Pipeline soft robot capable of moving in self-driven mode

Abstract

The invention discloses a pipeline soft robot capable of moving in a self-driven mode, and relates to the technical field of pipeline cleaning robots, the pipeline soft robot capable of moving in the self-driven mode can be suitable for cleaning pipelines such as blow-off pipelines of factories or oil smoke pipes of restaurants, and the pipeline soft robot capable of moving in the self-driven mode comprises a flexible gear shaft, a cleaning mechanism and a first driving device. Each cleaning mechanism comprises a connecting base, a transmission gear ring, a transmission mechanism, a traveling wheel and a cleaning part, the transmission gear rings are meshed with the flexible gear shafts, the cleaning parts are of an annular structure so as to clean the inner wall of the pipeline, the traveling wheels abut against the inner wall of the pipeline, and the multiple cleaning mechanisms are arranged in the length direction of the flexible gear shafts at intervals. When the first driving device drives the flexible gear shaft to rotate, the flexible gear shaft drives the transmission gear ring to rotate, the transmission gear ring drives the advancing wheels to rotate through the transmission mechanism so as to drive the multiple cleaning mechanisms to advance along the pipeline, the pipeline cleaning device can adapt to cleaning of the bent pipeline, and the cleaning effect is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline cleaning robots, and in particular to a pipeline soft robot capable of self-driving movement. Background Art

[0002] At present, pipeline robots are mostly used for pipeline inspection and cleaning. Traditional pipeline robots mostly use rigid mechanical equipment or fixed cleaning devices, which are difficult to flexibly cope with curved or complex-shaped special-shaped pipelines. They are prone to getting stuck at bends, resulting in low cleaning efficiency and easy damage to the inner wall of the pipeline. Summary of the invention

[0003] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a pipeline soft robot that can be self-propelled and movable, which can be adapted to clean curved pipelines and has significantly improved cleaning effects.

[0004] According to the first aspect of the present invention, a self-propelled and movable pipeline soft robot includes: a flexible gear shaft that can be deformed and bent; a cleaning mechanism, including a connecting seat, a transmission gear ring, a transmission mechanism, a traveling wheel and a cleaning member, wherein the transmission gear ring is arranged in the middle of the connecting seat, and the transmission gear ring can rotate relative to the connecting seat, the transmission gear ring is fixedly sleeved on the outer periphery of the flexible gear shaft, and the inner periphery of the transmission gear ring is provided with a plurality of first teeth, and the first teeth are meshed with the flexible gear shaft, the transmission gear ring is connected to the traveling wheel through the transmission mechanism, and the cleaning member is an annular structure to clean the inner wall of the pipeline, the cleaning member is sleeved on the outer periphery of the connecting seat, and the outer peripheral wall of the cleaning member is provided with a mounting hole , the traveling wheel is installed in the installation hole, the cleaning member is set as a flexible member, the cleaning member is used to abut against the inner wall of the pipe, the cleaning member can be deformed so that the traveling wheel abuts against the inner wall of the pipe, the number of the cleaning mechanisms is multiple, and the multiple cleaning mechanisms are arranged at intervals along the length direction of the flexible gear shaft; a first driving device is connected to one end of the flexible gear shaft, and the first driving device is used to drive the flexible gear shaft to rotate; wherein, when the first driving device drives the flexible gear shaft to rotate, the flexible gear shaft drives the transmission gear ring to rotate, and the transmission gear ring drives the traveling wheel to rotate through the transmission mechanism, so as to drive the multiple cleaning mechanisms to move along the pipe.

[0005] The self-propelled and movable pipeline soft robot according to the first aspect of the embodiment of the present invention has at least the following beneficial effects: when working, the pipeline soft robot is first loaded into the pipeline, the first driving device drives the flexible gear shaft to rotate, the flexible gear shaft drives the transmission gear ring to rotate, and the transmission gear ring drives the traveling wheel to rotate through the transmission mechanism. Since the cleaning part abuts against the inner wall of the pipeline and the cleaning part is compressed and deformed, the traveling wheel abuts against the inner wall of the pipeline, and the cleaning effect of the cleaning part on the inner wall of the pipeline is also stronger. During the rotation of the traveling wheel, the traveling wheel will drive the entire device to move along the pipeline, thereby realizing the self-propelled movement function, and can move autonomously in the pipeline. By setting a flexible gear shaft that can be bent, and multiple cleaning mechanisms are connected to the flexible gear shaft, the flexible gear shaft can be bent to achieve steering. When the flexible gear shaft is bent, it does not affect the engagement with the transmission gear ring, thereby being able to clean the inner wall of a curved or special-shaped pipe, ensuring that the equipment can flexibly pass through the bent part of the pipe without any jamming problems, thereby improving the passability of the equipment in a complex pipe environment, and during the cleaning process, dirt that falls off the inner wall of the pipe can be temporarily stored between adjacent cleaning mechanisms. When the pipe soft robot leaves the pipe, the dirt can be taken out of the pipe, so the cleaning effect is better and secondary pollution is avoided.

