Robot for pipeline detection

Abstract

A robot for pipeline detection comprises a robot body, a first walking mechanism, a second walking mechanism, a first driving mechanism and a second driving mechanism. A detection piece is installed on the machine body. The first walking mechanism is connected with the front end of the machine body and comprises a plurality of first walking wheels. The second walking mechanism is connected with the rear end of the machine body and comprises a plurality of second walking wheels. The first driving mechanism and the second driving mechanism are both assembled on the machine body. The axis of the first walking wheel and the axis of the second walking wheel are obliquely distributed relative to the axis of the robot, and the inclination directions of the axis of the first walking wheel and the axis of the second walking wheel relative to the axis of the robot are opposite. The first walking mechanism is provided with the first driving mechanism, the second walking mechanism is provided with the second driving mechanism, the first walking mechanism and the first driving mechanism as well as the second walking mechanism and the second driving mechanism form a double-helix structure, the machine body is allowed to do variable-pitch helical motion, and the pipeline detection effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline detection, and in particular to a robot for pipeline detection. Background Art

[0002] The pipeline system is an efficient liquid and gas transportation system. However, pipeline corrosion can lead to metal loss and cracks, and eventually lead to leakage. Therefore, pipeline corrosion has always been a problem that needs to be paid attention to in the pipeline system. Although traditional spiral-driven pipeline robots can detect pipelines, the robots can only move in a fixed pitch spiral and cannot be adjusted according to the resolution requirements of the detection, which affects the pipeline detection effect. Summary of the invention

[0003] The present application provides a robot for pipeline detection, the main purpose of which is to improve the pipeline detection effect.

[0004] In one embodiment of the present application, a robot for pipeline detection is provided, comprising:

[0005] A fuselage, wherein a detection member is mounted on the fuselage, wherein the detection member is used to detect the pipeline, and the fuselage has a front end and a rear end;

[0006] A first walking mechanism, comprising a plurality of first walking wheels arranged on the outer periphery of the first walking mechanism, wherein the first walking mechanism is connected to the front end of the fuselage;

[0007] A second walking mechanism, comprising a plurality of second walking wheels arranged on the outer periphery of the second walking mechanism, the second walking mechanism being connected to the rear end of the fuselage;

[0008] A first driving mechanism, used for driving the first traveling mechanism to rotate; and

[0009] A second driving mechanism, used for driving the second walking mechanism to rotate, wherein the first driving mechanism and the second driving mechanism are both assembled on the fuselage;

[0010] The axis of the first running wheel and the axis of the second running wheel are both inclined relative to the axis of the robot, and the axis of the first running wheel and the axis of the second running wheel are distributed on both sides of the axis of the robot.

[0011] In one embodiment, the rotation speeds of the first walking mechanism and the second walking mechanism may be the same or different, and the directions of the first walking mechanism and the second walking mechanism may be the same or different;

[0012] When the first walking mechanism and the second walking mechanism have the same rotation speed and different directions, the robot is in a first state, in which the robot is used to move forward or backward in the pipeline;

[0013] When the first walking mechanism and the second walking mechanism have the same rotation speed and the same direction of rotation, the robot is in a second state, in which the body is used to rotate around the axis of the robot;

[0014] When the rotation speeds of the first walking mechanism and the second walking mechanism are different, the robot is in the first state and the second state at the same time.

[0015] In one embodiment, it also includes a main shaft tube, a first transmission mechanism and a second transmission mechanism; the main shaft tube passes through the fuselage and is rotatably connected to the first walking mechanism and the second walking mechanism respectively, and the main shaft tube and the fuselage are fixedly connected; the first drive mechanism and the second drive mechanism are distributed on both sides of the main shaft tube, the first transmission mechanism is respectively connected to the first drive mechanism and the first walking mechanism, and the second transmission mechanism is respectively connected to the second drive mechanism and the second walking mechanism.

[0016] In one embodiment, the fuselage includes two chassis distributed in parallel, and the main shaft tube passes through the space between the two chassis and is respectively connected to the first walking mechanism and the second walking mechanism; the space between the two chassis forms an assembly space, and the detection part, the first driving mechanism and the second driving mechanism are all fixed in the assembly space.

[0017] In one embodiment, the number of the detection elements is configured to be one or two.

[0018] In one embodiment, the number of the detection members is configured to be two, the two chassis and the two detection members are symmetrically distributed about the spindle tube, and the spacing between the first driving mechanism and the spindle tube is equal to the spacing between the second driving mechanism and the spindle tube.

[0019] In one embodiment, a first inclination angle is formed between the axis of the first walking wheel and the axis of the robot, a second inclination angle is formed between the axis of the second walking wheel and the axis of the robot, and the first inclination angle is equal to the second inclination angle; and / or, the detection component is used to perform non-destructive testing on the pipeline.

[0020] In one embodiment, the first walking mechanism is the same as the second walking mechanism; the first walking mechanism also includes a plurality of linkage components, and the plurality of linkage components are distributed in an array around the axis of the first walking mechanism; the linkage components and the first walking wheels are arranged in a one-to-one correspondence, and the linkage components are used to radially change the position of the first walking wheel relative to the axis of the first walking mechanism.

[0021] In one embodiment, the first walking mechanism further includes a pair of first linkage disks, a pair of second linkage disks and a plurality of tension springs, and the pair of second linkage disks are disposed between the pair of first linkage disks;

[0022] A plurality of first connecting rods are arranged between a pair of the first linkage plates, a plurality of second connecting rods are arranged between a pair of the second linkage plates, the plurality of the first connecting rods and the plurality of the second connecting rods are arranged in an array around the axis of the first walking mechanism, and two ends of the tension spring are respectively connected to the first connecting rod and the second connecting rod;

[0023] The linkage assembly includes a first link arm, a second link arm and a connecting member, the two ends of the first link arm are rotatably connected to the first link and the connecting member respectively, the two ends of the second link arm are rotatably connected to the second linkage plate and the connecting member respectively, and the first walking wheel is rotatably connected to the connecting member;

[0024] The first connecting rod, the second connecting rod, the tension spring and the linkage assembly are arranged in a one-to-one correspondence;

[0025] The first link arm and the second link arm are used to move closer to or farther away from each other in the circumferential direction to switch the position of the first walking wheel relative to the axis of the first walking mechanism.

[0026] In one embodiment, the first link arm and the second link arm rotatably connected to the connecting member are both provided with teeth on the sides close to each other, and the first link arm and the second link arm are meshed with each other through the teeth.

[0027] In one embodiment, the connecting member includes two connecting plates that are arranged opposite to each other, and a third connecting rod is arranged between the two connecting plates and is rotatably connected to the first connecting rod arm and the second connecting rod arm respectively; the linkage assembly also includes a wheel frame, which is fixed between the two connecting plates, and an installation groove is provided on the wheel frame, and the first walking wheel is rotatably connected to the installation groove.

[0028] In one embodiment, a limiting structure is provided on the first linkage disk, and the limiting structure is used to limit the rotation angle of the second linkage disk relative to the first linkage disk.

