacent walking modules 10 rotate relatively around the axis of the first rotating shaft 56, and then the active posture adjustment pipeline robot bends. By controlling the rotation angle of the first rotating shaft 56, the bending degree of the active posture adjustment pipeline robot can be changed, so that the active posture adjustment pipeline robot can adapt to pipelines with different curvatures. In addition, by controlling the rotation direction of multiple first rotating shafts 56, the active posture adjustment pipeline robot can have multiple bending directions, so that it can walk and work in pipelines with multiple bending directions.

[0028] It should be noted that before the active posture adjustment pipeline robot enters the pipeline to walk and work, the data such as the position, length, bending direction and curvature of the pipeline are input into the active posture adjustment pipeline robot; or Figure 1As shown, a white light camera 78 and / or a thermal imaging camera 80 is installed at the front end of the active posture adjustment pipeline robot, and the active posture adjustment pipeline robot takes pictures of the front during walking to determine the bending direction and curvature of the pipeline in front.

[0029] like Figure 4 As shown, in the embodiment of the present application, the first transmission assembly 58 includes a first gear 60 and a second gear 62 that are meshed with each other, the first gear 60 is mounted on the power output end of the first actuator 64, and the second gear 62 is mounted on the first rotating shaft 56. Exemplarily, the first gear 60 and the second gear 62 can be bevel gears.

[0030] When the active posture-adjusting pipeline robot is adjusting its posture, the power output end of the first actuator 64 drives the first gear 60 to rotate, the first gear 60 drives the meshing second gear 62 to rotate, and then the second gear 62 drives the first rotating shaft 56 to rotate.

[0031] Further, the second gear 62 is a partially toothed gear, and the portion of the second gear 62 having teeth is located inside the bracket 12. The above-mentioned structure of the second gear 62 can prevent the second gear 62 from interfering with the adjacent walking module 10 when rotating.

[0032] like Figure 2 As shown, the active posture adjustment pipeline robot provided in the embodiment of the present application further includes a second posture adjustment component 66 installed on the bracket 12. Figure 5 The second posture adjustment component 66 includes a second rotating shaft 68 , a second transmission component 70 and a second actuating member 76 .

[0033] The second rotating shaft 68 is rotatably connected to the second end 16 of the bracket 12, orthogonal to the walking direction and the first rotating shaft 56, and is used to be fixedly connected to the first end 14 of the bracket 12 of another walking module 10. When the second rotating shaft 68 rotates, two adjacent walking modules 10 rotate relatively around the axis of the second rotating shaft 68. The two transmission ends of the second transmission assembly 70 are respectively connected to the power output end of the second actuator 76 and the second rotating shaft 68. The second actuator 76 is installed on the bracket 12 and is configured to drive the second rotating shaft 68 to rotate through the second transmission assembly 70; illustratively, the second actuator 76 can be a torsion motor, and the rotating shaft of the torsion motor is connected to one transmission end of the second transmission assembly 70.

[0034] Specifically, the bracket 12 is Figure 6 In the structure shown, the bracket 12 also includes two second rotating brackets 24, which are arranged at intervals and connected to one end of the plurality of fixed rods 18 away from the first rotating bracket 22; the two ends of the second rotating shaft 68 are respectively rotatably connected to the two second rotating brackets 24, and the power output end of the second actuator 76 faces the second rotating shaft 68.

[0035] In the structure of the above-mentioned second posture adjustment component 66, the second actuator 76 can control the rotation angle and rotation direction of the second rotating shaft 68. The rotation direction of the second rotating shaft 68 determines the bending direction of the active posture adjustment pipeline robot; the rotation angle of the second rotating shaft 68 determines the bending degree of the active posture adjustment pipeline robot. The larger the rotation angle of the second rotating shaft 68, the larger the bending angle of the active posture adjustment pipeline robot. In addition, the two adjacent walking modules 10 can rotate relative to each other around the axis of the first rotating shaft 56, and can also rotate relative to each other around the axis of the second rotating shaft 68. Since the second rotating shaft 68 is orthogonal to the first rotating shaft 56, the two adjacent walking modules 10 can bend within a larger range.

[0036] Further, in the embodiments of the present application, referring to Figure 4 and Figure 5 The middle portion of the first rotating shaft 56 and the middle portion of the second rotating shaft 68 are fixedly connected to form a cross-shaped structure.

