Pipeline dredging robot with bistable characteristic

Abstract

The pipeline dredging robot comprises a robot body and a movable arm, the movable arm comprises a supporting block, a moving wheel, a driving arm and a linkage arm, the supporting block is connected to the driving arm, the moving wheel is connected to the linkage arm, and the linkage arm is in transmission connection with the driving arm; the movable arm has the following two stations: in the first station, the driving arm drives the supporting block to move away from the robot body and abut against the inner wall of the pipeline; and in the second station, the driving arms drive the supporting blocks to move towards the interior of the robot body and synchronously drive the linkage arms to move towards the outer side of the robot body, so that the moving wheels are located on the outer sides of the driving arms and abut against the inner wall of the pipeline. According to the pipeline dredging robot with the bistable state characteristic, through mutual cooperation of the first station and the second station, it is guaranteed that the robot body can flexibly move in a pipeline, and the pipeline dredging robot is suitable for pipelines in various arrangement modes, can also clean large enough blockages in the pipeline and is suitable for various pipeline blockage occasions.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline robot production, and in particular to a pipeline dredging robot with a bistable feature. Background Art

[0002] As the speed of pipeline construction in my country continues to accelerate, the water consumption and drainage volume in various fields such as industry and residents are increasing. However, due to the needs of production and life and various uncertain factors, it is inevitable that the pipeline will be blocked during use. From the country to various enterprises, even ordinary residents have to carry out a certain scale of maintenance, inspection, dredging and cleaning of pipelines every year. This process not only takes a lot of time, money and energy, but also seriously affects the normal life of residents and the normal production of enterprises. In the long run, the loss is huge. At present, the main method for cleaning pipelines with larger diameters is manual cleaning. People use handheld tools to enter the pipeline to dredge the blocked part. This method is time-consuming and labor-intensive, and because the pipeline environment is narrow and relatively closed, the operation time is too long and will cause great damage to the human body. For pipelines with smaller diameters, direct cutting and replacement of new pipelines are used to clean the internal blockages, which is time-consuming and labor-intensive, and the cleaning cost is high. In addition, corrosive chemicals can also be used to clean the blockages at the blocked parts of the pipeline, but this method is very limited in application. In recent years, pipeline robots have begun to be used to complete the dredging of pipelines.

[0003] According to the invention patent application with publication number: CN118268334A and publication date of 2024-07-02, a pipe cleaning robot is disclosed, which can adapt to pipes of different calibers, fit tightly with the pipes, and intelligently spray water and scrub the inner wall of the pipe, including a pipe climbing device, a detection and flushing device, and a pipe scrubbing device. The fixed block rotates, driving the six connecting rods three and the connecting rod four to rotate, driving the six connecting blocks three to rotate, driving the six scrubbing rollers to rotate, and then the six scrubbing rollers further scrub the inner wall of the pipe. Due to the tension of spring two, the slider slides upward, driving the six connecting rods five to move, driving the outer ends of the six connecting rods three and the connecting rod four to move upward, driving the six connecting blocks three to move outward, driving the six scrubbing rollers to move outward, and then driving the six scrubbing rollers to fit closely with the inner wall of the pipe, thereby improving the effect of pipe cleaning.

[0004] The blockage clearing capability of existing pipeline robots is related to their wall-supporting performance. The reason is that no matter whether the existing pipeline robots use knives or high-pressure water guns for cleaning, the larger the blockage, the greater the force the pipeline robot needs to apply to the end effector. During the cleaning process, the greater the reaction force the pipeline robot receives. The reaction force is balanced by the friction between the pipeline robot itself and the pipeline. The greater the friction, the stronger the wall-supporting performance of the robot, and the greater the ability to offset the reaction force brought by the end effector. The ability to clear blockages is strong, but the mobility, obstacle-crossing ability, maneuverability, flexibility and other key performance of the pipeline robot will be weakened. For this reason, a pipeline unblocking robot with a bistable feature is proposed, aiming to propose a pipeline robot that has both strong mobility and good flexibility and can clear large-area blockages. Summary of the invention

[0005] The purpose of the present invention is to provide a pipeline clearing robot with a bistable feature, aiming to propose a pipeline clearing robot that has both strong mobility and good flexibility and can clear large-area blockages.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A pipeline dredging robot with a bistable feature comprises a robot body, a movable arm is arranged on the periphery of the robot body, the movable arm comprises a support block, a moving wheel, a driving arm and a linkage arm, the support block is connected to the driving arm, the moving wheel is connected to the linkage arm, the linkage arm maintains a transmission connection with the driving arm, and the movable arm has the following two positions:

[0008] First station: the driving arm drives the support block to move away from the robot body and abut against the inner wall of the pipe, and simultaneously drives the linkage arm to move inside the robot body so that the moving wheel is located inside the driving arm;

[0009] Second workstation: the driving arm drives the support block to move toward the inside of the robot body, and synchronously drives the linkage arm to move toward the outside of the robot body, so that the moving wheel is located outside the driving arm and abuts against the inner wall of the pipe.