[0029] In one embodiment, the second connecting rod arm and the second linkage disk are rotatably connected via a connecting shaft, and a limit piece is provided on the side of the connecting shaft close to the first linkage disk; a first limit portion and a second limit portion are provided on the side wall of the first linkage disk, and the limit piece is placed between the first limit portion and the second limit portion, and both the first limit portion and the second limit portion are used to abut against the limit piece to limit the rotation angle of the second linkage disk.

[0030] In one embodiment, a clearance position is provided on the side wall of the first linkage disk between the first limiting portion and the second limiting portion, and the clearance position and the limiting member are spaced apart.

[0031] In one embodiment, the linkage components are configured as three.

[0032] In one embodiment, the second linkage disk is a triangular plate-like structure, the second linkage disk has three circumferentially equally spaced corner areas, and the second link arm is rotatably connected to the second linkage disk in the corner areas.

[0033] According to the robot for pipeline inspection in the above embodiment, it mainly includes three parts: a first walking mechanism, a body and a second walking mechanism. The first walking mechanism is equipped with a first driving mechanism, and the second walking mechanism is equipped with a second driving mechanism. The first walking mechanism and the first driving mechanism as well as the second walking mechanism and the second driving mechanism form a double helix structure. The double helix structure allows the robot body to perform variable pitch spiral motion, which is beneficial for scanning inspection and improving pipeline inspection effect. The axis of the first walking wheel and the axis of the second walking wheel are both inclined relative to the axis of the robot, and the axis of the first walking wheel and the axis of the second walking wheel are distributed on both sides of the axis of the robot, which is beneficial to improving the traction of the robot, so that the robot can withstand higher loads or be driven with higher torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the three-dimensional structure of a robot in one embodiment of the present application;

[0035] Figure 2 This is a schematic diagram of a partial explosion structure of a robot in one embodiment of the present application;

[0036] Figure 3 This is a schematic diagram of a cross-sectional structure of a robot in one embodiment of the present application;

[0037] Figure 4 This is a schematic diagram of the three-dimensional structure of the first walking mechanism in one embodiment of the present application;

[0038] Figure 5 This is a schematic diagram of the exploded structure of the first walking mechanism in one embodiment of the present application;

[0039] Figure 6 This is a schematic diagram of the three-dimensional structure of a partial first walking mechanism in an embodiment of the present application;

[0040] Figure 7 This is a schematic diagram of the planar structure of a partial first walking mechanism in an embodiment of the present application;

[0041] Figure 8 This is a schematic diagram of the exploded structure of a linkage assembly in one embodiment of the present application;

[0042] Fig. 9 This is a schematic diagram of the planar structure of the first linkage disk in one embodiment of the present application;

[0043] Fig.10 This is a schematic diagram of the planar structure of the second linkage disk in one embodiment of the present application;

[0044] Fig.11 It is a schematic diagram of the scanning trajectory of two detection parts under different position distribution;

[0045] Fig.12 This is a schematic diagram of the force analysis of the robot in a vertical pipe;

[0046] Fig.13 It is a schematic diagram of the traction force at different inclination angles;

[0047] Fig.14 The first and second inclination angles are configured with equal helix angles (H = 20°);

[0048] Fig.15 Comparison of normalized forward speed and rotational speed ranges for the first and fourth configurations;

[0049] Fig.16 This is a comparison diagram of the normalized total angular velocity range of the first configuration and the fourth configuration;

[0050] Fig.17 This is a comparison diagram of the first walking mechanism in different states;

[0051] Fig.18 It is a free body diagram of the three-point linkage radial link adaptive mechanism inside the horizontal pipe from the perspective of the pipe cross section;

[0052] Fig.19 The geometric relationship diagram of the three-point linkage radial link adaptive mechanism inside the horizontal pipe from the perspective of the pipe cross section;

[0053] Fig. 20 It is a simplified schematic diagram of the geometric structure of the linked radial link adaptive mechanism;

[0054] Fig.21 A close-up structural diagram of the tension spring configuration in a stretched state;

[0055] Fig. 22 Schematic diagram of the wall pressure of the linked radial link adaptive mechanism and the independent compression spring;

[0056] Fig.23 This is a schematic diagram of the control system module in the robot.

[0057] Description of reference numerals: 10. body, 10a. front end, 10b. rear end, 11. chassis, 20. first walking mechanism, 21. first walking wheel, 22. linkage assembly, 221. first link arm, 222. second link arm, 2221. tooth portion, 223. connecting member, 2231. connecting plate, 2232. third link, 2233. fourth link, 224. wheel frame, 2241. mounting groove, 23. first linkage plate, 231. first link, 232. first A limiting part, 233. A second limiting part, 24. A second linkage plate, 241. A second connecting rod, 25. A tension spring, 30. A second walking mechanism, 31. A second walking wheel, 40. A first driving mechanism, 50. A second driving mechanism, 51. A power part, 52. A mounting part, 60. A main shaft tube, 70. A first transmission mechanism, 80. A second transmission mechanism, 81. A main gear, 82. A secondary gear, 90. A first bearing, 100. A second bearing, 110. A connecting shaft, 111. A limiting part. DETAILED DESCRIPTION

[0058] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar components in different embodiments use associated similar component numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other components, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0059] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0060] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0061] Traditional spiral-driven pipeline robots can only move in a spiral at a set pitch when inspecting pipelines, and are unable to adjust the pitch appropriately according to current inspection requirements. For example, some pipelines require higher resolution during inspection. At this time, since traditional spiral-driven pipeline robots cannot reduce the pitch, they can only be replaced with robots that move with a smaller pitch to perform pipeline inspection. Based on the various requirements for pipeline resolution, robots with multiple pitches are required, which has a higher inspection cost and the inspection process can be relatively complicated.

[0062] The robot for pipeline inspection designed in this application is a robot that can change the pitch to meet the various resolution requirements of pipeline inspection. The robot technical solution for pipeline inspection is specifically introduced as follows:

[0063] See also Figure 1-Figure 10 A robot for pipeline inspection includes: a body 10, a first walking mechanism 20, a second walking mechanism 30, a first driving mechanism 40 and a second driving mechanism 50.

[0064] A detection member (not shown) is installed on the fuselage 10, and the detection member is used to detect the pipeline. The fuselage 10 has a front end 10a and a rear end 10b.

[0065] The first walking mechanism 20 is connected to the front end 10a of the fuselage 10, and the first walking mechanism 20 includes a plurality of first walking wheels 21 arranged on the periphery of the first walking mechanism 20. The second walking mechanism 30 is connected to the rear end 10b of the fuselage 10, and the second walking mechanism 30 includes a plurality of second walking wheels 31 arranged on the periphery of the second walking mechanism 30.

[0066] The first driving mechanism 40 is used to drive the first traveling mechanism 20 to rotate, and the second driving mechanism 50 is used to drive the second traveling mechanism 30 to rotate. Both the first driving mechanism 40 and the second driving mechanism 50 are assembled on the body 10 .

[0067] The axis of the first walking wheel 21 and the axis of the second walking wheel 31 are both inclined relative to the axis of the robot, and the axis of the first walking wheel 21 and the axis of the second walking wheel 31 are distributed on both sides of the axis of the robot, that is, the inclination directions of the axis of the first walking wheel 21 and the axis of the second walking wheel 31 relative to the axis of the robot are opposite.