[0037] like Figure 5 As shown, in the embodiment of the present application, the second transmission assembly 70 includes a meshing third gear 72 and a fourth gear 74, the third gear 72 is mounted on the power output end of the second actuator 76, and the fourth gear 74 is mounted on the second rotating shaft 68. Exemplarily, the third gear 72 and the fourth gear 74 can be bevel gears.

[0038] When the active posture adjustment pipeline robot requires two adjacent walking modules 10 to rotate around the axis of the second rotating shaft 68 for posture adjustment, the power output end of the second actuator 76 drives the third gear 72 to rotate, and the third gear 72 drives the meshing fourth gear 74 to rotate, and then the fourth gear 74 drives the second rotating shaft 68 to rotate.

[0039] Furthermore, the fourth gear 74 is a partially toothed gear, and the portion of the fourth gear 74 having teeth is located inside the bracket 12. The structure of the fourth gear 74 can prevent the fourth gear 74 from interfering with the adjacent walking module 10 when rotating.

[0040] like Figure 3 As shown, in the embodiment of the present application, the travel assembly 26 includes a support assembly 28 , a third actuator 42 , a plurality of travel wheels 44 and a plurality of third transmission assemblies 46 .

[0041] The support assembly 28 is mounted on the bracket 12 and has a plurality of outer ends located outside the bracket 12. The support assembly 28 is configured to adjust the distance between the plurality of outer ends of the support assembly 28 and the bracket 12. The third actuator 42 is mounted on the bracket 12. A plurality of running wheels 44 are respectively mounted on the plurality of outer ends of the support assembly 28, and the axes of the plurality of running wheels 44 are orthogonal to the running direction. One transmission end of the plurality of third transmission assemblies 46 is connected to the third actuator 42, and the other transmission ends of the plurality of third transmission assemblies 46 are respectively connected to the plurality of running wheels 44.

[0042] When the support assembly 28 adjusts the distance between the multiple outer ends and the bracket 12, the distance between the multiple running wheels 44 and the bracket 12 changes, thereby ensuring that the multiple running wheels 44 can be close to the inner wall of the pipes with different inner diameters. The third actuator 42 drives the multiple running wheels 44 to rotate through the multiple third transmission assemblies 46, so that the running wheels 44 roll on the inner wall of the pipe, thereby realizing the walking module 10 walking in the pipe.

[0043] Continue to refer to Figure 3 In the embodiment of the present application, the support assembly 28 includes a linear actuation assembly 30 , a plurality of connecting rods 38 and a plurality of push rods 40 .

[0044] The linear actuating assembly 30 is mounted on the bracket 12, and the power output end of the linear actuating assembly 30 is configured to move along the length direction of the walking module 10. A plurality of connecting rods 38 are arranged around the periphery of the bracket 12, and one end of the plurality of connecting rods 38 is rotatably connected to the bracket 12, and the other ends of the plurality of connecting rods 38 extend out of the bracket 12 and are respectively mounted with walking wheels 44. A plurality of push rods 40 are arranged around the periphery of the bracket 12, and one end of the plurality of push rods 40 is rotatably connected to the power output end of the linear actuating assembly 30, and the other ends of the plurality of push rods 40 are respectively rotatably connected to the rod bodies of the plurality of connecting rods 38.

[0045] When the distance between the walking wheel 44 and the bracket 12 needs to be adjusted, the power output end of the linear actuating assembly 30 moves along the length direction of the walking module 10, and the power output end of the linear actuating assembly 30 drives one end of the multiple push rods 40 to move in the walking direction, and the multiple push rods 40 rotate around their ends connected to the power output end of the linear actuating assembly 30, thereby driving the multiple connecting rods 38 to rotate, so that the ends of the connecting rods 38 extending out of the bracket 12 are close to or away from the bracket 12, thereby realizing the adjustment of the distance between the walking wheel 44 and the bracket 12.

[0046] by Figure 3Taking the shown orientation as an example, when the active posture adjustment pipeline robot needs to adapt to a pipeline with a smaller inner diameter, the power output end of the linear actuating assembly 30 moves to the right, and the push rod 40 drives the connecting rod 38 to rotate so that the angle between the connecting rod 38 and the walking direction is reduced, thereby reducing the distance between the walking wheel 44 installed at the end of the connecting rod 38 and the bracket 12; when the active posture adjustment pipeline robot needs to adapt to a pipeline with a larger inner diameter, the power output end of the linear actuating assembly 30 moves to the left, and the push rod 40 drives the connecting rod 38 to rotate so that the angle between the connecting rod 38 and the walking direction is increased, thereby increasing the distance between the walking wheel 44 installed at the end of the connecting rod 38 and the bracket 12.

