Self-propelled, pipe-soft robotic machine

Abstract

The application discloses a self-driven movable pipeline soft robot, and relates to the technical field of pipeline cleaning robots, which can be applied to cleaning the sewage pipeline of a factory or the oil fume pipeline of a restaurant and the like, wherein the self-driven movable pipeline soft robot comprises a flexible gear shaft, a cleaning mechanism and a first driving device, the flexible gear shaft can be deformed and bent, the cleaning mechanism comprises a connecting seat, a transmission gear ring, a transmission mechanism, a traveling wheel and a cleaning piece, the transmission gear ring is engaged with the flexible gear shaft, the cleaning piece is in a ring structure and is used for cleaning the inner wall of the pipeline, the traveling wheel abuts against the inner wall of the pipeline, and a plurality of cleaning mechanisms are arranged at intervals along the length direction of the flexible gear shaft; 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 traveling wheel to rotate through the transmission mechanism, and the plurality of cleaning mechanisms are driven to travel along the pipeline, the application can adapt to cleaning the curved pipeline, and the cleaning effect is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning robot technology, and in particular to a self-propelled, mobile pipeline soft robot. Background Technology

[0002] Currently, 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 handle flexible curved or complex irregularly 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 this invention is to at least solve one of the technical problems existing in the prior art. To this end, this invention provides a self-propelled, mobile soft robot for cleaning curved pipes, which can adapt to cleaning such pipes and significantly improves the cleaning effect.

[0004] According to a first aspect of the present invention, a self-propelled, movable soft robot for pipes includes: a flexible gear shaft capable of deformation and bending; a cleaning mechanism including a connecting seat, a transmission gear ring, a transmission mechanism, a traveling wheel, and a cleaning component; the transmission gear ring is disposed in the middle of the connecting seat and is rotatable 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 has a plurality of first teeth that mesh with the flexible gear shaft; the transmission gear ring is connected to the traveling wheel via the transmission mechanism; the cleaning component has an annular structure for cleaning the inner wall of the pipe; the cleaning component is sleeved on the outer periphery of the connecting seat; and the outer peripheral wall of the cleaning component has mounting holes. The traveling wheel is installed in the mounting hole. The cleaning component is a flexible component that abuts against the inner wall of the pipe. The cleaning component is deformable to allow the traveling wheel to abut against the inner wall of the pipe. Multiple cleaning mechanisms are arranged at intervals along the length of the flexible gear shaft. A first driving device is connected to one end of the flexible gear shaft and 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. The transmission gear ring drives the traveling wheel to rotate through the transmission mechanism, thereby driving the multiple cleaning mechanisms to travel along the pipe.

[0005] According to an embodiment of the first aspect of the present invention, the self-propelled flexible pipe robot has at least the following advantages: During operation, the flexible pipe robot is first installed inside the pipe. A first driving device drives a flexible gear shaft to rotate, which in turn drives a transmission gear ring to rotate. The transmission gear ring, through a transmission mechanism, drives a traveling wheel to rotate. Because the cleaning component abuts against the inner wall of the pipe and is compressed and deformed, the traveling wheel abuts against the inner wall of the pipe, resulting in a stronger cleaning effect on the inner wall of the pipe. During the rotation of the traveling wheel, the traveling wheel drives the entire device to move along the pipe, thereby achieving a self-propelled movement function and enabling autonomous movement within the pipe. The robot utilizes a flexible, bendable gear shaft with multiple cleaning mechanisms connected to it. This flexible shaft allows for steering while maintaining meshing with the transmission gear ring, enabling the cleaning of the inner walls of curved or irregularly shaped pipes. This ensures the device can flexibly pass through pipe bends without jamming, improving its maneuverability in complex pipe environments. Furthermore, during cleaning, debris detached from the pipe's inner wall can be temporarily stored between adjacent cleaning mechanisms. When the robot leaves the pipe, it can carry the debris out, resulting in effective cleaning and preventing secondary contamination.

[0006] According to some embodiments of the present invention, the transmission mechanism includes a fixed base, 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 base is fixedly connected to the connecting base, the first transmission shaft is rotatably connected to the fixed base, the first bevel gear and the second bevel gear are respectively fixedly connected to both 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 circumferentially along the transmission gear ring, the first bevel gear meshes with the second teeth, the second bevel gear meshes with the third bevel gear, the other end of the second transmission shaft is drivingly 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 drive shaft is connected to the wheel axle via a drive housing, and the connecting seat is provided with a clearance groove for avoiding the drive housing.