[0068] The robot for pipeline inspection in the above embodiment designed by the present application (hereinafter referred to as the robot) mainly includes three parts: a first walking mechanism 20, a body 10 and a second walking mechanism 30. The first walking mechanism 20 is equipped with a first driving mechanism 40, and the second walking mechanism 30 is equipped with a second driving mechanism 50. The first walking mechanism 20 and the first driving mechanism 40 as well as the second walking mechanism 30 and the second driving mechanism 50 form a double helix structure. The double helix structure allows the robot body 10 to perform variable pitch spiral motion, which is beneficial for scanning inspection and improving pipeline inspection effect. The axis of the first walking wheel 21 and the axis of the second walking wheel 31 are both inclined relative to the axis of the robot, and the axis of the first walking wheel 21 and the axis of the second walking wheel 31 are distributed on both sides of the axis of the robot, which is beneficial to improving the traction of the robot, so that the robot can withstand higher loads or be driven with higher torque.

[0069] Specifically, the detection part is used to perform non-destructive testing on the pipeline. The detection part can perform non-destructive testing in the form of ultrasonic testing, magnetic leakage testing, etc. The detection part is, for example, a non-destructive testing sensor or transducer. The designed robot can perform non-destructive testing scanning on the inner wall of the pipeline, even for pipelines that cannot be cleaned.

[0070] The robot designed in the present application is a double-screw driven robot that can drive the detection member to move along the pipe wall in any path, including variable pitch spiral motion. The spiral motion can extend the moving path of the detection member, thereby reducing the number of required detection members, for example, the number of detection members is configured to be one or two, and the pitch can also be controlled to change the scanning resolution and scanning speed.

[0071] The robot has a first state and a second state. In the first state, the robot is used to move forward or backward in the pipeline. In the second state, the body 10 is used to rotate around the axis of the robot. The first state and the second state can be performed independently or simultaneously. That is, the robot can be in the first state only, in the second state only, or in the first state and the second state simultaneously.

[0072] Specifically, when the robot is only in the first state, the first walking mechanism 20 and the second walking mechanism 30 rotate at the same speed, and the first walking mechanism 20 and the second walking mechanism 30 rotate in opposite directions. For example, the first walking mechanism 20 rotates clockwise and the second walking mechanism 30 rotates counterclockwise, and the robot moves forward in the pipeline, or the first walking mechanism 20 rotates counterclockwise and the second walking mechanism 30 rotates clockwise, and the robot moves backward in the pipeline. When the robot is only in the second state, the first walking mechanism 20 and the second walking mechanism 30 rotate at the same speed, and the first walking mechanism 20 and the second walking mechanism 30 rotate in the same direction. For example, the first walking mechanism 20 and the second walking mechanism 30 both rotate clockwise and the body 10 also rotates clockwise, or the first walking mechanism 20 and the second walking mechanism 30 both rotate counterclockwise and the body 10 also rotates counterclockwise. When the robot is in the first state and the second state at the same time, the first walking mechanism 20 and the second walking mechanism 30 rotate at different speeds.

[0073] The robot is designed such that the body 10 can move with 2 degrees of freedom, thereby being able to drive the detection component to detect or scan almost all accessible pipe wall areas in the pipeline.

[0074] See also Figure 1-Figure 3 The robot further includes a spindle tube 60, a first transmission mechanism 70 and a second transmission mechanism 80. The spindle tube 60 passes through the body 10 and is rotatably connected to the first walking mechanism 20 and the second walking mechanism 30 respectively, and the spindle tube 60 is fixedly connected to the body 10. The first drive mechanism 40 and the second drive mechanism 50 are distributed on both sides of the spindle tube 60, the first transmission mechanism 70 is connected to the first drive mechanism 40 and the first walking mechanism 20 respectively, and the second transmission mechanism 80 is connected to the second drive mechanism 50 and the second walking mechanism 30 respectively. The body 10, the first walking mechanism 20 and the second walking mechanism 30 can be connected as a whole through a spindle tube 60, simplifying the connection structure between the various parts of the robot. The spindle tube 60 serves as the backbone of the robot and acts as the rotating axis of the body 10 and the double helix structure. The setting of the spindle tube 60 does not affect the respective states of the body 10, the first walking mechanism 20 and the second walking mechanism 30, so that when the robot is used, the working state of the robot (that is, the so-called first state or second state) can be selected as needed. In addition, the spindle tube 60 is a hollow tube structure, which is convenient for lead-in or lead-out to realize the electrical connection of the drive mechanism.

[0075] To simplify the structural design of the robot, the first walking mechanism 20 and the second walking mechanism 30 are the same, the first driving mechanism 40 and the second driving mechanism 50 are the same, and the first transmission mechanism 70 and the second transmission mechanism 80 are the same. Here, the first and the second are only named and distinguished for a clearer description of the structure of the robot.

[0076] See also Figure 2, the specific structure is described by taking the second driving mechanism 50 and the second transmission mechanism 80 as an example. The second driving mechanism 50 includes a power member 51 (such as a motor), and the second transmission mechanism 80 includes a main gear 81 and a sub-gear 82. The power shaft of the power member 51 is fixedly connected to the sub-gear 82, and the sub-gear 82 is meshed with the main gear 81. The main gear 81 is fixed to the second walking mechanism 30, and the main shaft tube 60, the main gear 81, the first walking mechanism 20 and the second walking mechanism 30 are all coaxially distributed. When the second walking mechanism 30 needs to rotate, the power member 51 of the second driving mechanism 50 is started, the power shaft drives the sub-gear 82 to rotate synchronously, the sub-gear 82 drives the main gear 81 to rotate, and the main gear 81 drives the fixedly connected second walking mechanism 30 to rotate synchronously around the axis of the main shaft tube 60. The action process of the first driving mechanism 40, the first transmission mechanism 70 and the first walking mechanism 20 is similar, and will not be described here. When it is necessary to adjust the pitch of the spiral motion of the robot, the speed of the power member in the first driving mechanism 40 and the power member 51 in the second driving mechanism 50 can be adjusted accordingly. In other embodiments, the transmission mechanism (i.e., the first transmission mechanism 70 and the second transmission mechanism 80) may not be provided, and the driving mechanism (i.e., the first driving mechanism 40 and the second driving mechanism 50) and the traveling mechanism (i.e., the first traveling mechanism 20 and the second traveling mechanism 30) may be directly connected. For example, the power component of the first driving mechanism 40 may be directly fixed to the fuselage 10, and the power shaft of the power component may be connected to the first traveling mechanism 20. In this case, the main shaft tube 60 may also be omitted, and the fuselage 10 and the first traveling mechanism 20 may be connected via the first driving mechanism 40.

[0077] See also Figure 2 In the embodiment of the present application, the fuselage 10 includes two chassis 11 distributed in parallel, and the spindle tube 60 passes through the space between the two chassis 11 and is connected to the first walking mechanism 20 and the second walking mechanism 30 respectively. The space between the two chassis 11 forms an assembly space, and the detection part, the first drive mechanism 40 and the second drive mechanism 50 are all fixed in the assembly space. The fuselage 10 includes two chassis 11 distributed in parallel, that is, a bearing platform is formed by the two chassis 11 to carry the detection part, the first drive mechanism 40 and the second drive mechanism 50, etc. The designed fuselage 10 has a simple structure and light weight. The second drive mechanism 50 also includes a mounting member 52, and the mounting member 52 is, for example, an L-shaped block. The power member 51 is fixed between the two chassis 11 through the mounting member 52.