[0006] According to some embodiments of the present invention, the transmission mechanism includes a fixed seat, a first transmission shaft, a first bevel gear, a second bevel gear, a third bevel gear, a second transmission shaft and a wheel axle, the fixed seat is fixedly connected to the connecting seat, the first transmission shaft is rotatably connected to the fixed seat, the first bevel gear and the second bevel gear are respectively fixedly connected to the two ends of the first transmission shaft, the axis of the first transmission shaft is perpendicular to the axis of the transmission gear ring, the third bevel gear is fixedly connected to one end of the second transmission shaft, the outer peripheral wall of the transmission gear ring is provided with a plurality of second teeth arranged along the circumference of the transmission gear ring, the first bevel gear is meshed with the second teeth, the second bevel gear is meshed with the third bevel gear, the other end of the second transmission shaft is transmission-connected to the wheel axle, the wheel axle is fixedly connected to the traveling wheel, the axis of the second transmission shaft is perpendicular to the axis of the first transmission shaft, and the axis of the second transmission shaft is parallel to the axis of the wheel axle.

[0007] According to some embodiments of the present invention, the second transmission shaft is connected to the wheel axle through a transmission box, and the connecting seat is provided with an avoidance groove, and the avoidance groove is used to avoid the transmission box.

[0008] According to some embodiments of the present invention, a protrusion is provided on a side of the connecting seat facing away from the transmission box, and an avoidance groove is formed in the protrusion.

[0009] According to some embodiments of the present invention, the transmission mechanism also includes a rotating seat and a driving gear ring, the rotating seat is provided with a mounting groove, the traveling wheel is rotatably arranged in the mounting groove, the axis of the rotating seat is perpendicular to the axis of the traveling wheel, the axis of the rotating seat is parallel to the axis of the first transmission shaft, the driving gear ring is coaxially arranged with the driving gear ring, the driving gear ring is located at the inner periphery of the cleaning member, the driving gear ring can rotate relative to the cleaning member, the outer periphery of the rotating seat is provided with a plurality of third teeth, the end face of the driving gear ring is provided with a plurality of fourth teeth, the third teeth are meshed with the fourth teeth, and the self-propelled and movable pipeline soft robot also includes a second driving device, the second driving device is arranged in the cleaning mechanism, the second driving device is used to drive the driving gear ring to rotate, when the second driving device drives the driving gear ring to rotate, the driving gear ring drives the rotating seat to rotate, and the rotating seat drives the traveling wheel to rotate around the axis of the rotating seat.

[0010] According to some embodiments of the present invention, a sealing cover is provided on the outside of the first driving device.

[0011] According to some embodiments of the present invention, the number of the transmission mechanisms and the number of the traveling wheels are both multiple, the multiple traveling wheels are arranged at intervals along the circumference of the cleaning member, the multiple transmission mechanisms are arranged one-to-one with the multiple traveling wheels, the connecting seat is provided with an annular portion, the annular portion is sleeved on the outer periphery of the transmission gear ring, the transmission gear ring can rotate relative to the annular portion, and the outer peripheral wall of the annular portion is provided with an avoidance hole, and the avoidance hole is used to avoid the first bevel gear.

[0012] According to some embodiments of the present invention, the self-propelled and movable pipeline soft robot also includes a plurality of corrugated sleeves, which are sleeved on the outer periphery of the flexible gear shaft to seal the flexible gear shaft, and the corrugated sleeves can be deformed and bent, and each of the corrugated sleeves is located between two adjacent cleaning mechanisms.

[0013] According to some embodiments of the present invention, the first driving device is disposed at the front end of the flexible gear shaft, and a camera is disposed at the front end of the first driving device.