[0010] Preferably, a variable rigidity connection mechanism is further included, and the number of the robot bodies is at least two, wherein the two robot bodies are connected via the variable rigidity connection mechanism.

[0011] Preferably, a driving mechanism is provided inside the robot body, and the driving arm comprises a scissor-type link, a fixed block, a moving block and a moving frame, the fixed block is fixedly connected to the robot body, the moving block is slidably connected to the output end of the driving mechanism, two ends of the scissor-type link are respectively connected to the fixed block and the moving block, the moving frame is connected to the other two ends of the scissor-type link, and the support block is fixedly mounted on the moving frame.

[0012] Preferably, the driving mechanism includes a driving motor, a first gear, a second gear, a driving screw and a driving nut, the driving screw is rotatably connected to the inside of the robot body, the second gear is fixedly installed on the outer wall of the driving screw, the driving motor is fixedly installed on the robot body, the first gear is fixedly installed on the output end of the driving motor, the number of the driving motors is several, and the several driving motors are distributed in a circular array inside the robot body, and the first gear is meshed with the second gear.

[0013] Preferably, the linkage arm includes a first spring telescopic rod and a second spring telescopic rod, one end of the first spring telescopic rod is rotatably connected to one end of the moving frame, the other end of the second spring telescopic rod is rotatably connected to the other end of the moving frame, the ends of the first spring telescopic rod and the second spring telescopic rod away from the moving frame are both rotatably connected to the water gun mechanism at the end of the moving wheel, the water gun mechanism includes a rotation drive mechanism, a water gun body, a rotating seat and a pitch drive mechanism, the rotation drive mechanism is arranged at the end of the robot body, the rotating seat is fixedly connected to the output end of the rotation drive mechanism, the pitch drive mechanism is arranged inside the rotating seat, the water gun body is rotatably connected to the inside of the rotating seat, and the output end of the pitch drive mechanism is connected to the water gun body.

[0014] Preferably, the variable rigidity connection mechanism comprises a wedge-shaped movable head, a wedge-shaped fixed seat, a universal joint and a sliding rod, wherein the wedge-shaped movable head is fixedly installed at the rear end of one of the robot bodies, the wedge-shaped fixed seat is fixedly installed at the front end of the other robot body, one end of the universal joint is fixedly connected to the sliding rod, the other end of the universal joint is slidably connected to one of the robot bodies, and one end of the sliding rod away from the universal joint is slidably connected to the wedge-shaped fixed seat;

[0015] The variable rigidity connection mechanism has the following two states:

[0016] In the rigid connection state, the wedge-shaped movable head and the wedge-shaped fixed seat are plugged in, and the universal joint is located inside the wedge-shaped movable head;

[0017] In the flexible connection state, the wedge-shaped movable head is separated from the wedge-shaped fixed seat, the universal joint is located inside the wedge-shaped movable head and the wedge-shaped fixed seat, and both ends of the universal joint are movably connected to the wedge-shaped movable head and the wedge-shaped fixed seat through sliding rods.

[0018] Preferably, it also includes a water gun mechanism arranged at the end of the robot body, the water gun mechanism includes a rotation drive mechanism, a water gun body, a rotating seat and a pitch drive mechanism, the rotation drive mechanism is arranged at the end of the robot body, the rotating seat is fixedly connected to the output end of the rotation drive mechanism, the pitch drive mechanism is arranged inside the rotating seat, the water gun body is rotatably connected to the inside of the rotating seat, and the output end of the pitch drive mechanism is connected to the water gun body.

[0019] Preferably, the number of the movable arms is several, and the several movable arms are distributed on the robot body in a circular array, wherein the movable arms on two of the robot bodies are staggered.

[0020] Preferably, the rotary drive mechanism includes a rotary motor, a linkage shaft, a third gear and a fourth gear, the rotary motor is fixedly mounted on the robot body, the linkage shaft is rotatably connected to the robot body, the third gear is fixedly connected to the output end of the rotary motor, the fourth gear is fixedly connected to the linkage shaft, the fourth gear is meshed with the third gear, and one end of the linkage shaft is fixedly connected to the rotating seat.

[0021] Preferably, the pitch drive mechanism includes a water gun bracket, an electric push rod and a camera, the water gun bracket is rotatably connected to a rotating seat, the water gun body is rotatably connected to the water gun bracket, the camera is fixedly connected to the water gun bracket, one end of the electric push rod is rotatably connected to the rotating seat, and the output end of the electric push rod is rotatably connected to the water gun body.