[0078] In some embodiments, the number of detection parts is configured to be two, the two chassis 11 and the two detection parts are symmetrically distributed about the spindle tube 60, and the spacing between the first drive mechanism 40 and the spindle tube 60 is equal to the spacing between the second drive mechanism 50 and the spindle tube 60. It can be understood that the spacing refers to the spacing in the direction perpendicular to the axis of the spindle tube 60.

[0079] Here, the layout of the two chassis 11, the two detection parts and the two driving mechanisms about the main shaft tube 60 (axis) helps to balance the weight of the robot to achieve a braking balance effect. The two detection parts are symmetrically distributed about the main shaft tube 60, so that the scanning tracks of the two scanning parts must be staggered and the spacing is consistent, which is convenient for scanning analysis. More preferably, the two detection parts are symmetrically distributed about the axis of the main shaft tube 60 and are placed on both sides of the chassis 11 to maximize the use of space.

[0080] See also Fig.11 , Fig.11 From left to right:

[0081] Fig.11 a shows that the two detection parts are symmetrically distributed about the spindle tube 60, and the robot moves in a small pitch spiral.

[0082] Fig.11 b) The two detection parts are axially staggered with respect to the spindle tube 60, and the pitch is less than twice the staggered spacing between the two detection parts; f) the scanning track spacing is inconsistent.

[0083] Fig.11 c represents that the two detection parts are symmetrically distributed about the spindle tube 60, and the robot moves in a medium pitch spiral.

[0084] Fig.11 d is the axial staggered distribution of the two detection parts about the main shaft tube 60, and the pitch is twice the staggered spacing.

[0085] Fig.11 e shows that the two detection parts are symmetrically distributed about the spindle tube 60, and the robot moves in a large pitch spiral.

[0086] Fig.11 f represents the axial staggered distribution of the two detection members about the spindle tube 60, and the pitch is greater than twice the staggered spacing of the two detection members (the spacing of the scanning tracks is inconsistent).

[0087] according to Fig.11 It can be seen from the reaction information that when the two detection parts are symmetrically distributed about the spindle tube 60, the pitch is not limited. The rotation speed of the power part 51 can be adjusted according to actual needs to adjust the pitch, making the robot more flexible and having a wider range of usage scenarios. When the two detection parts are axially staggered about the spindle tube 60, the pitch will be restricted, thereby limiting the usage scenarios of the robot. Among them, the small pitch, medium pitch, and large pitch are relative pitches. For example, the small pitch is 1mm, the medium pitch is 3mm, and the large pitch is 5mm.

[0088] See also Fig.12, a first inclination angle α is formed between the axis of the first walking wheel 21 and the axis of the robot, and a second inclination angle β is formed between the axis of the second walking wheel 31 and the axis of the robot. The first inclination angle and the second inclination angle have the following combinations:

[0089] In the first type, the first inclination angle is an acute angle, and the second inclination angle is 90°, that is, the angle between the axis of the second traveling wheel 31 and the axis of the main shaft tube 60 is 90°.

[0090] In the second type, the first inclination angle is an acute angle, and the second inclination angle is also an acute angle, but the first inclination angle and the second inclination angle are different in size.

[0091] The third type is that the first inclination angle is an acute angle, and the second inclination angle is complementary to the first inclination angle. Fig.12 It can be inferred that the axis of the first running wheel 21 and the axis of the second running wheel 31 are parallel.

[0092] The fourth type is that the first inclination angle is an acute angle, and the second inclination angle is also an acute angle, but the first inclination angle and the second inclination angle are equal in magnitude. At this time, the axis of the first traveling wheel 21 and the axis of the second traveling wheel 31 are symmetrically distributed about the pipeline axis.

[0093] First inclination angle and second inclination angle parameter configuration table

[0094] Configuration First inclination angle (α) Second inclination angle (β) The first Between 0-90° 90° The second Between 0-90° Between 0-90° The third Between 0-90° ＝180°-α The fourth Between 0-90° ＝α

[0095] The fourth configuration can maximize the traction without reducing the speed. The second configuration is the second configuration, and the first configuration is the third configuration. The third configuration is an invalid configuration, and the traction is close to 0. In the embodiment of the present application, the fourth configuration is selected.

[0096] The robot based on the twin-screw structure designed in this application needs to meet the steady-state equilibrium condition and the no-slip condition of the vertical pipeline.

[0097] The steady-state equilibrium conditions are as follows:

[0098] General formula for steady-state equilibrium conditions (1)

[0099]

[0100] Simplified formula of steady-state equilibrium condition (2)

[0101]

[0102] Robot helix angle formula (3)

[0103]

[0104] Where τ is the motor torque, r is the pipe radius, m1g is the upper half weight, m2g is the lower half weight, mg is the total weight, T is the rigid connection tension (passive force), α is the first inclination angle, β is the second inclination angle, and H is the robot helix angle (related to the mechanical gain of the screw drive mechanism and has nothing to do with the scanning pitch).

[0105] The no-slip conditions are as follows:

[0106] General formula for no-slip condition (4)

[0107]

[0108] In the first inclination angle and the second inclination angle parameter configuration table, under the first configuration, the general formula (4) of the no-slip condition is simplified to formula (5)

[0109]

[0110] In the first inclination angle and the second inclination angle parameter configuration table, under the fourth configuration, the general formula (4) of the no-slip condition is simplified to formula (6)

[0111]

[0112] Among them, μ is the friction coefficient, and N is the support force of the tube wall on the walking wheel.

[0113] In this application, the maximum traction force is defined as the maximum load-bearing capacity (mg) of the robot. Based on the above conditions, the optimal configuration of the inclination angle of the walking wheel can be calculated.

[0114] See also Fig.13 , Fig.13 The vertical bar on the right is the normalized digital graph of the traction force. When the first inclination angle and the second inclination angle are the same in magnitude and opposite in direction, that is, the fourth configuration in the first inclination angle and the second inclination angle parameter configuration table is the best choice, corresponding to Fig.13 The diagonal line from the lower left to the upper right in the middle can maximize the traction. When the second inclination angle is complementary to the first inclination angle, that is, the axis of the first running wheel 21 and the axis of the second running wheel 31 are parallel, the corresponding Fig.13 The diagonal line from the lower right center to the upper left center is an invalid configuration, and the traction force approaches 0.

[0115] In addition, a fair comparison can only be achieved when the helix angles are equal. This condition keeps the overall mechanical advantage of the screw-driven pipeline robot unchanged. For example, when (α = β = 0), even if the traction force is maximum, it is still an invalid configuration because the helix angle is 0 and it cannot move forward.