[0014] According to some embodiments of the present invention, the cleaning member is constructed as a circular ring structure, and along the length direction of the flexible toothed shaft, the outer diameters of the cleaning members of the plurality of cleaning mechanisms increase sequentially from front to back.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 It is a schematic diagram of the structure of a self-propelled and movable pipeline soft robot according to some embodiments of the present invention; Figure 2 A schematic structural diagram of a self-propelled and movable pipeline soft robot from another perspective according to some embodiments of the present invention; Figure 3 A schematic structural diagram of a self-propelled and movable pipeline soft robot from another perspective according to some embodiments of the present invention; Figure 4 A schematic structural diagram of a self-propelled and movable pipeline soft robot from another perspective according to some embodiments of the present invention; Figure 5 It is a schematic diagram of the cleaning structure and transmission structure of the self-propelled and movable pipeline soft robot according to some embodiments of the present invention; Figure 6 A schematic diagram of the transmission structure of a self-propelled and movable pipeline soft robot according to some embodiments of the present invention; Figure 7 It is a schematic diagram of a partial structure of a transmission structure of a self-propelled and movable pipeline soft robot according to some embodiments of the present invention; Figure 8 This is another partial structural schematic diagram of the transmission structure of the self-propelled and movable pipeline soft robot according to some embodiments of the present invention.

[0017] Reference numerals: The self-propelled and mobile pipeline soft robot 1000; Flexible gear shaft 100; Cleaning mechanism 200, connecting seat 210, avoidance groove 211, protrusion 212, annular portion 213, avoidance hole 214, transmission gear ring 220, first gear portion 221, second gear portion 222, traveling wheel 230, cleaning member 240, mounting hole 241, convex strip structure 242; Transmission mechanism 300, fixed seat 310, first transmission shaft 320, first bevel gear 330, second bevel gear 340, third bevel gear 350, second transmission shaft 360, axle 370, rotating seat 380, third tooth portion 381, mounting groove 382, ​​driving gear ring 390, fourth tooth portion 391, transmission box 3010; A first driving device 400, a sealing cover 410, and a coupling 420; A second driving device 500; Corrugated casing 600; Camera 700. DETAILED DESCRIPTION

[0018] At present, robots used in pipelines often only provide two moving postures: in and out. Pipeline robots are mostly used for pipeline inspection and cleaning, such as cleaning factory pipelines or restaurant fume ducts. Traditional pipeline robots mostly use rigid mechanical equipment or fixed cleaning devices. The equipment is generally composed of a drive unit, a cleaning head and cleaning components. The driving motor drives the cleaning head to move inside the pipeline, and the stains on the inner wall of the pipeline are cleaned by a brush head, a water spray device or a high-pressure jet system. However, in order to ensure the cleaning effect, the overall cleaning device has a relatively complex structure, a large size, and many components to ensure the cleaning effect. In addition, the cleaning process is often relatively simple, and the cleaning mode gears do not have an adjustment and switching function.

[0019] Most of the existing equipment has a rigid structure, which makes it difficult to flexibly cope with curved or complex-shaped pipes and is prone to getting stuck at bends, resulting in low cleaning efficiency; fixed or rigid cleaning devices cannot adjust the cleaning force according to the type and intensity of the stains, resulting in limited removal effects on stubborn stains and easy damage to the inner wall of the pipe; existing technologies make it difficult to clean and remove dirt in closed pipes, which may cause secondary pollution or blockage during the cleaning process.

[0020] In addition, the existing equipment has a relatively complex structure, with many parts and components and a high manufacturing cost. It has limited adaptability to special-shaped or curved pipes and may not be flexible enough when passing through complex bends. The cleaning method is relatively single and it is difficult to provide a variety of cleaning intensities for different types of dirt. Some robots may not be effective in cleaning stubborn stains. It cannot effectively remove dirt that has fallen from closed pipes during cleaning, which may result in residual dirt.

[0021] Based on this, refer to Figures 1 to 3 As shown, the self-propelled and movable pipeline soft robot 1000 provided by the embodiment of the present invention includes a flexible gear shaft 100, a cleaning mechanism 200 and a first driving device 400. The self-propelled and movable pipeline soft robot 1000 is mainly used to clean the inner wall of the pipeline. The soft robot of this embodiment can adapt to cleaning curved pipelines, and can take away the dirt dropped by cleaning from the closed pipeline without damaging the pipeline structure.