[0022] In the above technical solution, the pipeline dredging robot with bistable characteristics provided by the present invention has the following beneficial effects:

[0023] In the invention, the movable arm arranged on the peripheral side of the robot body drives the internal driving arm to drive the support block to keep moving, so that the linkage arm can be linked, and then the moving wheel can be driven to keep moving, and finally the movable arm can be switched between the first station and the second station. When the movable arm is in the first station, the driving arm drives the support block to move away from the robot body, and synchronously drives the linkage arm to move into the robot body, so that the moving wheel is located inside the driving arm. At this time, the robot body is in contact with the inner wall of the pipeline through the support block arranged on the movable arm. At this time, the robot body can withstand a large reaction force, so that it has a strong dredging ability. When the movable arm is in the second station, the driving arm drives the support block to move into the robot body, and synchronously drives the linkage arm to move outside the robot body, so that the moving wheel is located outside the driving arm, and contacts the inner wall of the pipeline through the moving wheel, so that the robot body has good passing performance. Through the cooperation between the first station and the second station, it is ensured that the robot body can not only move flexibly in the pipeline, which is suitable for pipelines of various layouts, but also can clear blockages in pipelines that are large enough, which is suitable for various pipeline blockage occasions. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0025] Figure 1 A schematic diagram of a robot body wall-supporting structure provided by an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the steering structure of the robot body provided by an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the movement structure of the robot body provided by an embodiment of the present invention;

[0028] Figure 4 A schematic diagram of a portion of the structure of a driving mechanism provided in an embodiment of the present invention;

[0029] Figure 5 A three-dimensional schematic diagram of the movement state of the robot body provided by an embodiment of the present invention;

[0030] Figure 6 A schematic diagram of the structure of a linkage arm provided in an embodiment of the present invention;

[0031] Figure 7 A schematic diagram of the disassembled structure of the driving mechanism provided in an embodiment of the present invention;

[0032] Figure 8This is a schematic diagram of the structure of a variable rigidity connection mechanism according to an embodiment of the present invention;

[0033] Fig. 9 A schematic diagram of the structure of a movable arm provided in an embodiment of the present invention;

[0034] Fig.10 A schematic diagram of the assembly structure of a water gun mechanism provided in an embodiment of the present invention;

[0035] Fig.11 This is a schematic diagram of the plane structure of the robot body supporting the wall inside the pipe provided by an embodiment of the present invention.

[0036] Description of reference numerals:

[0037] 1. Robot body; 11. Mounting plate; 12. Support plate; 13. Support rod; 2. Movable arm; 21. Support block; 22. Moving wheel; 221. Rotating shaft; 23. Driving arm; 231. Scissor-type connecting rod; 2311. First connecting rod; 2312. Second connecting rod; 2313. Connecting shaft; 232. Fixed block; 233. Moving block; 2331. Limiting rod; 234. Moving frame; 24. Linkage arm; 241. First spring telescopic rod; 242. Second spring telescopic rod; 243. Wheel set driving unit; 2431. First bevel gear; 2432. Second bevel gear; 2433, wheel motor; 3, variable rigidity connection mechanism; 31, wedge-shaped movable head; 32, wedge-shaped fixed seat; 33, universal joint; 34, sliding rod; 4, driving mechanism; 41, driving motor; 42, first gear; 43, second gear; 44, driving screw; 45, driving nut; 5, water gun mechanism; 51, rotating driving mechanism; 511, rotating motor; 512, linkage shaft; 513, third gear; 514, fourth gear; 52, water gun body; 53, rotating seat; 54, pitch driving mechanism; 541, water gun bracket; 542, electric push rod; 543, camera. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0039] See also Figure 1-11 A pipeline dredging robot with a bistable feature includes a robot body 1, a movable arm 2 is arranged on the periphery of the robot body 1, and the movable arm 2 includes a support block 21, a moving wheel 22, a driving arm 23 and a linkage arm 24. The support block 21 is connected to the driving arm 23, the moving wheel 22 is connected to the linkage arm 24, and the linkage arm 24 maintains a transmission connection with the driving arm 23. The movable arm 2 has the following two positions:

[0040] First station: the driving arm 23 drives the support block 21 to move away from the robot body 1, and simultaneously drives the linkage arm 24 to move inside the robot body 1, so that the moving wheel 22 is located inside the driving arm 23;

[0041] Second workstation: the driving arm 23 drives the supporting block 21 to move toward the inside of the robot body 1 , and simultaneously drives the linkage arm 24 to move toward the outside of the robot body 1 , so that the moving wheel 22 is located outside the driving arm 23 .

[0042] The robot body 1 adopts a structure similar to that of a conventional pipeline robot in the prior art. As an embodiment provided by the present invention, the robot body 1 includes a mounting plate 11, a support plate 12 and a support rod 13, both ends of the support rod 13 are respectively fixedly connected to the mounting plate 11 and the support plate 12, and the number of the support rods 13 is several, and the several support rods 13 are distributed in a circular array between the mounting plate 11 and the support plate 12.