[0008] According to some embodiments of the present invention, the connecting seat has a protrusion on the side opposite to the transmission box, and a clearance groove is formed in the protrusion.

[0009] According to some embodiments of the present invention, the transmission mechanism further includes a rotating seat and a drive gear ring. The rotating seat is provided with a mounting groove, and the traveling wheel is rotatably disposed in the mounting groove. The axis of the rotating seat is perpendicular to the axis of the traveling wheel and parallel to the axis of the first transmission shaft. The drive gear ring is coaxially disposed with the transmission gear ring and is located on the inner circumference of the cleaning component. The drive gear ring is rotatable relative to the cleaning component. The outer circumference of the rotating seat is provided with a plurality of third teeth, and the end face of the drive gear ring is provided with a plurality of fourth teeth. The third teeth mesh with the fourth teeth. The self-driving soft robot for pipelines further includes a second drive device, which is disposed within the cleaning mechanism. The second drive device is used to drive the drive gear ring to rotate. When the second drive device drives the drive gear ring to rotate, the drive 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, the exterior of the first drive device is provided with a sealing cover.

[0011] According to some embodiments of the present invention, the number of transmission mechanisms and the number of traveling wheels are both multiple, the multiple traveling wheels are arranged at intervals along the circumference of the cleaning component, the multiple transmission mechanisms are arranged in one-to-one correspondence 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, the outer peripheral wall of the annular portion is provided with a clearance hole, the clearance hole is used to avoid the first bevel gear.

[0012] According to some embodiments of the present invention, the self-propelled moving pipeline soft robot further includes a plurality of corrugated sleeves, which are sleeved on the outer periphery of the flexible gear shaft to seal the flexible gear shaft. The corrugated sleeves are capable of deformation and bending, 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 located at the front end of the flexible gear shaft, and a camera is provided at the front end of the first driving device.

[0014] According to some embodiments of the present invention, the cleaning component is constructed as a ring-shaped structure, and along the length direction of the flexible toothed shaft, the outer diameter of the cleaning component of the plurality of cleaning mechanisms increases sequentially from front to back.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

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

[0017] Figure label: 1000 self-propelled, mobile soft robot for pipelines; Flexible gear shaft 100; Cleaning mechanism 200, connecting seat 210, clearance groove 211, protrusion 212, annular part 213, clearance hole 214, transmission gear ring 220, first tooth 221, second tooth 222, traveling wheel 230, cleaning component 240, mounting hole 241, convex 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, wheel axle 370, rotating seat 380, third tooth 381, mounting groove 382, ​​drive gear ring 390, fourth tooth 391, transmission box 3010; First drive unit 400, sealing cover 410, coupling 420; Second drive unit 500; 600 corrugated sleeve; Camera 700. Detailed Implementation

[0018] Currently, robots used in pipelines typically only offer two movement postures: entering and exiting. Pipeline robots are mostly used for pipeline inspection and cleaning, such as cleaning factory pipelines or restaurant exhaust pipes. Traditional pipeline robots mostly employ rigid mechanical structures or fixed cleaning devices. The equipment generally consists of a drive unit, a cleaning head, and cleaning components. A drive motor propels the cleaning head to move inside the pipeline, using brushes, water spray devices, or high-pressure air jet systems to clean the grime from the pipeline walls. However, to ensure cleaning effectiveness, the overall cleaning device has a complex structure, large size, and numerous components. Furthermore, the cleaning process is often relatively simple, and the cleaning modes and settings lack adjustable switching capabilities.

[0019] Most existing equipment has a rigid structure, which makes it difficult to flexibly deal with curved or complex irregular pipes. It is easy to get 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 stains, resulting in limited removal of stubborn stains and easy damage to the inner wall of the pipe. Existing technology is difficult to clean and remove dirt in closed pipes, which may cause secondary pollution or blockage during the cleaning process.

[0020] Furthermore, existing equipment has a relatively complex structure, many parts, and high manufacturing costs; it has limited adaptability to irregular or curved pipes and may not be flexible enough when passing through complex bends; the cleaning method is relatively simple and it is difficult to provide multiple cleaning intensities for different types of dirt; some robots may not be effective enough in cleaning stubborn stains; and they cannot effectively remove dirt that has fallen from closed pipes, which may result in dirt residue.