[0022] Specifically, the flexible gear shaft 100 can be understood as a gear structure extending axially into a shaft structure. The flexible gear shaft 100 can also be understood as a transmission wire. The flexible gear shaft 100 is made of a flexible material, and the flexible gear shaft 100 can be deformed and bent.

[0023] Reference Figure 4 and Figure 5As shown, the cleaning mechanism 200 is a disc structure as a whole, and the cleaning mechanism 200 includes a connecting seat 210, a transmission gear ring 220, a transmission mechanism 300, a traveling wheel 230 and a cleaning member 240. The connecting seat 210 is used to fix the parts. The connecting seat 210 has an inner cavity, and the transmission gear ring 220 is located in the inner cavity of the connecting seat 210. The transmission gear ring 220 is arranged in the middle position of the connecting seat 210. The transmission gear ring 220 can rotate relative to the connecting seat 210. The transmission gear ring 220 is fixedly snap-fitted and assembled on the outer periphery of the flexible gear shaft 100, so that the transmission gear ring 220 will not move along the axial direction of the flexible gear shaft 100. Figure 7 As shown, the inner circumference of the transmission gear ring 220 is provided with a plurality of first tooth portions 221, and the plurality of first tooth portions 221 are arranged along the circumference of the transmission gear ring 220 to form inner teeth, and the first tooth portions 221 are meshed with the flexible gear shaft 100. When the flexible gear shaft 100 rotates, the flexible gear shaft 100 will drive the transmission gear ring 220 to rotate together.

[0024] Reference Figure 4 and Figure 5 As shown, the transmission mechanism 300 is located in the inner cavity of the connecting seat 210, and the transmission ring gear 220 is connected to the traveling wheel 230 through the transmission mechanism 300. When the transmission ring gear 220 rotates, the transmission ring gear 220 drives the traveling wheel 230 to rotate through the transmission mechanism 300. The cleaning member 240 is an annular structure. The cleaning member 240 can be made of a flexible material so that the cleaning member 240 has a certain deformation ability. The cleaning member 240 can be set as a cleaning brush or a cleaning wire. Figure 5 As shown, when the cleaning member 240 is a cleaning brush, a plurality of convex strip structures 242 are provided on the periphery of the cleaning member 240, and the convex strip structures 242 improve the effect of cleaning the inner wall of the pipeline. The cleaning member 240 is fixedly sleeved on the periphery of the connecting seat 210, and the outer peripheral wall of the cleaning member 240 is provided with a mounting hole 241, and the traveling wheel 230 is installed in the mounting hole 241, and the traveling wheel 230 does not protrude from the cleaning member 240. The cleaning member 240 is set as a flexible member, and the cleaning member 240 can be deformed. When the cleaning member 240 abuts against the inner wall of the pipeline and is compressed and deformed, the traveling wheel 230 will abut against the inner wall of the pipeline. There are multiple cleaning mechanisms 200, and the multiple cleaning mechanisms 200 are arranged at intervals along the length direction of the flexible gear shaft 100.

[0025] Reference Figure 2 As shown, the first driving device 400 is connected to one end of the flexible gear shaft 100, and the first driving device 400 is used to drive the flexible gear shaft 100 to rotate. In some embodiments, the first driving device 400 is configured as a motor, and the output shaft of the first driving device 400 is connected to the flexible gear shaft 100 through a coupling 420. A sealing cover 410 is provided on the periphery of the first driving device 400, and the sealing cover 410 is connected to the cleaning structure to seal the first driving device 400, so as to prevent foreign matter from entering the first driving device 400.

[0026] In some embodiments, the first driving device 400 is arranged at the front end position of the flexible gear shaft 100, and a camera 700 is provided at the front end of the first driving device 400. The camera 700 transmits the captured image to an external terminal device through a wireless transmission module. In the process of the self-driving and movable pipeline soft robot 1000 entering the pipeline, its front end part enters the pipeline first, which can be understood as entering the pipeline from front to back, so that the camera 700 can capture the situation inside the pipeline. The external terminal device can control the self-driving and movable pipeline soft robot 1000 to clean and move in the pipeline according to the image feedback from the camera 700.