[0043] A movable arm 2 is arranged around the robot body 1. The movable arm 2 includes a support block 21, a moving wheel 22, a driving arm 23 and a linkage arm 24. The moving wheel 22 is arranged at the output end of the linkage arm 24. The support block 21 is fixedly installed at the output end of the driving arm 23. The linkage arm 24 is connected to the driving arm 23 in a transmission manner. The linkage arm 24 can be driven to move by the driving arm 23, and the moving wheel 22 can be driven to move. Finally, the movable arm 2 can be switched between the following two positions:

[0044] First station: the driving arm 23 drives the support block 21 to move away from the robot body 1 and abut against the inner wall of the pipe, and simultaneously drives the linkage arm 24 to move inside the robot body 1, so that the moving wheel 22 is located inside the driving arm 23;

[0045] Second station: the driving arm 23 drives the support block 21 to move toward the inside of the robot body 1 , and simultaneously drives the linkage arm 24 to move toward the outside of the robot body 1 , so that the moving wheel 22 is located outside the driving arm 23 and abuts against the inner wall of the pipe.

[0046] In the first station, the driving arm 23 drives the support block 21 to move away from the robot body 1 and finally abuts against the inner wall of the pipe. When the support block 21 moves outward, the linkage arm 24 is synchronously driven to move toward the inside of the robot body 1 to retract the moving wheel 22.

[0047] In the second workstation, the driving arm 23 drives the support block 21 to move toward the robot body 1. At this time, while the support block 21 moves inward, the linkage arm 24 is synchronously driven to move outward from the robot body 1, pushing the moving wheel 22 outward, and the moving wheel 22 abuts against the inner wall of the pipe. At this time, the robot body 1 has good mobility inside the pipe.

[0048] In the invention, the movable arm 2 arranged on the side of the robot body 1 drives the internal driving arm 23 to drive the support block 21 to keep moving, which can make the linkage arm 24 linked, and then drive the moving wheel 22 to keep moving, and finally make the movable arm 2 switch between the first station and the second station. When the movable arm 2 is in the first station, the driving arm 23 drives the support block 21 to move away from the robot body 1, and synchronously drives the linkage arm 24 to move into the robot body 1, so that the moving wheel 22 is located inside the driving arm 23. At this time, the robot body 1 is in contact with the inner wall of the pipe through the support block 21 arranged on the movable arm 2. At this time, the robot body 1 can bear The movable arm 2 is subjected to a larger reaction force, thus having a stronger dredging ability. When the movable arm 2 is in the second station, the driving arm 23 drives the supporting block 21 to move toward the inside of the robot body 1, and synchronously drives the linkage arm 24 to move toward the outside of the robot body 1, so that the moving wheel 22 is located outside the driving arm 23, and contacts the inner wall of the pipeline through the moving wheel 22, thereby making the robot body 1 have good passing performance. Through the cooperation between the first station and the second station, it is ensured that the robot body 1 can move flexibly in the pipeline, suitable for pipelines of various layouts, and can clean up blockages in pipelines that are large enough, suitable for various pipeline blockage occasions.

[0049] The variable rigidity connection mechanism 3 has the following two states:

[0050] In the rigid connection state, the wedge-shaped movable head 31 and the wedge-shaped fixed seat 32 remain plugged in, and the universal joint 33 is located inside the wedge-shaped movable head 31;

[0051] In the flexible connection state, the wedge-shaped movable head 31 is separated from the wedge-shaped fixed seat 32, the universal joint 33 is located inside the wedge-shaped movable head 31 and the wedge-shaped fixed seat 32, and both ends of the universal joint 33 are movably connected to the wedge-shaped movable head 31 and the wedge-shaped fixed seat 32 through sliding rods 34.

[0052] As a further embodiment provided by the present invention, Figure 5 and Figure 8As shown, it also includes a variable rigidity connection mechanism 3. Specifically, the number of robot bodies 1 provided by the present invention is at least two. Preferably, the number of robot bodies 1 provided by the present invention is two, and the two robot bodies 1 are connected through the variable rigidity connection mechanism 3. Specifically, the variable rigidity connection mechanism 3 includes a wedge-shaped movable head 31, a wedge-shaped fixed seat 32, a universal joint 33 and a sliding rod 34. A wedge-shaped groove is provided on the wedge-shaped fixed seat 32. The wedge-shaped movable head 31 is fixedly installed at the rear end of one of the robot bodies 1, and the wedge-shaped fixed seat 32 is fixedly connected to the other The front end of a robot body 1, specifically, a wedge-shaped movable head 31 is fixedly installed on the support plate 12 of one of the robot bodies 1, and a wedge-shaped fixed seat 32 is fixedly installed on the mounting plate 11 of another robot body 1. There are two sliding rods 34, and the two sliding rods 34 are respectively connected to the two ends of a universal joint 33. One end of the universal joint 33 is slidably connected to the wedge-shaped movable head 31 through one of the sliding rods 34, and the other end of the universal joint 33 is fixedly connected to another sliding rod 34, and the other sliding rod 34 is slidably connected to the wedge-shaped fixed seat 32.