[0021] Based on this, refer to Figures 1 to 3 As shown, the self-propelled soft robot 1000 for cleaning pipes provided in this embodiment of the invention includes a flexible gear shaft 100, a cleaning mechanism 200, and a first driving device 400. The self-propelled soft robot 1000 is mainly used for cleaning the inner walls of pipes. The soft robot in this embodiment can adapt to cleaning curved pipes and can remove cleaning debris from enclosed pipes without damaging the pipe 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 flexible material and can deform and bend.

[0023] Reference Figure 4 and Figure 5As shown, the cleaning mechanism 200 has an overall disc structure. 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 component 240. The connecting seat 210 is used to fix the components and has an inner cavity. The transmission gear ring 220 is located within the inner cavity of the connecting seat 210 and is positioned at the center 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 engaged with the outer circumference of the flexible gear shaft 100, preventing the transmission gear ring 220 from moving axially along the flexible gear shaft 100. (Refer to...) Figure 7 As shown, the inner circumference of the transmission gear ring 220 is provided with a plurality of first teeth 221. The plurality of first teeth 221 are arranged along the circumference of the transmission gear ring 220 to form internal teeth. The first teeth 221 mesh 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 inside the connecting seat 210. The transmission gear ring 220 is connected to the traveling wheel 230 through the transmission mechanism 300. When the transmission gear ring 220 rotates, it drives the traveling wheel 230 to rotate through the transmission mechanism 300. The cleaning component 240 has a ring-shaped structure and can be made of flexible material, giving it a certain degree of deformability. The cleaning component 240 can be configured as a cleaning brush or a cleaning wire, as shown in the reference. Figure 5 As shown, when the cleaning component 240 is a cleaning brush, the outer periphery of the cleaning component 240 is provided with multiple protruding strip structures 242. The protruding strip structures 242 improve the cleaning effect on the inner wall of the pipe. The cleaning component 240 is fixedly sleeved on the outer periphery of the connecting seat 210. The outer periphery of the cleaning component 240 is provided with mounting holes 241. The traveling wheel 230 is installed in the mounting holes 241. The traveling wheel 230 does not protrude from the cleaning component 240. The cleaning component 240 is set as a flexible component, and the cleaning component 240 can deform. When the cleaning component 240 abuts against the inner wall of the pipe and is compressed and deformed, the traveling wheel 230 will abut against the inner wall of the pipe. 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, a first drive device 400 is connected to one end of a flexible gear shaft 100, and the first drive device 400 is used to drive the flexible gear shaft 100 to rotate. In some embodiments, the first drive device 400 is configured as a motor, and the output shaft of the first drive device 400 is connected to the flexible gear shaft 100 through a coupling 420. A sealing cover 410 is provided on the outer periphery of the first drive device 400, and the sealing cover 410 is connected to a cleaning structure to seal the first drive device 400, thereby preventing foreign objects from entering the interior of the first drive device 400.

[0026] In some embodiments, the first driving device 400 is located at the front end of the flexible gear shaft 100. The front end of the first driving device 400 is equipped with a camera 700. The camera 700 transmits the captured images to an external terminal device through a wireless transmission module. During the process of the self-driving soft robot 1000 entering the pipe, its front end enters the pipe first, which can be understood as entering the pipe from front to back, so that the camera 700 can capture the situation inside the pipe. The external terminal device can control the self-driving soft robot 1000 to clean and move in the pipe according to the images fed back by the camera 700.

[0027] In this embodiment, the self-propelled, mobile soft robot 1000 extends into the pipe during operation. Because the cleaning mechanism 200 has a disc-like structure, it closely matches the shape of the pipe, facilitating the movement of the entire device within the pipe. When the device needs to move, the first drive device 400 drives the flexible gear shaft 100 to rotate. The flexible gear shaft 100 then drives all the transmission gear rings 220 to rotate synchronously. The transmission gear rings 220, through the transmission mechanism 300, drive the traveling wheels 230 to rotate. Since the cleaning component 240 abuts against the inner wall of the pipe and is compressed and deformed, the traveling wheels 230 abut against the inner wall of the pipe, resulting in a stronger cleaning effect. The rotation of the traveling wheels 230 propels the entire device along the pipe, achieving autonomous movement. The advanced cleaning function allows the cleaning component 240 to clean the inner wall of the pipe. Because the flexible gear shaft 100 can deform and bend, it can change the overall direction of travel when the entire device passes through the bends in the pipe. The bending of the flexible gear shaft 100 does not affect its meshing with the transmission gear ring 220, enabling the cleaning of the inner wall of curved or irregularly shaped pipes. This ensures the device can flexibly pass through the bends in the pipe without jamming, improving its passability in complex pipe environments. Furthermore, 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, it can carry the dirt out of the pipe, resulting in a better cleaning effect and avoiding secondary pollution.