[0047] like Figure 3 As shown, further, in the embodiment of the present application, the linear actuation assembly 30 includes a fourth actuating member 32, a screw rod 34 and a sliding member 36. The fourth actuating member 32 is mounted on the bracket 12; illustratively, the fourth actuating member 32 can be a torque motor. The screw rod 34 is arranged along the walking direction, and one end of the screw rod 34 is fixedly connected to the output end of the fourth actuating member 32, and the other end of the screw rod 34 is rotatably connected to the bracket 12. The sliding member 36 is threadedly connected to the screw rod 34 and slidably connected to the bracket 12; wherein the ends of the plurality of push rods 40 away from the connecting rod 38 are rotatably connected to the sliding member 36.

[0048] When it is necessary to adjust the distance between the travel wheel 44 and the bracket 12 to accommodate pipes of different inner diameters, the fourth actuator 32 drives the screw 34 to rotate, and the sliding member 36 threadedly connected to the screw 34 moves on the screw 34, thereby causing the sliding member 36 to drive the multiple push rods 40 to move along the travel direction and drive the push rods 40 to rotate around their ends connected to the sliding member 36.

[0049] Based on the specific structure of the above-mentioned linear actuating assembly 30, the operator can control the moving distance of the walking wheel 44 orthogonal to the walking direction by controlling the number of rotations of the power output end of the fourth actuating member 32; since the fourth actuating member 32 transmits power through the screw 34 and the sliding member 36, the moving distance of the walking wheel 44 can be adjusted more accurately.

[0050] Further, in the embodiments of the present application, referring to Figure 3 The third transmission assembly 46 includes a fifth gear 48 , a plurality of sixth gears 50 and a plurality of belt transmission assemblies 52 .

[0051] The fifth gear 48 is mounted on the output end of the third actuator 42. A plurality of sixth gears 50 are mounted on the connecting rods 38, and the plurality of sixth gears 50 are meshed with the fifth gear 48; wherein the axes of the plurality of sixth gears 50 coincide with the rotation axes of the plurality of connecting rods 38. Exemplarily, the fifth gear 48 and the plurality of sixth gears 50 may be bevel gears. A plurality of belt transmission assemblies 52 are mounted on the plurality of connecting rods 38, and the first ends 14 of the plurality of belt transmission assemblies 52 are respectively connected to the plurality of walking wheels 44, and the second ends 16 of the plurality of belt transmission assemblies 52 are respectively connected to the plurality of sixth gears 50.

[0052] When the active posture adjustment pipeline robot walks in the pipeline, the power output end of the third actuator 42 drives the fifth gear 48, the fifth gear 48 drives multiple sixth gears 50 meshing therewith, and the sixth gear 50 drives the walking wheel 44 to rotate through the belt transmission assembly 52.

[0053] Specifically, the belt drive assembly 52 includes a first pulley, a second pulley and a belt. The first pulley is rotatably connected to the connecting rod 38 and is coaxially fixedly connected to the sixth gear 50. The second pulley is rotatably connected to the connecting rod 38 and is coaxially fixedly connected to the travel wheel 44. The belt is wound around the first pulley and the second pulley.

[0054] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments.

[0055] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. An active posture adjustment pipeline robot, characterized in that: It includes a plurality of walking modules connected in sequence, each of which includes: A bracket having a first end and a second end disposed opposite to each other; A walking assembly, the walking assembly being mounted on the bracket and configured to be close to the inner wall of the pipe and drive the bracket to move in the pipe, and the walking direction is the direction of the line connecting the first end and the second end of the bracket; and a first posture adjustment component, wherein the first posture adjustment component is mounted on the bracket; Wherein, the first posture adjustment component comprises: A first rotating shaft, which is rotatably connected to a first end of the bracket, is orthogonal to the walking direction, and is fixedly connected to a second end of the bracket of another walking module. When the first rotating shaft rotates, two adjacent walking modules rotate relatively around the axis of the first rotating shaft; a first actuating member, the first actuating member being mounted on the bracket; and A first transmission assembly, wherein two transmission ends of the first transmission assembly are respectively connected to the power output end of the first actuator and the first rotating shaft.