[0053] Preferably, there are a plurality of universal joints 33 and sliding rods 34 , and the plurality of universal joints 33 and sliding rods 34 are distributed in a circular array.

[0054] During use, when the entire robot needs to turn, one of the robot bodies 1 can move forward while the other robot body 1 remains fixed, and the universal joint 33 connected to the sliding rod 34 is pulled out from the wedge-shaped movable head 31 of one of the robot bodies 1. At the same time, the robot body 1 at the front end is separated from the robot body 1 at the rear end, so that the universal joint 33 connected to the sliding rod 34 is located between the two robot bodies 1. At this time, the two robot bodies 1 are flexibly connected through the universal joint 33 and the sliding rod 34. At this time, the two robot bodies 1 are flexibly connected, which can improve the cornering performance of the entire robot and enhance its passability.

[0055] When the entire robot needs to support a wall, one of the robot bodies 1 is kept fixed and the other robot body 1 moves forward, and the universal joint 33 connected to the sliding rod 34 is reinserted into the wedge-shaped movable head 31 of one of the robot bodies 1, so that the robot body 1 at the rear end and the robot body 1 at the front end remain plugged in. At this time, the robot body 1 at the front end and the robot body 1 at the rear end are rigidly connected, and the reaction force exerted on the front end robot body 1 can be transmitted to the rear end robot body 1, and then the robot body 1 switches to the first workstation, thereby doubling the wall-supporting performance.

[0056] As a further embodiment provided by the present invention, a driving mechanism 4 is arranged inside the robot body 1, and the driving arm 23 specifically includes a scissor-type link 231, a fixed block 232, a moving block 233 and a moving frame 234. Specifically, the fixed block 232 is fixedly mounted on the outer wall of the mounting plate 11 of the robot body 1, and the moving block 233 is slidably connected to the output end of the driving mechanism 4. The two ends of the scissor-type link 231 are respectively connected to the fixed block 232 and the moving block 233, and the other two ends of the scissor-type link 231 are respectively connected to the fixed block 232 and the moving block 233. The scissor-type links 231 are respectively connected to the fixed block 232, the movable block 233 and the two sides of the movable frame 234. Specifically, the scissor-type links 231 include a first link 2311, a second link 2312 and a connecting shaft 2313. The first link 2311 and the second link 2312 are rotationally connected by the connecting shaft 2313. The scissor-type links 231 on both sides are connected by the connecting shaft 2313 to enhance the structural strength. Specifically, one end of the first connecting rod 2311 is rotatably connected to the fixed block 232, the other end of the first connecting rod 2311 is slidably connected to the moving frame 234, one end of the second connecting rod 2312 is rotatably connected to the moving block 233, and the other end of the second connecting rod 2312 is rotatably connected to the moving frame 234. When the driving mechanism 4 drives the moving block 233 to keep moving, the moving frame 234 can be driven to keep moving through the second connecting rod 2312, thereby driving one end of the first connecting rod 2311 to slide inside the moving frame 234, ensuring that the moving frame 234 moves smoothly.

[0057] As an embodiment provided by the present invention, the driving mechanism 4 includes a driving motor 41, a first gear 42, a second gear 43, a driving screw 44 and a driving nut 45. The driving motor 41 is fixedly installed inside the robot body 1, and a motor rotating seat 53 is fixedly installed on the support plate 12. Specifically, the driving motor 41 is fixedly installed on the motor rotating seat 53, and the two ends of the driving screw 44 are rotatably connected to the mounting plate 11 and the support plate 12 respectively. The first gear 42 is fixedly installed on the output end of the driving motor 41, and the second gear 43 is fixedly installed on the outer wall of the driving screw 44. The first gear 42 is meshed with the second gear 43. Specifically, the number of teeth of the first gear 42 is less than the number of teeth of the second gear 43. The number of driving motors 41 is several, and the several driving motors 41 are distributed in a circular array on the motor rotating seat 53. The multiple first gears 42 are driven to rotate by multiple driving motors 41, and finally the second gear 43 and the driving screw 44 are driven to keep rotating, which can reduce the size of a single driving motor 41, and can provide sufficient driving force when a small-volume motor is used to ensure that the driving screw 44 can keep rotating. The driving nut 45 is threadedly connected to the outer wall of the driving screw 44, and a sliding groove is provided on the outer wall of the driving nut 45. The moving block 233 is slidably connected to the driving nut 45 through the sliding groove. Limit rods 2331 are provided at both ends of the moving block 233. The first gear 42 is driven to rotate by multiple driving motors 41 to drive the second gear 43 to keep rotating. The driving screw 44 is further driven to keep rotating by the rotation of the second gear 43. The driving nut 45 is driven to keep moving by the driving screw 44. Since the driving nut 45 is connected to the moving block 233 through the sliding groove, and the driving arm 23 is kept in contact with the inner wall of the pipeline, the driving nut 45 can be driven to keep moving axially on the outer wall of the driving screw 44 by the rotation of the driving screw 44. When the driving nut 45 moves, it can be in contact with the limiting rod 2331 on the moving block 233, thereby driving the moving block 233 to keep moving, and the driving arm 23 is extended or retracted.