[0027] During the operation of the self-propelled and movable pipeline soft robot 1000 of this embodiment, the entire device extends into the pipeline. Since the cleaning mechanism 200 is a disc structure, it is more matched with the shape of the pipeline, which is conducive to the movement of the entire device in the pipeline. When the entire device needs to move, the first driving device 400 drives the flexible gear shaft 100 to rotate, and the flexible gear shaft 100 drives all the transmission gear rings 220 to rotate synchronously. The transmission gear rings 220 drive the traveling wheels 230 to rotate through the transmission mechanism 300. Since the cleaning member 240 abuts against the inner wall of the pipeline and is compressed and deformed, the traveling wheel 230 abuts against the inner wall of the pipeline, and the cleaning member 240 has a stronger cleaning effect on the inner wall of the pipeline. When the traveling wheel 230 rotates, it will drive the entire device to move along the pipeline, realizing autonomous movement. The function enables the cleaning member 240 to clean the inner wall of the pipe. Since the flexible gear shaft 100 can be deformed and bent, when the entire device passes through the bent part of the pipe, the flexible gear shaft 100 can bend, thereby changing the travel direction of the entire device. The bending of the flexible gear shaft 100 does not affect the engagement with the transmission gear ring 220, and can clean the inner wall of the curved or irregular pipe, ensuring that the equipment can flexibly pass through the bent part of the pipe without jamming problems, thereby improving the passability of the equipment in a complex pipe environment. In addition, during the cleaning process, dirt that falls off the inner wall of the pipe can be temporarily stored between adjacent cleaning mechanisms 200. When the pipe soft robot leaves the pipe, the dirt can be taken out of the pipe, resulting in a better cleaning effect and avoiding secondary pollution.

[0028] In the following embodiments, the structure and principle of the transmission mechanism 300 are described in detail.

[0029] Reference Figure 6 and Figure 7As shown, in some embodiments, the transmission mechanism 300 includes a fixed seat 310, a first transmission shaft 320, a first bevel gear 330, a second bevel gear 340, a third bevel gear 350, a second transmission shaft 360 and an axle 370, the fixed seat 310 is fixedly connected to the connecting seat 210, the first transmission shaft 320 is rotatably connected to the fixed seat 310, the fixed seat 310 is used to fix the position of the first transmission shaft 320, so that the first transmission shaft 320 does not rotate around the circumference of the transmission gear ring 220, the first bevel gear 330 and the second bevel gear 340 are fixedly connected to the two ends of the first transmission shaft 320, respectively, and the axis of the first transmission shaft 320 is aligned with the transmission gear ring 220. The axis of the second transmission shaft 360 is perpendicular to that of the first transmission shaft 320, and the axis of the second transmission shaft 360 is parallel to that of the wheel axle 370. The other end of the second transmission shaft 360 is connected to the wheel axle 370 for transmission connection, and the wheel axle 370 is fixedly connected to the traveling wheel 230.

[0030] The transmission mechanism 300 of this embodiment can convert the rotational power of the transmission gear ring 220 into the rotational power for driving the traveling wheel 230. It has a simple structure, is easy to manufacture, and has a low manufacturing cost. Each component is small in size and occupies a small space, which is conducive to the miniaturization of the overall equipment.

[0031] Reference Figure 7 and Figure 8 As shown, the second transmission shaft 360 is connected to the axle 370 through the transmission box 3010, and the transmission box 3010 is provided with transmission parts inside, and the transmission box 3010 can transmit the rotational power of the second transmission shaft 360 to the axle 370. In some embodiments, the transmission box 3010 includes at least one gear inside, and the second transmission shaft 360 and the axle 370 are connected to each other through gear meshing. In some other embodiments, a belt is provided inside the transmission box 3010, and the second transmission shaft 360 and the axle 370 are connected to each other through the belt. Since the second transmission shaft 360 does not have a fixed position of the fixed seat 310, when the second bevel gear 340 drives the third bevel gear 350 to rotate, the second transmission shaft 360 will rotate around the axis of the first transmission shaft 320, and the second transmission shaft 360 will also drive the axle 370 and the transmission box 3010 to rotate around the axis of the first transmission shaft 320 as a whole, and since the transmission box 3010 occupies a certain space, the transmission box 3010 may interfere with the connecting seat 210. For this reason, refer to Figure 5As shown, the connecting seat 210 is provided with an avoidance groove 211 , and the avoidance groove 211 can avoid the transmission box 3010 , thereby preventing the transmission box 3010 from interfering with the connecting seat 210 .