[0116] See also Fig.14, which is the effect diagram of the first inclination angle and the second inclination angle configuration when the helix angle is equal (H=20°). When the helix angle is equal, the traction is still the largest under the fourth configuration (a=β). When the first running wheel 21 and the second running wheel 31 are in the second configuration (corresponding to the area between the two lines β=90° and α=90°), the traction will gradually decrease according to the angle difference. In the area outside α<20° and α>90°, the first running wheel 21 and the second running wheel 31 have the same inclination direction, and the traction will be worse. On the dividing line with the same and opposite inclination directions (β=90° and α=90°), the first running wheel 21 and the second running wheel 31 are vertical (α=90 or β=90), and have medium traction at this time.

[0117] The robot designed in this application adopts a double helix structure and is suitable for horizontal and vertical pipes. When the robot moves in a vertical pipe, the above-mentioned steady-state equilibrium condition and no-slip condition need to be met.

[0118] The relationship between motor speed and robot motion is given by (7)

[0119]

[0120] The simplified formula for the motor speed and robot motion in the first configuration is (8)

[0121]

[0122] The simplified formula for motor speed and robot motion in the fourth configuration (9)

[0123]

[0124] Travel direction formula (10)

[0125]

[0126] Scanning pitch formula (11)

[0127]

[0128] Among them, v is the forward speed of the fuselage 10 (and the detection part), ω is the rotational angular velocity of the fuselage 10 (and the detection part), ω1 is the angular velocity corresponding to the power part 51 in the first driving mechanism 40, ω2 is the angular velocity corresponding to the power part 51 in the second driving mechanism 50, γ is the travel direction, and d is the scanning pitch.

[0129] See also Fig.15 , is a comparison diagram of the normalized forward speed and rotation speed range of the first configuration and the fourth configuration. In the figure, the X-axis represents the rotation speed rω, and the Y-axis represents the forward speed v.

[0130] See also Fig.16, is a comparison diagram of the normalized total angular velocity range of the first configuration and the fourth configuration. The radial coordinate in the figure represents the sum of the absolute values ​​of the angular velocities of the power member ω1 in the first drive mechanism 40 and the power member 51ω2 in the second drive mechanism 50, and the angular coordinate represents the direction of travel.

[0131] See also Figure 15-16 , in the fourth configuration, the symmetrical first inclination angle and the second inclination angle provide the same function for the two power members of the double helix structure. This results in symmetry in the input and output speed ranges along the X and Y axes. However, the speed range of the first configuration only exhibits second-order rotational symmetry, indicating that the symmetry only occurs during opposite operations. The operational symmetry of the fourth configuration simplifies the control system and optimizes the path algorithm. For example, when the double helix structure of the fourth configuration runs at full speed (the two power members 51 run at the same speed and in opposite directions), the chassis 11 does not rotate. In addition, the first configuration has the problem of mismatch between input and output speeds. According to Figure 15-16 It is shown that when the driving direction is between 0-26.6° (arctan(0.5)), the speed of the double helix increases while the input speed from the power piece 51 decreases. Assuming that there is no additional resistance when driving at a constant speed, the static equilibrium condition can be applied to the constant speed state. Therefore, the output torque of the power piece 51 is constant. In this ideal case, this contradiction only affects the acceleration. Otherwise, if the resistance (such as rolling resistance, air resistance) is large, it may cause stability problems or overload of the power piece 51 in the constant speed state. This problem also occurs in the 90-116.6° and opposite directions. The fourth configuration avoids these problems and has a consistent output and input ratio in any driving direction. This ratio is calculated by dividing the speed boundary by a normalized unit. The fourth configuration has eight symmetric segments in both input and output speeds. The formula proves that the output ratio and input ratio of the fourth configuration are equal between 0 degrees and 45 degrees, and due to symmetry, this conclusion can be extended to all directions. The perfect matching of input and output speeds in the fourth configuration ensures stable direction conversion and minimizes the peak load on the power piece 51.

[0132] The first inclination angle corresponding to the first running wheel 21 and the second inclination angle corresponding to the second running wheel 31 of the present application adopt the fourth configuration, which can effectively improve traction and balance power consumption. This structure can carry a larger load under the same pipe wall conditions, thereby achieving higher acceleration, or applying a smaller wall pressure to better adapt to obstacles. The inclined second running wheel 31 with the double helix structure can ensure stability when changing the moving direction and minimize the peak load of the actuator.

[0133] See also Figure 4The first walking mechanism 20 further includes a plurality of linkage components 22, which are arranged in an array around the axis of the first walking mechanism 20. The linkage components 22 and the first walking wheels 21 are arranged in a one-to-one correspondence, and the linkage components 22 are used to radially change the position of the first walking wheel 21 relative to the axis of the first walking mechanism 20. The radial expansion characteristics of the linkage components 22 only occupy a constant length of the robot, thereby saving space for the detection part.

[0134] See also Figure 5-Figure 7 The first walking mechanism 20 further includes a pair of first linkage disks 23, a pair of second linkage disks 24, and a plurality of tension springs 25, wherein the pair of second linkage disks 24 are disposed between the pair of first linkage disks 23. A plurality of first connecting rods 231 are disposed between the pair of first linkage disks 23, and a plurality of second connecting rods 241 are disposed between the pair of second linkage disks 24, and the plurality of first connecting rods 231 and the plurality of second connecting rods 241 are both distributed in an array around the axis of the first walking mechanism 20. Both ends of the tension spring 25 are connected to the first connecting rod 231 and the second connecting rod 241, respectively. Among them, the axis of the first walking mechanism 20 is also the axis of the main shaft tube 60, the first linkage disk 23 or the second linkage disk 24. The main shaft tube 60 is rotatably connected with the first linkage disk 23 and the second linkage disk 24 respectively. In order to reduce the resistance of the main shaft tube 60 to rotation relative to the first linkage disk 23 and the second linkage disk 24, a first bearing 90 is sleeved between the first linkage disk 23 and the main shaft tube 60, and a second bearing 100 is sleeved between the second linkage disk 24 and the main shaft tube 60. The first bearing 90 and the second bearing 100 are, for example, deep groove ball flange bearings.

[0135] See also Figure 8 The linkage assembly 22 includes a first link arm 221, a second link arm 222 and a connecting member 223. The two ends of the first link arm 221 are rotatably connected to the first link 231 and the connecting member 223 respectively. The two ends of the second link arm 222 are rotatably connected to the second linkage disk 24 and the connecting member 223 respectively. The first walking wheel 21 and the connecting member 223 are rotatably connected at one end away from the first linkage disk 23 or the second linkage disk 24. The first connecting arm 221 and the second connecting arm 222 are used to approach or move away from each other in the circumferential direction to switch the radial position of the first walking wheel 21 relative to the axis of the first walking mechanism 20. It can be understood that when the first connecting arm 221 and the second connecting arm 222 are used to approach each other in the circumferential direction, the angle between the first connecting arm 221 and the second connecting arm 222 becomes smaller, and the radial position of the first walking wheel 21 relative to the axis of the first walking mechanism 20 becomes farther; when the first connecting arm 221 and the second connecting arm 222 are used to move away from each other in the circumferential direction, the angle between the first connecting arm 221 and the second connecting arm 222 becomes larger, and the radial position of the first walking wheel 21 relative to the axis of the first walking mechanism 20 becomes closer.