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

[0029] Reference Figure 6 and Figure 7As shown, in some embodiments, the transmission mechanism 300 includes a fixed base 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 a wheel axle 370. The fixed base 310 is fixedly connected to the connecting base 210, and the first transmission shaft 320 is rotatably connected to the fixed base 310. The fixed base 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 respectively fixedly connected to the two ends of the first transmission shaft 320. The axis of the first transmission shaft 320 is parallel to the transmission gear ring 220. The axis of the transmission gear ring 220 is perpendicular to the axis of the transmission gear ring 220. The outer peripheral wall of the transmission gear ring 220 is provided with a plurality of second teeth 222 arranged along the circumference of the transmission gear ring 220. The second teeth 222 are inclined and are bevel teeth. The first bevel gear 330 meshes with the second teeth 222. The third bevel gear 350 is fixedly connected to one end of the second transmission shaft 360. The second bevel gear 340 meshes with the third bevel gear 350. The axis of the second transmission shaft 360 is perpendicular to the axis of the first transmission shaft 320 and parallel to the axis of the wheel axle 370. The other end of the second transmission shaft 360 is connected to the wheel axle 370. The wheel axle 370 is fixedly connected to the traveling wheel 230.

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

[0031] Reference Figure 7 and Figure 8 As shown, the second drive shaft 360 is connected to the axle 370 via a transmission box 3010. The transmission box 3010 contains transmission components, which transmit the rotational power of the second drive shaft 360 to the axle 370. In some embodiments, the transmission box 3010 includes at least one gear, and the second drive shaft 360 and axle 370 are connected via gear meshing. In other embodiments, the transmission box 3010 contains a belt, and the second drive shaft 360 and axle 370 are connected via the belt. Since the second drive shaft 360 does not have a fixed position (fixed by a mounting base 310), when the second bevel gear 340 drives the third bevel gear 350 to rotate, the second drive shaft 360 will rotate around the axis of the first drive shaft 320. The second drive shaft 360 will also drive the axle 370 and the transmission box 3010 as a whole to rotate around the axis of the first drive shaft 320. Furthermore, since the transmission box 3010 occupies a certain space, it may interfere with the connecting seat 210. Therefore, refer to... Figure 5As shown, the connecting seat 210 is provided with a relief groove 211, which can avoid the transmission box 3010 and prevent interference between the transmission box 3010 and the connecting seat 210.

[0032] Reference Figure 1 As shown, in some embodiments, the connecting seat 210 has a protrusion 212 on the side opposite to the transmission box 3010. The protrusion 212 protrudes out of the connecting seat 210, and the aforementioned clearance groove 211 is formed in the protrusion 212. By setting the protrusion 212, the clearance groove 211 is formed. This setting can reduce the thickness of the main body of the cleaning structure along the axial direction of the flexible gear 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 drive gear ring 390. The rotating seat 380 is provided with a mounting groove 382, ​​and the traveling wheel 230 is rotatably disposed in the mounting groove 382. A portion of the structure of the traveling wheel 230 protrudes outside the mounting groove 382. The axis of the rotating seat 380 is perpendicular to the axis of the traveling wheel 230. A wheel axle 370 passes through the rotating seat 380 to connect with the traveling wheel 230 inside the rotating seat 380. The wheel 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 drive gear ring 390 is coaxially arranged with the transmission gear ring 220. The drive gear ring 390 is located on the inner circumference of the cleaning component 240 and can rotate relative to the cleaning component 240. The outer circumference of the rotating seat 380 is provided with multiple third teeth 381, and the end face of the drive gear ring 390 is provided with multiple fourth teeth 391. The third teeth 381 and the fourth teeth 391 mesh. The self-driving soft pipe robot 1000 also includes a second drive device 500. The second drive device 500 is located in the cleaning mechanism 200 and is used to drive the drive gear ring 390 to rotate. This embodiment enables the steering function of the traveling wheel 230. When the second drive device 500 drives the drive gear ring 390 to rotate, the drive gear ring 390 will drive the rotating seat 380 to rotate. 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 performs rotational motion while moving, and performs deep cleaning of specific positions through rotation, which greatly enhances the cleaning ability of stubborn stains.