[0032] Reference Figure 1 As shown, in some embodiments, a protrusion 212 is provided on the side of the connecting seat 210 facing away from the transmission box 3010, and the protrusion 212 protrudes out of the connecting seat 210. The above-mentioned avoidance groove 211 is formed in the protrusion 212. The avoidance groove 211 is formed by setting the protrusion 212. Such a setting can reduce the axial thickness of the main part of the cleaning structure along the flexible tooth shaft 100, thereby reducing the space occupied by the cleaning structure.

[0033] Reference Figure 6 and Figure 7 As shown, in some embodiments, the transmission mechanism 300 further includes a rotating seat 380 and a driving gear ring 390. The rotating seat 380 is provided with a mounting groove 382. The traveling wheel 230 is rotatably disposed in the mounting groove 382. Part of the structure of the traveling wheel 230 protrudes from the outside of the mounting groove 382. The axis of the rotating seat 380 is perpendicular to the axis of the traveling wheel 230. The axle 370 is passed through the rotating seat 380 to connect with the traveling wheel 230 in the rotating seat 380. The axle 370 can rotate relative to the rotating seat 380. When the rotating seat 380 rotates, it drives the traveling wheel 230 to rotate together, thereby changing the traveling direction of the traveling wheel 230. The axis of the rotating seat 380 is parallel to the axis of the first transmission shaft 320. The driving ring gear 390 is coaxially arranged with the transmission ring gear 220. The driving ring gear 390 is located on the inner periphery of the cleaning member 240. The driving ring gear 390 can rotate relative to the cleaning member 240. The outer periphery of the rotating seat 380 is provided with a plurality of third tooth portions 381. The end face of the driving ring gear 390 is provided with a plurality of fourth tooth portions 391. The third tooth portions 381 are meshed with the fourth tooth portions 391. The self-propelled and movable pipeline soft robot 1000 also includes a second driving device 500. The second driving device 500 is arranged in the cleaning mechanism 200. The second driving device 500 is used to drive the driving ring gear 390 to rotate. This embodiment can realize the steering function of the traveling wheel 230. When the second driving device 500 drives the driving ring gear 390 to rotate, the driving ring gear 390 will drive the rotating seat 380 to rotate, and the rotating seat 380 will drive the traveling wheel 230 to rotate around the axis of the rotating seat 380, thereby changing the traveling direction of the traveling wheel 230. The soft robot also rotates while moving, and deeply cleans specific positions through rotation, greatly enhancing the cleaning ability of stubborn stains.

[0034] It should be noted that the traveling wheel 230 has two states. The first state: the axis of the traveling wheel 230 is perpendicular to the axis of the pipeline. At this time, the flexible robot will move straight along the axis of the pipeline; the second state: the axis of the traveling wheel 230 and the axis of the pipeline form an angle with each other, which can be understood as the traveling wheel 230 forming a deflection angle. At this time, the flexible robot will move spirally around the axis of the pipeline in the pipeline, which can be understood as the flexible robot cleaning in the pipeline in a rotating posture, which can improve the cleaning effect; the third state: the axis of the traveling wheel 230 is parallel to the axis of the pipeline. At this time, the flexible robot will repeatedly rotate around the axis of the pipeline, and can strengthen the cleaning force at the stubborn stains. By controlling the second driving device 500, the traveling wheel 230 can be switched between the above three states, and the cleaning force of the flexible robot can be adjusted according to the type and intensity of the stains in the pipeline to achieve different cleaning gears, which can improve the cleaning effect.

[0035] In some embodiments, since there are multiple cleaning mechanisms 200, each cleaning mechanism 200 is provided with multiple traveling wheels 230. In order to enable all traveling wheels 230 to rotate synchronously at the same angle, the self-propelled movable pipeline soft robot 1000 also includes a motor controller. The motor controller signal is connected to all the second drive devices 500. Therefore, under the action of the motor controller, it can ensure that all the second drive devices 500 are started together.