[0058] As a further embodiment provided by the present invention, Figure 6As shown, the linkage arm 24 includes a first spring telescopic rod 241 and a second spring telescopic rod 242. The number of the linkage arms 24 is two groups, and the two groups of linkage arms 24 are symmetrically arranged on both sides of the moving frame 234. One end of the first spring telescopic rod 241 is rotatably connected to one end of the moving frame 234, and the other end of the second spring telescopic rod 242 is rotatably connected to the other end of the moving frame 234. The ends of the first spring telescopic rod 241 and the second spring telescopic rod 242 away from the moving frame 234 are both rotatably connected to the moving wheel 22. A rotating shaft 221 is fixedly installed at the axis of the moving wheel 22. One end of the first spring telescopic rod 241 and the second spring telescopic rod 242 are both rotatably connected to the rotating shaft 221. A wheel drive unit 243 is arranged on the outer wall of 41, and the wheel drive unit 243 includes a first bevel gear 2431, a second bevel gear 2432 and a wheel motor 2433. The wheel motor 2433 is fixedly mounted on the first spring telescopic rod 241, and the second bevel gear 2432 is fixedly mounted on one end of the rotating shaft 221. The first bevel gear 2431 is fixedly mounted on the output end of the wheel motor 2433. The first bevel gear 2431 and the second bevel gear 2432 are meshed with each other. The first bevel gear 2431 is driven to rotate by the wheel motor 2433, and the second bevel gear 2432 is further driven to rotate, and finally the moving wheel 22 is driven to rotate, so as to ensure the passing performance of the robot body 1 inside the pipeline.

[0059] As an embodiment provided by the present invention, it also includes a water gun mechanism 5 arranged at the end of one of the robot bodies 1. Further, the water gun mechanism 5 includes a rotation drive mechanism 51, a water gun body 52, a rotating seat 53 and a pitch drive mechanism 54. The rotation drive mechanism 51 is arranged at the end of the robot body 1, the rotating seat 53 is fixedly connected to the output end of the rotation drive mechanism 51, the pitch drive mechanism 54 is arranged inside the rotating seat 53, the water gun body 52 is rotatably connected to the inside of the rotating seat 53, and the output end of the pitch drive mechanism 54 is connected to the water gun body 52. ​​The rotation drive mechanism 51 can drive the rotating seat 53 to maintain axial rotation, and the pitch drive mechanism 54 can drive the water gun body 52 to maintain pitch rotation, so that the water gun body 52 can flush and cut any position of the pipe cross section.

[0060] As an embodiment provided by the present invention, Fig.10As shown, the rotary drive mechanism 51 specifically includes a rotary motor 511, a linkage shaft 512, a third gear 513 and a fourth gear 514. The linkage shaft 512 is rotatably connected to the mounting plate 11, and one end of the linkage shaft 512 passes through the mounting plate 11. The rotary seat 53 is fixedly connected to one end of the linkage shaft 512. The rotary motor 511 is fixedly mounted on the outer wall of one side of the mounting plate 11, and the output end of the rotary motor 511 passes through the mounting plate 11. The fourth gear 514 is fixedly mounted on one end of the linkage shaft 512. The third gear 513 is fixedly mounted on the output end of the rotary motor 511, and the fourth gear 514 is meshed with the third gear 513. Preferably, the number of rotary motors 511 is several, and the several rotary motors 511 are distributed in a circular array on the mounting plate 11. The third gear 513 is synchronously driven to rotate by multiple rotary motors 511, and finally the fourth gear 514 is driven to rotate, which can reduce the size of a single rotary motor 511, thereby reducing the total weight and total volume of the robot body 1 to ensure that the robot body 1 has good passing ability.

[0061] Furthermore, the pitch driving mechanism 54 includes a water gun bracket 541, an electric push rod 542 and a camera 543. Fig.10 As shown, one end of the water gun bracket 541 is rotatably connected to the rotating seat 53, the water gun body 52 is rotatably connected to the water gun bracket 541, the camera 543 is fixedly connected to the water gun bracket 541, one end of the electric push rod 542 is rotatably connected to the rotating seat 53, the outer wall of the electric push rod 542 is rotatably connected to the water gun bracket 541, and the output end of the electric push rod 542 is rotatably connected to the water gun body 52. ​​The water gun body 52 is pushed by the output end of the electric push rod 542, and then the water gun body 52 is driven to keep swinging inside the water gun bracket 541, thereby adjusting the pitch angle of the water gun body 52.

[0062] As an embodiment provided by the present invention, one robot body 1 is staggered with another robot body 1, that is, the movable arm 2 on one robot body 1 and the movable arm 2 on the other robot body 1 are staggered. Specifically, the angle between the movable arm 2 on one robot body 1 and the movable arm 2 on the other robot body 1 is 60°, so that the overall robot support force is more uniform, and the overall robot can move more smoothly.