[0034] It should be noted that the traveling wheel 230 has two states. In the first state, the axis of the traveling wheel 230 is perpendicular to the axis of the pipe; in this state, the flexible robot travels straight along the pipe's axis. In the second state, the axis of the traveling wheel 230 forms an angle with the pipe's axis, which can be understood as the traveling wheel 230 forming a deflection angle. In this state, the flexible robot travels spirally around the pipe's axis, which can be understood as the flexible robot cleaning in a rotating posture, improving cleaning effectiveness. In the third state, the axis of the traveling wheel 230 is parallel to the pipe's axis; in this state, the flexible robot repeatedly rotates around the pipe's axis, allowing for targeted and intensified cleaning of stubborn stains. By controlling the second drive device 500, the traveling wheel 230 can switch between these three states, allowing the cleaning intensity of the flexible robot to be adjusted according to the type and intensity of the stains in the pipe, achieving different cleaning levels and improving cleaning effectiveness.

[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 the traveling wheels 230 to rotate synchronously at the same angle, the self-driving 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 be ensured that all the second drive devices 500 start together.

[0036] Reference Figure 5 and Figure 6 As shown, in some embodiments, there are multiple transmission mechanisms 300 and multiple traveling wheels 230. Multiple traveling wheels 230 are arranged at intervals along the circumference of the cleaning component 240. Multiple transmission mechanisms 300 are arranged in a one-to-one correspondence with multiple traveling wheels 230. The connecting seat 210 has an annular portion 213 located within the inner cavity of the connecting seat 210. The annular portion 213 is sleeved on the outer periphery of the transmission gear ring 220, allowing the transmission gear ring 220 to rotate relative to the annular portion 213. The outer peripheral wall of the annular portion 213 has a clearance hole 214 for avoiding the first bevel gear 330. There are also multiple rotating seats 380. The driving gear ring 390 meshes with multiple rotating seats 380. When the driving gear ring 390 rotates, the multiple rotating seats 380 rotate synchronously, allowing the driving gear ring 390 to synchronously adjust the deflection angle of the multiple traveling wheels 230.

[0037] Reference Figures 1 to 3As shown, in some embodiments, the self-propelled soft pipe robot 1000 also includes multiple corrugated sleeves 600. The corrugated sleeves 600 are fitted around 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 sleeves 600 are made of flexible material, which allows the corrugated sleeves 600 to deform and bend. The corrugated sleeves 600 can bend along with the flexible gear shaft 100, which has good flexibility and can better adapt to the curved and complex pipe environment. Each corrugated sleeve 600 is connected between two adjacent cleaning mechanisms 200, which can seal the inner cavity of the cleaning mechanism 200 and the seal is relatively comprehensive.

[0038] Reference Figures 1 to 3 As shown, in some embodiments, the cleaning component 240 is constructed as a ring-shaped structure. Along the length direction of the flexible toothed shaft 100, the outer diameter of the cleaning component 240 of the multiple cleaning mechanisms 200 increases sequentially from front to back. For example, the outer diameter of the cleaning component 240 increases sequentially from 1 cm to 1.5 cm, so that the overall outer diameter of the pipe soft robot gradually increases from front to back. This facilitates the entry of the front end of the pipe soft robot into the pipe and reduces the resistance encountered by the pipe soft robot when entering the pipe. It can also easily enter when facing protruding stains. Since the outer diameter of the cleaning component 240 increases sequentially, the cleaning force can be gradually increased during the process of the pipe soft robot entering the pipe, cleaning the dirt on the inner wall of the pipe. The dirt can be temporarily left between two adjacent cleaning structures and eventually carried out of the pipe with the movement of the whole device.