[0036] Reference Figure 5 and Figure 6 As shown, in some embodiments, the number of transmission mechanisms 300 and the number of traveling wheels 230 are both multiple, and the multiple traveling wheels 230 are arranged at intervals along the circumference of the cleaning member 240. The multiple transmission mechanisms 300 are arranged one by one with the multiple traveling wheels 230. The connecting seat 210 is provided with an annular portion 213, which is located in the inner cavity of the connecting seat 210. The annular portion 213 is sleeved on the outer periphery of the transmission gear ring 220. The transmission gear ring 220 can rotate relative to the annular portion 213. The outer peripheral wall of the annular portion 213 is provided with an avoidance hole 214, and the avoidance hole 214 is used to avoid the first bevel gear 330. The number of rotating seats 380 is also multiple, and the driving gear ring 390 is meshed with the multiple rotating seats 380. When the driving gear ring 390 rotates, the multiple rotating seats 380 rotate synchronously, so that the driving gear ring 390 can synchronously adjust the deflection angles of the multiple traveling wheels 230.

[0037] Reference Figures 1 to 3As shown, in some embodiments, the self-propelled and movable pipeline soft robot 1000 also includes a plurality of corrugated sleeves 600, which are sleeved on the outer periphery of the flexible gear shaft 100, thereby sealing the flexible gear shaft 100 and preventing external dirt from contacting the flexible gear shaft 100. The corrugated sleeve 600 is made of a flexible material, so that the corrugated sleeve 600 can be deformed and bent, and the corrugated sleeve 600 can bend along with the flexible gear shaft 100, and has good flexibility and can better adapt to the complex curved pipeline environment. Each corrugated sleeve 600 is connected between two adjacent cleaning mechanisms 200, and can seal the inner cavity of the cleaning mechanism 200, and the sealing is relatively comprehensive.

[0038] Reference Figures 1 to 3 As shown, in some embodiments, the cleaning member 240 is constructed as a circular ring structure, and along the length direction of the flexible gear shaft 100, the outer diameters of the cleaning members 240 of the multiple cleaning mechanisms 200 increase successively from front to back. For example, the outer diameters of the cleaning members 240 increase successively by 1 cm to 1.5 cm, so that the overall outer diameter of the pipeline soft robot tends to gradually increase from front to back, which is beneficial for the front end part of the pipeline soft robot to enter the pipeline, and can reduce the resistance encountered by the pipeline soft robot when entering the pipeline. When facing a protruding stain position, it can also enter easily. Since the outer diameter of the cleaning member 240 increases successively, the cleaning force can be gradually increased during the process of the pipeline soft robot entering the pipeline to clean the dirt on the inner wall of the pipeline. The dirt can be temporarily retained between two adjacent cleaning structures and finally brought out of the pipeline with the movement of the overall device.

[0039] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, inside, outside, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 should not be understood as a limitation on the present invention.

[0040] In the description of the present invention, if there is a description of first or second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0041] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0042] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can 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 embodiments of the present invention.

Claims

1. A self-propelled mobile pipeline soft robot, characterized in that: include: Flexible gear shaft, capable of deforming and bending; The cleaning mechanism comprises a connecting seat, a transmission gear ring, a transmission mechanism, a traveling wheel and a cleaning member, wherein the transmission gear ring is arranged in the middle part of the connecting seat, the transmission gear ring can rotate relative to the connecting seat, the transmission gear ring is fixedly sleeved on the outer periphery of the flexible gear shaft, the inner periphery of the transmission gear ring is provided with a plurality of first teeth, the first teeth are meshed with the flexible gear shaft, the transmission gear ring is connected to the traveling wheel through the transmission mechanism, the cleaning member is an annular structure for cleaning the inner wall of the pipeline, the cleaning member is sleeved on the outer periphery of the connecting seat, the outer peripheral wall of the cleaning member is provided with a mounting hole, the traveling wheel is installed in the mounting hole, the cleaning member is set as a flexible member, the cleaning member is used to abut against the inner wall of the pipeline, the cleaning member can be deformed so that the traveling wheel abuts against the inner wall of the pipeline, the number of the cleaning mechanisms is multiple, and the multiple cleaning mechanisms are arranged at intervals along the length direction of the flexible gear shaft; A first driving device, connected to one end of the flexible gear shaft, the first driving device is used to drive the flexible gear shaft to rotate; When the first driving device drives the flexible gear shaft to rotate, the flexible gear shaft drives the transmission gear ring to rotate, and the transmission gear ring drives the traveling wheel to rotate through the transmission mechanism, so as to drive the plurality of cleaning mechanisms to travel along the pipeline.