[0063] Working principle:

[0064] When the whole robot enters the interior of the pipeline, the robot body 1 is in the second working position, and a single robot body 1 abuts against the inner wall of the pipeline through the support block 21 inside the movable arm 2 arranged on the outer wall, so that the single robot body 1 is supported inside the pipeline, and the whole robot is set up inside the pipeline by a plurality of robot bodies 1 abutting against the inner wall of the pipeline respectively;

[0065] When the whole robot needs to move, the variable rigidity connection mechanism 3 is in a flexible connection state. At this time, the whole robot has strong mobility. The wheel group motor 2433 provided on the first spring telescopic rod 241 of the linkage arm 24 drives the moving wheel 22 to rotate, thereby driving a single moving wheel 22 to rotate. Through the synchronous rotation of multiple moving wheels 22, the robot body 1 is driven to move forward and backward inside the pipeline.

[0066] When the whole robot needs to turn, the variable rigidity connection mechanism 3 needs to be in a flexible connection state, and then the robot body 1 at the front end moves forward to enter the turn. When turning, the rotation of the universal joint 33 ensures that the whole robot has good passability;

[0067] When the blockage needs to be cleared, the variable rigid connection mechanism 3 needs to be in a rigid connection state, the robot body 1 at the front end stops moving, and the robot body 1 at the rear end continues to move forward, and one end of the universal joint 33 is reinserted into the support plate 12 of the robot body 1 at the front end, and the two robot bodies 1 are guided by the wedge-shaped surface provided on the wedge-shaped movable head 32 and the wedge-shaped groove provided inside the wedge-shaped movable head 31, so as to facilitate the docking of the two robot bodies 1, and the two robot bodies 1 are kept rigidly connected by keeping the wedge-shaped movable head 31 and the wedge-shaped fixed seat 32 plugged in;

[0068] Then the movable arm 2 switches to the second working position, that is, the driving motor 41 drives the driving screw 44 to keep rotating, and the driving screw 44 drives the driving nut 45 to keep moving, thereby driving the moving block 233 to move, and the movement of the moving block 233 drives the scissor-type connecting rod 231 to keep rotating, driving the moving frame 234 to move away from the robot body 1. When the moving frame 234 moves, since the moving wheel 22 is connected to the moving frame 234 through the first spring telescopic rod 241 and the second spring telescopic rod 242, when the moving frame 234 moves to the second working position, the moving wheel 22 is connected to the moving frame 234 through the first spring telescopic rod 241 and the second spring telescopic rod 242. During the outer movement, the moving wheel 22 always contacts with the inner wall of the pipeline, and the moving frame 234 gradually moves outward. When the first spring telescopic rod 241 and the second spring telescopic rod 242 are extended to the limit position, the moving wheel 22 is driven to rotate to the inside of the scissor-type connecting rod 231 by rotating the first spring telescopic rod 241 and the second spring telescopic rod 242 connected to the moving frame 234, and contacts with the inner wall of the pipeline through the support block 21 provided on the moving frame 234. At this time, the friction between the robot body 1 and the inner wall of the pipeline is relatively large, and the pipeline dredging ability is relatively strong.

[0069] After the cleaning is completed, the movable arm 2 on the robot body 1 needs to be switched to the first working position, and the driving motor 41 is used to drive the driving screw 44 to rotate again, and the driving screw 44 is used to drive the driving nut 45 to reset, and the movement of the driving nut 45 drives the moving block 233 to move, thereby driving the scissor-type link 231 to retract inward. When the scissor-type link 231 rotates inward, the hinge shaft of the first link 2311 and the second link 2312 abuts against the moving wheel 22, driving the first spring telescopic rod 241 and the second spring telescopic rod 242 to rotate, thereby driving the moving wheel 22 to rotate outward of the robot body 1, and finally abutting against the inner wall of the pipe, and the moving wheel 22 can be driven to rotate by the wheel group motor 2433;

[0070] Subsequently, the rigid connection mechanism 3 needs to be switched to a flexible connection state. By controlling the rotation of the moving wheels 22 of the front and rear robot bodies 1 respectively, the robot body 1 at the rear end can be controlled to move backward. When the robot body 1 at the rear end moves backward, the mounting plate 11 abuts against one end of the sliding rod 34, driving the sliding rod 34 to move, and then the end of the universal joint 33 that is slidably connected to the support plate 12 of the previous robot body 1 is pulled out, so that the universal joint 33 is located between the two robot bodies 1. At this time, the two robot bodies 1 are in a flexibly connected state, so that the overall robot obtains better mobility and steering capabilities.