[0039] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, inside, outside, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0040] In the description of this invention, the use of "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0041] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0042] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions 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, movable soft robot for pipelines, characterized in that, include: Flexible gear shafts are capable of deformation and bending; A cleaning mechanism includes a connecting seat, a transmission gear ring, a transmission mechanism, a traveling wheel, and a cleaning component. The transmission gear ring is located in the middle of the connecting seat and can rotate relative to the connecting seat. The transmission gear ring is fixedly sleeved on the outer circumference of a flexible gear shaft. The inner circumference of the transmission gear ring has multiple first teeth that mesh with the flexible gear shaft. The transmission gear ring is connected to the traveling wheel through the transmission mechanism. The cleaning component has a ring-shaped structure for cleaning the inner wall of the pipe. The cleaning component is sleeved on the outer circumference of the connecting seat, and the outer circumferential wall of the cleaning component has a mounting hole. The traveling wheel is installed in the mounting hole. The cleaning component is a flexible component used to abut against the inner wall of the pipe. The cleaning component can deform to allow the traveling wheel to abut against the inner wall of the pipe. There are multiple cleaning mechanisms, which are spaced apart along the length 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. 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 traveling wheel to rotate through the transmission mechanism, thereby driving multiple cleaning mechanisms to travel along the pipeline. The transmission mechanism includes a fixed base, 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 base is fixedly connected to the connecting base. The first transmission shaft is rotatably connected to the fixed base. The first bevel gear and the second bevel gear are respectively fixedly connected to both 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 multiple second teeth arranged circumferentially along the transmission gear ring. The first bevel gear meshes with the second teeth, and the second bevel gear meshes with the third bevel gear. The other end of the second transmission shaft is drivenly connected to the wheel axle. The wheel axle is fixedly connected to the traveling wheel. The shaft of the second transmission shaft... The line 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. The transmission mechanism also includes a rotating seat and a drive gear ring. The rotating seat has a mounting groove, and the traveling wheel is rotatably disposed in the mounting groove. The axis of the rotating seat is perpendicular to the axis of the traveling wheel and parallel to the axis of the first transmission shaft. The drive gear ring is coaxially arranged with the transmission gear ring and is located on the inner circumference of the cleaning component. The drive gear ring can rotate relative to the cleaning component. The outer circumference of the rotating seat has multiple third teeth, and the end face of the drive gear ring has multiple fourth teeth. The third teeth mesh with the fourth teeth. The self-driving soft pipe robot also includes a second drive device, which is disposed in the cleaning mechanism. The second drive device is used to drive the drive gear ring to rotate. When the second drive device drives the drive gear ring to rotate, the drive 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.

2. The self-propelled, mobile pipeline soft robot according to claim 1, characterized in that, The second drive shaft is connected to the wheel axle via a drive box, and the connecting seat is provided with a clearance groove, which is used to avoid the drive box.

3. The self-propelled, mobile pipeline soft robot according to claim 2, characterized in that, The connecting seat has a protrusion on the side opposite to the transmission box, and a clearance groove is formed in the protrusion.

4. The self-propelled, movable pipeline soft robot according to claim 1, characterized in that, The number of transmission mechanisms and the number of traveling wheels are both multiple. The multiple traveling wheels are arranged at intervals along the circumference of the cleaning component. The multiple transmission mechanisms are arranged in one-to-one correspondence with the multiple traveling wheels. The connecting seat has an annular part, which is sleeved on the outer circumference of the transmission gear ring. The transmission gear ring can rotate relative to the annular part. The outer peripheral wall of the annular part has a clearance hole, which is used to avoid the first bevel gear.

5. The self-propelled, movable pipeline soft robot according to claim 1, characterized in that, The self-propelled soft robot also includes multiple corrugated sleeves, which are fitted around the outer periphery of the flexible gear shaft to seal it. The corrugated sleeves are capable of deformation and bending, and each corrugated sleeve is located between two adjacent cleaning mechanisms.

6. The self-propelled, mobile soft pipe robot according to claim 1, characterized in that, The first driving device is located at the front end of the flexible gear shaft, and a camera is provided at the front end of the first driving device.

7. The self-propelled, movable pipeline soft robot according to claim 1, characterized in that, The first drive device is provided with a sealing cover on its exterior.

8. The self-propelled, mobile soft pipe robot according to claim 1, characterized in that, The cleaning component is constructed in a circular ring shape, and along the length direction of the flexible toothed shaft, the outer diameter of the cleaning component of the plurality of cleaning mechanisms increases sequentially from front to back.

Images