[0136] The first connecting rod 231, the second connecting rod 241, the tension spring 25, the linkage assembly 22 and the first walking wheel 21 are arranged one by one. Taking the linkage assembly 22 as an example, the number of the first linkage assembly 22 can be 3, 4, 5, etc. Preferably, in the embodiment of the present application, the linkage assembly 22 is configured as three. Figure 6 For example, to illustrate the connection position corresponding to the tension spring 25, when the linkage assembly 22 is configured as three, the first walking wheel 21, the first connecting rod 231, the second connecting rod 241, and the tension spring 25 are also configured as three. There are two second connecting rods 241 spaced apart near the first connecting rod 231, and a tension spring 25 is arranged between the first connecting rod 231 and the second connecting rod 241 which is relatively far away, and the arrangement positions of the other two tension springs 25 are similar.

[0137] See also Fig.17 , is a comparison diagram of the first walking mechanism 20 in different states, wherein, Fig.17 a is a schematic diagram of the structure of the first walking mechanism 20 in a tightened state, Fig.17 b is a schematic structural diagram of the first walking mechanism 20 in a relaxed state, Fig.17 b is also a schematic diagram of the structure of the first walking mechanism 20 in the initial state, at which time the tension spring 25 is in a compressed state. When the robot needs to be placed in the pipeline, the multiple linkage components 22 are pressed radially downward toward the center, and the first link arm 221 and the second link arm 222 in the linkage component 22 move away from each other, and the corresponding tension spring 25 will be stretched, so that the first walking mechanism 20 is Fig.17 bSwitch to Fig.17 a, Fig.17 In a, the radial dimension of the first traveling mechanism 20 is adapted to the inner diameter of the pipeline to be inspected.

[0138] The linkage assembly 22, the first linkage disk 23, the second linkage disk 24 and the tension spring 25 on the first walking mechanism 20 cooperate with each other to form a linkage radial link adaptive mechanism. The travel range of the linkage radial link adaptive mechanism is 300mm-400mm, and the travel range is the range between the maximum diameter and the minimum diameter of the first walking mechanism 20. Under this range, it can better adapt to the pipe wall. The linkage radial link adaptive mechanism can be used to adapt to the rough surface of the pipeline and to adapt to pipelines of different diameters. Compared with the simple spring slider, the linkage radial link adaptive mechanism of each first walking wheel 21 on the same spiral structure is interconnected, and the three groups of linkage assemblies 22 and the corresponding three tension springs 25 can be synchronously linked, without center offset, with less redundant force and stronger adaptability to obstacles and pipeline deformation. The linkage assembly 22 and the tension spring 25 can cooperate to allow the first walking wheel 21 to move relative radially to a certain extent to match the conditions in the pipeline. The linkage radial link adaptive mechanism minimizes the wall pressure changes when the robot is in pipelines of different radii, and eliminates the center offset problem that causes uneven scanning distance and unstable torque. The tension spring 25 is used to provide wall pressure, and the radial connecting rod adaptive mechanism is linked, which is suitable for screw-driven or wall-pressure pipeline robots. The linked radial connecting rod adaptive mechanism also has the advantages of stable wall pressure, a wide range of applicable pipe diameters, small axial dimensions, and concentricity with the pipe wall. The connecting rod structure is used, and the connecting rod arm only extends radially, so the space requirement is small.

[0139] Fig.18 is the free body diagram of the three-point linkage radial link adaptive mechanism inside the horizontal pipe from the perspective of the pipe cross section. The mechanical relationship of the linkage radial link adaptive mechanism is formula (12)

[0140]

[0141] Fig.19 The geometric relationship diagram of the three-point linkage radial link adaptive mechanism inside the horizontal pipe from the perspective of the pipe cross section. The geometric relationship of the linkage radial link adaptive mechanism is formula (13)

[0142]

[0143] Fig. 20 Schematic diagram of the simplified geometric structure of the linked radial link adaptive mechanism.

[0144] Fig.21 It is a close-up structural schematic diagram of the tension spring 25 configured in a stretched state.

[0145] General formula for wall pressure (14)

[0146]

[0147] The wall pressure in the embodiment of the present application is expressed as formula (15):

[0148]

[0149] Where F is the wall pressure, h is the distance between the tube wall and the robot center, s is the offset between the robot center and the tube wall center, σ is the angle between the link arm corresponding to h1 and s, τ is the link arm torque, and T s is the tension, τ s is the spring torque, is the external angle, h is the stroke of the connecting rod arm, r1 is the distance between the end of the tension spring 25 and the center, r2 is the distance between the other end of the tension spring 25 and the center, k is the spring constant, c is the distance between points C and D, d is the length of the connecting rod arm, I is the initial length of the spring, i=1,2,3,...,n, n is the number of connecting rod arms.

[0150] The above formula provides a basis for wall pressure calculation based on the laws of classical mechanics and geometry. The general equation form and the specific equation form of this design are given above. The concept of the design of this application is to balance the spring force that increases due to the increase in the extension length of the tension spring 25 by reducing the mechanical advantage provided by the connecting rod arm. The force exerted by the robot on the pipe wall is not easily affected by the pipe diameter. Through the cooperation of the connecting rod arm and the tension spring 25, the force exerted by the pipe wall on the robot will be balanced. The connecting rod arm can compensate for the force so that the wall pressure of different pipe diameters is similar.

[0151] Taking the reference parameters in the following table as an example, the wall pressure of the linked radial link adaptive mechanism and the independent compression spring are compared.

[0152]

[0153] Fig. 22 This is a schematic diagram of the wall pressure of the linked radial connecting rod adaptive mechanism and the independent compression spring. The independent compression spring here means that there is no connecting rod adaptive structure, the spring is sleeved on the cylinder or column, and is matched with a structure that limits the moving direction, such as a slider, a pin, etc. According to the above formula, a set of parameters can be calculated to obtain a flatter wall pressure curve. Fig. 22 The curvature on the upper middle side is realized as the wall pressure curve of the linked radial link adaptive mechanism using reference parameters (not optimal). Compared with the independent compression spring (two dashed lines), the linked radial link adaptive mechanism has a flatter and closer to the ideal level (horizontal straight line) wall pressure curve in the working area (150mm to 200mm stroke). Although increasing the initial length of the independent compression spring and reducing the spring constant can reduce the slope of the curve, it is limited by the compression ratio and will aggravate the center offset problem.

[0154] See also Figure 8The first link arm 221 and the second link arm 222 rotatably connected to the connecting member 223 are provided with a tooth portion 2221 on one side close to each other, and the first link arm 221 and the second link arm 222 are meshed with each other through the tooth portion 2221. The first link arm 221 and the second link arm 222 are meshed with each other through the tooth portion 2221 to ensure the overall effective operation of the linkage assembly 22. At the same time, the first link arm 221 and the second link arm 222 interact with each other through the tooth portion 2221, which is convenient for ensuring the action effect of the linkage assembly 22.