2. The self-propelled and movable pipeline soft robot according to claim 1, characterized in that: The transmission mechanism includes a fixed seat, a first transmission shaft, a first bevel gear, a second bevel gear, a third bevel gear, a second transmission shaft and a wheel axle, the fixed seat is fixedly connected to the connecting seat, the first transmission shaft is rotatably connected to the fixed seat, the first bevel gear and the second bevel gear are fixedly connected to the two ends of the first transmission shaft respectively, the axis of the first transmission shaft is perpendicular to the axis of the transmission gear ring, the third bevel gear is fixedly connected to one end of the second transmission shaft, the outer peripheral wall of the transmission gear ring is provided with a plurality of second teeth arranged along the circumference of the transmission gear ring, the first bevel gear is meshed with the second teeth, the second bevel gear is meshed with the third bevel gear, the other end of the second transmission shaft is transmission connected to the wheel axle, the wheel axle is fixedly connected to the traveling wheel, the axis of the second transmission shaft is perpendicular to the axis of the first transmission shaft, and the axis of the second transmission shaft is parallel to the axis of the wheel axle.

3. The self-propelled and movable pipeline soft robot according to claim 2, characterized in that: The second transmission shaft is connected to the wheel axle through a transmission box, and the connecting seat is provided with an avoidance groove, and the avoidance groove is used to avoid the transmission box.

4. The self-propelled and movable pipeline soft robot according to claim 3, characterized in that: A protrusion is provided on one side of the connecting seat away from the transmission box, and an avoidance groove is formed in the protrusion.

5. The self-propelled and movable pipeline soft robot according to claim 2, characterized in that: The transmission mechanism also includes a rotating seat and a driving gear ring, the rotating seat is provided with a mounting groove, the traveling wheel is rotatably arranged in the mounting groove, the axis of the rotating seat is perpendicular to the axis of the traveling wheel, the axis of the rotating seat is parallel to the axis of the first transmission shaft, the driving gear ring is coaxially arranged with the driving gear ring, the driving gear ring is located at the inner periphery of the cleaning member, the driving gear ring can rotate relative to the cleaning member, the outer periphery of the rotating seat is provided with a plurality of third teeth, the end face of the driving gear ring is provided with a plurality of fourth teeth, the third teeth are meshed with the fourth teeth, and the self-propelled and movable pipeline soft robot also includes a second driving device, the second driving device is arranged in the cleaning mechanism, the second driving device is used to drive the driving gear ring to rotate, when the second driving device drives the driving gear ring to rotate, the driving gear ring drives the rotating seat to rotate, and the rotating seat drives the traveling wheel to rotate around the axis of the rotating seat.

6. The self-propelled and movable pipeline soft robot according to claim 2, characterized in that: The number of the transmission mechanisms and the number of the traveling wheels are both multiple, and the multiple traveling wheels are arranged at intervals along the circumference of the cleaning member. The multiple transmission mechanisms are arranged one-to-one with the multiple traveling wheels. The connecting seat is provided with an annular portion, and the annular portion is sleeved on the outer periphery of the transmission gear ring. The transmission gear ring can rotate relative to the annular portion, and the outer peripheral wall of the annular portion is provided with an avoidance hole, and the avoidance hole is used to avoid the first bevel gear.

7. The self-propelled and movable pipeline soft robot according to claim 1, characterized in that: The self-propelled and movable pipeline soft robot also includes a plurality of corrugated sleeves, which are sleeved on the outer circumference of the flexible gear shaft to seal the flexible gear shaft. The corrugated sleeves can be deformed and bent, and each of the corrugated sleeves is located between two adjacent cleaning mechanisms.

8. The self-propelled and movable pipeline soft robot according to claim 1, characterized in that: The first driving device is arranged at the front end of the flexible gear shaft, and a camera is arranged at the front end of the first driving device.

9. The self-propelled and movable pipeline soft robot according to claim 1, characterized in that: A sealing cover is provided outside the first driving device.

10. The self-propelled and movable pipeline soft robot according to claim 1, characterized in that: The cleaning member is constructed as a circular ring structure, and along the length direction of the flexible toothed shaft, the outer diameters of the cleaning members of the plurality of cleaning mechanisms increase sequentially from front to back.

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