2. The active posture adjustment pipeline robot according to claim 1, characterized in that: The first transmission assembly includes a first gear and a second gear that are meshed with each other, the first gear is installed on the power output end of the first actuator, and the second gear is installed on the first rotating shaft.

3. The active posture adjustment pipeline robot according to claim 2, characterized in that: The second gear is a partially toothed gear, and a portion of the second gear having teeth is located inside the bracket.

4. The active posture adjustment pipeline robot according to claim 1, characterized in that: Also includes: a second posture adjustment component, wherein the second posture adjustment component is mounted on the bracket; Wherein, the second posture adjustment component comprises: A second rotating shaft, the second rotating shaft is rotatably connected to the second end of the bracket, is orthogonal to the walking direction and the first rotating shaft, and is used to be fixedly connected to the first end of the bracket of another walking module, when the second rotating shaft rotates, two adjacent walking modules rotate relatively around the axis of the second rotating shaft; a second actuating member mounted on the bracket; and A second transmission assembly, wherein two transmission ends of the second transmission assembly are respectively connected to the power output end of the second actuator and the second rotating shaft.

5. The active posture adjustment pipeline robot according to claim 4, characterized in that: The second transmission assembly includes a third gear and a fourth gear meshing with each other, the third gear is installed on the power output end of the second actuator, and the fourth gear is installed on the second rotating shaft.

6. The active posture adjustment pipeline robot according to claim 5, characterized in that: The fourth gear is a partial tooth gear, and the portion of the fourth gear having teeth is located on the inner side of the bracket.

7. The active posture adjustment pipeline robot according to claim 1, characterized in that: The walking assembly includes a supporting assembly, a third actuating member, a plurality of walking wheels and a plurality of third transmission assemblies; The support assembly is mounted on the bracket and has a plurality of outer ends located outside the bracket, and the support assembly is configured to adjust the distance between the plurality of outer ends of the support assembly and the bracket; The third actuating member is mounted on the bracket; The plurality of running wheels are respectively mounted on the plurality of outer ends of the support assembly, and the axes of the plurality of running wheels are orthogonal to the running direction; One transmission end of each of the plurality of third transmission components is connected to the third actuating member, and the other transmission ends of each of the plurality of third transmission components are respectively connected to the plurality of walking wheels.

8. The active posture adjustment pipeline robot according to claim 7, characterized in that: The support assembly includes a linear actuation assembly, a plurality of connecting rods and a plurality of push rods; The linear actuating assembly is mounted on the bracket, and the power output end of the linear actuating assembly is configured to move along the length direction of the walking module; The plurality of connecting rods are arranged around the periphery of the bracket, and one end of the plurality of connecting rods is rotatably connected to the bracket, and the other ends of the plurality of connecting rods extend out of the bracket and are respectively installed with the walking wheels; The plurality of push rods are arranged around the periphery of the bracket, and one end of the plurality of push rods is rotatably connected to the power output end of the linear actuating assembly, and the other ends of the plurality of push rods are rotatably connected to the rod bodies of the plurality of connecting rods.

9. The active posture adjustment pipeline robot according to claim 8, characterized in that: The linear actuation assembly comprises a fourth actuating member, a screw rod and a sliding member; The fourth actuating member is mounted on the bracket; The screw is arranged along the walking direction, and one end of the screw is fixedly connected to the output end of the fourth actuating member, and the other end of the screw is rotatably connected to the bracket; The sliding member is threadedly connected to the screw rod and is slidably connected to the bracket; wherein the ends of the plurality of push rods away from the connecting rod are rotatably connected to the sliding member.

10. The active posture adjustment pipeline robot according to claim 8, characterized in that: The third transmission assembly includes a fifth gear, a plurality of sixth gears and a plurality of belt transmission assemblies; The fifth gear is mounted on the output end of the third actuator; The plurality of sixth gears are respectively mounted on the plurality of connecting rods, and the plurality of sixth gears are all meshed with the fifth gear; wherein the axes of the plurality of sixth gears respectively coincide with the rotation axes of the plurality of connecting rods; The plurality of belt transmission assemblies are respectively mounted on the plurality of connecting rods, and the first ends of the plurality of belt transmission assemblies are respectively connected to the plurality of walking wheels, and the second ends of the plurality of belt transmission assemblies are respectively connected to the plurality of sixth gears.

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