[0155] See also Figure 8 Specifically, the connecting member 223 includes two connecting plates 2231 that are arranged opposite to each other, and a third connecting rod 2232 that is rotatably connected to the first connecting rod arm 221 and the second connecting rod arm 222 is arranged between the two connecting plates 2231. The linkage assembly 22 also includes a wheel frame 224, which is fixed between the two connecting plates 2231. The wheel frame 224 is provided with a mounting groove 2241, and a fourth connecting rod 2233 is fixed in the mounting groove 2241. The first walking wheel 21 is rotatably connected to the fourth connecting rod 2233 in the mounting groove 2241. One or two third connecting rods 2232 can be provided as needed. When the first connecting rod arm 221 and the second connecting rod arm 222 are engaged, two third connecting rods 2232 need to be independently provided to be rotatably connected to the first connecting rod arm 221 and the second connecting rod arm 222 respectively. In other embodiments, if the tooth portion 2221 is not provided, one third connecting rod 2232 can be provided. The wheel frame 224 is a block structure, which is filled between the two connecting plates 2231 to ensure the structural strength of the connecting piece 223. At the same time, an installation groove 2241 for assembling the first running wheel 21 is opened on the wheel frame 224 to ensure the assembly position of the first running wheel 21 on the connecting piece 223 and the inclination angle of the first running wheel 21 relative to the main shaft tube 60.

[0156] Preferably, in the embodiment of the present application, a limiting structure is provided on the first linkage disk 23, and the limiting structure is used to limit the rotation angle of the second linkage disk 24 relative to the first linkage disk 23. The limiting structure limits the rotation angle of the second linkage disk 24 relative to the first linkage disk 23, that is, limits the deformation of the tension spring 25, and prevents the tension spring 25 from being overly compressed or stretched, which is convenient for using the robot and maintaining the tension spring 25, and prolongs the service life of the tension spring 25.

[0157] Specifically, the second link arm 222 and the second linkage disk 24 are rotatably connected via the connecting shaft 110, and a stopper 111 is provided on the side of the connecting shaft 110 close to the first linkage disk 23. A first stopper 232 and a second stopper 233 are provided on the side wall of the first linkage disk 23, and the stopper 111 is disposed between the first stopper 232 and the second stopper 233. Both the first stopper 232 and the second stopper 233 are used to abut against the stopper 111 to limit the rotation angle of the second linkage disk 24. For example, Fig. 9As shown, the first linkage disk 23 is a plate-like structure similar to a triangle, and the three sides of the corresponding triangle are curved surfaces, and the curved surfaces have concave and convex curved surfaces relative to the axis of the first linkage disk 23. The first limiting portion 232 is a concave curved surface position on the side wall of the first linkage disk 23, and the second limiting portion 233 is a relatively convex or raised convex surface position on the first linkage disk 23. An avoidance position is provided on the side wall of the first linkage disk 23 between the first limiting portion 232 and the second limiting portion 233. The avoidance position is used to be spaced apart from the limiting member 111, that is, the limiting member 111 does not contact the side wall of the first linkage disk 23 when it is active, thereby reducing the resistance to the rotation of the second linkage disk 24.

[0158] See also Fig.10 The second linkage disk 24 is a triangular plate-like structure, and has three circumferentially equally spaced corner areas ( Fig.10 The second link arm 222 is rotatably connected to the second linkage disk 24 in the corner area to reduce the radial dimension of the second linkage disk 24. The second link 241 is fixed on the second linkage disk 24 inwardly relative to the corner area. For example, the second linkage disk 24 has an inscribed circular area ( Fig.10 The second linkage disk 24 is circumferentially evenly spaced near the inscribed circle (i.e., inside, outside, or on the boundary of the inscribed circle). The three sides of the second linkage disk 24, which is similar to a triangular plate structure, can be recessed inwards. On the one hand, it is beneficial to reduce the weight of the robot. On the other hand, it is convenient to avoid other parts of the first walking mechanism 20 to avoid interference when the second linkage disk 24 rotates.

[0159] In other embodiments, the first linkage disk 23 and the second linkage disk 24 can also be other shapes, as long as they meet their respective action characteristics. For example, the shapes of the first linkage disk 23 and the second linkage disk 24 can also be round, square or special-shaped, etc. The shapes of the first linkage disk 23 and the second linkage disk 24 can be the same or different, and there is no specific limitation. In other embodiments, the first limiting portion 232 and the second limiting portion 233 can also be rod-shaped or plate-shaped structures to intercept the limiting member 111, thereby limiting the range of motion of the limiting member 111.

[0160] In the embodiment of the present application, the robot also includes a control system, see Fig.23, is a schematic diagram of the control system module. The control system is fixed to the fuselage 10 (in the assembly space between the two chassis 11). The control system includes a drive circuit and a data acquisition circuit. The drive circuit includes a control board, a battery, a power member driver, and a position detection sensor. The control board is electrically connected to the battery, the power member driver, and the position detection sensor respectively. The control board is used to drive the power member of the first drive mechanism 40 and / or the power member 51 of the second drive mechanism 50 through the power member driver. The position detection sensor obtains position information through an encoder and an inertial measurement unit. The battery is used to power the control system. The data acquisition circuit includes a detection member driver, a signal processor, and a data storage device. The detection member driver is electrically connected to the signal processor and the detection member respectively, and the signal processor is also electrically connected to the data storage device. The control board and the detection member driver are connected in communication to activate the detection member and record the results. The detection member sends the detected information to the signal processor through the detection member driver, and the signal processor sends the information detected by the detection member to the data storage device for subsequent analysis. The battery can also be replaced by an external power source, which is located outside the pipeline, that is, when the robot is in use, the power source is electrically connected to the control board on the body 10 through the lead wire passing through the spindle tube 60. Similarly, the data storage device can also be replaced by an external computer system, which is located outside the pipeline and is electrically connected to the signal processor. The control system mentioned here is only a conventional example, and the components and setting positions of the control system can also be flexibly set according to actual conditions, and this application does not impose specific restrictions.

[0161] The use process of the robot designed in the embodiment of the present application is as follows:

[0162] The robot is deployed at the opening of the pipeline, and the running wheels in the linked radial link adaptive mechanism are manually compressed to put the robot into the pipeline. After the robot enters the pipeline, the linked radial link adaptive mechanism will automatically extend so that the running wheels are close to the pipe wall. It is understandable that if the robot cannot enter the pipeline after compression or can enter the pipeline without compression, it means that the robot is not suitable for the pipeline.

[0163] After the robot is placed in the pipeline, turn on the built-in battery or external power supply, start the robot and start working. The robot can work in the first state and / or the second state, which can be selected according to actual needs. When the robot is working in the first state and the second state, the robot can move along the pipeline axis and rotate around the axis of the pipe wall. The two-dimensional movement is combined into a spiral motion. The pitch of the path can be adjusted by changing the rotation speed of the power member 51, and the change of the pitch can be completed through the control panel. Among them, the maximum forward speed of the robot is negatively correlated with the pitch, and the pitch is also the resolution of the detection of the detection member. The smaller the pitch, the higher the resolution. If a spiral scanning motion is applied, the scanning resolution is reflected by the data point acquisition frequency and pitch. The user can adjust it according to the time and accuracy requirements. The robot can also perform a customized scanning mode, such as raster scanning. This can be used for local high-resolution scanning of known defect areas.

[0164] When the robot is working, the detection part detects the pipe wall, and the information detected by the detection part and the information obtained by the position detection sensor will be stored together in the data storage device or transmitted to the external computer system in real time.

[0165] After the robot is used or the robot completes the inspection work in the pipeline, the robot can be retracted by reverse driving or pulling it out after turning off the power. Once the robot is pulled out, the linked radial link adaptive mechanism will extend to its maximum stroke.

[0166] The above specific examples are used to illustrate the present application, which is only used to help understand the present application and is not intended to limit the present application. For technicians in the technical field to which the present application belongs, they can also make some simple deductions, deformations or substitutions based on the ideas of the present application.

Claims

1. A robot for pipeline inspection, characterized in that: include: A fuselage, wherein a detection member is mounted on the fuselage, wherein the detection member is used to detect the pipeline, and the fuselage has a front end and a rear end; A first walking mechanism, comprising a plurality of first walking wheels arranged on the outer periphery of the first walking mechanism, wherein the first walking mechanism is connected to the front end of the fuselage; A second walking mechanism, comprising a plurality of second walking wheels arranged on the outer periphery of the second walking mechanism, the second walking mechanism being connected to the rear end of the fuselage; A first driving mechanism, used for driving the first walking mechanism to rotate; as well as A second driving mechanism, used for driving the second walking mechanism to rotate, wherein the first driving mechanism and the second driving mechanism are both assembled on the fuselage; The axis of the first running wheel and the axis of the second running wheel are both inclined relative to the axis of the robot, and the axis of the first running wheel and the axis of the second running wheel are distributed on both sides of the axis of the robot.

2. The robot for pipeline inspection according to claim 1, characterized in that: The rotation speeds of the first walking mechanism and the second walking mechanism may be the same or different, and the directions of the first walking mechanism and the second walking mechanism may be the same or different; When the first walking mechanism and the second walking mechanism have the same rotation speed and different directions, the robot is in a first state, in which the robot is used to move forward or backward in the pipeline; When the first walking mechanism and the second walking mechanism have the same rotation speed and the same direction of rotation, the robot is in a second state, in which the body is used to rotate around the axis of the robot; When the rotation speeds of the first walking mechanism and the second walking mechanism are different, the robot is in the first state and the second state at the same time.

3. The robot for pipeline inspection according to claim 1, characterized in that: It also includes a main shaft tube, a first transmission mechanism and a second transmission mechanism; the main shaft tube passes through the fuselage and is rotatably connected to the first walking mechanism and the second walking mechanism respectively, and the main shaft tube is fixedly connected to the fuselage; the first drive mechanism and the second drive mechanism are distributed on both sides of the main shaft tube, the first transmission mechanism is respectively connected to the first drive mechanism and the first walking mechanism, and the second transmission mechanism is respectively connected to the second drive mechanism and the second walking mechanism.

4. The robot for pipeline inspection according to claim 3, characterized in that: The fuselage includes two chassis distributed in parallel, and the main shaft tube passes through the space between the two chassis and is connected to the first walking mechanism and the second walking mechanism respectively; the space between the two chassis forms an assembly space, and the detection component, the first driving mechanism and the second driving mechanism are all fixed in the assembly space.

5. The robot for pipeline inspection according to claim 4, characterized in that: The number of the detection elements is configured to be one or two.

6. The robot for pipeline inspection according to claim 5, characterized in that: The number of the detection members is configured to be two, the two chassis and the two detection members are symmetrically distributed about the spindle tube, and the distance between the first driving mechanism and the spindle tube is equal to the distance between the second driving mechanism and the spindle tube.

7. The robot for pipeline inspection according to claim 1, characterized in that: A first inclination angle is formed between the axis of the first walking wheel and the axis of the robot, a second inclination angle is formed between the axis of the second walking wheel and the axis of the robot, and the first inclination angle is equal to the second inclination angle; and / or, the detection component is used for performing non-destructive testing on the pipeline.

8. The pipeline inspection robot according to claim 1, characterized in that: The first walking mechanism is the same as the second walking mechanism; the first walking mechanism also includes a plurality of linkage components, and the plurality of linkage components are distributed in an array around the axis of the first walking mechanism; the linkage components and the first walking wheels are arranged in a one-to-one correspondence, and the linkage components are used to radially change the position of the first walking wheel relative to the axis of the first walking mechanism.

9. The robot for pipeline inspection according to claim 8, characterized in that: The first walking mechanism further comprises a pair of first linkage disks, a pair of second linkage disks and a plurality of tension springs, wherein the pair of second linkage disks are disposed between the pair of first linkage disks; A plurality of first connecting rods are arranged between a pair of the first linkage plates, a plurality of second connecting rods are arranged between a pair of the second linkage plates, the plurality of the first connecting rods and the plurality of the second connecting rods are arranged in an array around the axis of the first walking mechanism, and two ends of the tension spring are respectively connected to the first connecting rod and the second connecting rod; The linkage assembly includes a first link arm, a second link arm and a connecting member, the two ends of the first link arm are rotatably connected to the first link and the connecting member respectively, the two ends of the second link arm are rotatably connected to the second linkage plate and the connecting member respectively, and the first walking wheel is rotatably connected to the connecting member; The first connecting rod, the second connecting rod, the tension spring and the linkage assembly are arranged in a one-to-one correspondence; The first link arm and the second link arm are used to move closer to or farther away from each other in the circumferential direction to switch the position of the first walking wheel relative to the axis of the first walking mechanism.

10. The robot for pipeline inspection according to claim 9, characterized in that: The first link arm and the second link arm are rotatably connected to the connecting member, and are provided with teeth on one side close to each other, and the first link arm and the second link arm are meshed with each other through the teeth.

11. The robot for pipeline inspection according to claim 9, characterized in that: The connecting member includes two connecting plates that are arranged opposite to each other, and a third connecting rod is arranged between the two connecting plates and is rotatably connected to the first connecting rod arm and the second connecting rod arm respectively; the linkage assembly also includes a wheel frame, which is fixed between the two connecting plates, and an installation groove is provided on the wheel frame, and the first walking wheel is rotatably connected to the installation groove.

12. The robot for pipeline inspection according to claim 9, characterized in that: The first linkage disk is provided with a limiting structure, and the limiting structure is used to limit the rotation angle of the second linkage disk relative to the first linkage disk.

13. The robot for pipeline inspection according to claim 12, characterized in that: The second connecting rod arm and the second linkage disk are rotatably connected via a connecting shaft, and a limit piece is provided on the side of the connecting shaft close to the first linkage disk; a first limit portion and a second limit portion are provided on the side wall of the first linkage disk, and the limit piece is placed between the first limit portion and the second limit portion, and both the first limit portion and the second limit portion are used to abut against the limit piece to limit the rotation angle of the second linkage disk.

14. The robot for pipeline inspection according to claim 13, characterized in that: A clearance position is provided on the side wall of the first linkage disk between the first limiting portion and the second limiting portion, and the clearance position and the limiting member are spaced apart.

15. The robot for pipeline inspection according to claim 9, characterized in that: The linkage components are configured in three.

16. The robot for pipeline inspection according to claim 9, characterized in that: The second linkage disk is a triangular plate-like structure, and has three corner areas that are circumferentially and evenly spaced. The second link arm is rotatably connected to the second linkage disk in the corner areas.

Images