[0071] In the embodiment provided by the present invention, the robot can switch between the first station and the second station. Most of the pipeline robots used in the prior art are single-section robots or multi-section robots, and their wall-supporting performance and mobility performance cannot be achieved at the same time. For the structure using a single-section robot, only one of the wall-supporting performance and mobility performance can be improved, that is, when the mobility performance of the single-section robot is strong, its wall-supporting performance is weak, and when the wall-supporting performance of the single-section robot is strong, its mobility performance is weak. By balancing the two aspects of performance, the actual application requirements are met. For multi-section robots, by selecting a robot with good mobility and a robot with good wall-supporting performance for simple combination, the requirements of mobility performance and wall-supporting performance are met. For this solution, on the one hand, its cost is high, and on the other hand, the decoupling of the two performances of the robot is not achieved. The mobility performance and wall-supporting performance of the robot affect each other, that is, when it is necessary to move, the mobility performance of one robot is too strong, which will have a negative impact on the wall-supporting performance of the other robot. When it is necessary to support the wall, the wall-supporting performance of the other robot is too strong, which will have a negative impact on the mobility performance of one robot. Therefore, the solutions adopted in the prior art are difficult to achieve the best effect on both the mobility performance and the wall-supporting performance of the entire robot at the same time.

[0072] The technical solution adopted by the present invention, for a single robot body 1, by switching between the first station and the second station, the robot body 1 presents only one state when moving or supporting the wall, that is, when it needs to move, the robot body 1 is in the second station, at which time the robot body 1 has good mobility performance, and when it needs to support the wall, the flexible friction body support block 21 abuts against the inner wall of the pipe, so that the robot body 1 has good wall-supporting performance. In the embodiment provided by the present invention, the two states of the robot body 1 do not affect each other, and the maximum mobility performance or wall-supporting performance can be obtained in practical applications.

[0073] There is another solution for multi-section robots in the prior art, which is to connect two robots with similar wall-supporting performance and mobility performance together, and the wall-supporting performance and mobility performance can be doubled in theory. However, for the connection between the two robots, when a rigid connection is used, in the wall-supporting state, the reaction force received by the front robot can be transmitted to the rear robot, and the wall-supporting performance is doubled, but at this time the length of the entire robot is the sum of the lengths of the two robots, which greatly reduces the overall robot's cornering ability. When a flexible connection is used, in the wall-supporting state, the reaction force received by the front robot cannot be transmitted to the rear robot, and the wall-supporting performance improvement effect is poor, but the overall robot's mobility performance can be guaranteed not to be affected.

[0074] The variable rigidity connection mechanism 3 used in the embodiment provided by the present invention is in a flexible connection state when the robot body 1 moves. At this time, the turning length of the entire robot is the length of a single robot body 1, and its turning ability is better. When supporting the wall, the variable rigidity connection mechanism 3 is in a rigid connection state. At this time, the reaction force received by the robot body 1 at the front end can be transmitted to the other robot body 1 at the rear end, which can achieve the effect of doubling the wall supporting performance, solving the problem of how to evenly bear the reaction force of multiple-segment robots without affecting the turning ability.

[0075] Those skilled in the art will appreciate that other similar connection methods may also be used to implement the present invention, such as welding, bonding or screwing.

[0076] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A pipeline dredging robot with bistable characteristics, characterized in that: The invention comprises a robot body (1), wherein a movable arm (2) is arranged on the peripheral side of the robot body (1), wherein the movable arm (2) comprises a support block (21), a moving wheel (22), a driving arm (23) and a linkage arm (24), wherein the support block (21) is connected to the driving arm (23), the moving wheel (22) is connected to the linkage arm (24), and the linkage arm (24) is connected to the driving arm (23) in a transmission manner, and the movable arm (2) has the following two working positions: First station: the driving arm (23) drives the support block (21) to move away from the robot body (1) and abut against the inner wall of the pipe, and simultaneously drives the linkage arm (24) to move inside the robot body (1), so that the moving wheel (22) is located inside the driving arm (23); Second workstation: the driving arm (23) drives the support block (21) to move toward the inside of the robot body (1), and simultaneously drives the linkage arm (24) to move toward the outside of the robot body (1), so that the moving wheel (22) is located outside the driving arm (23) and abuts against the inner wall of the pipe.

2. A pipeline dredging robot with bistable characteristics according to claim 1, characterized in that: It also comprises a variable rigidity connection mechanism (3), the number of the robot bodies (1) is at least two, and the two robot bodies (1) are connected via the variable rigidity connection mechanism (3).

3. A pipeline dredging robot with bistable characteristics according to claim 1, characterized in that: The robot body (1) is provided with a driving mechanism (4) inside, and the driving arm (23) comprises a scissor-type connecting rod (231), a fixed block (232), a moving block (233) and a moving frame (234), wherein the fixed block (232) is fixedly connected to the robot body (1), the moving block (233) is slidably connected to the output end of the driving mechanism (4), two ends of the scissor-type connecting rod (231) are respectively connected to the fixed block (232) and the moving block (233), the moving frame (234) is connected to the other two ends of the scissor-type connecting rod (231), and the supporting block (21) is fixedly mounted on the moving frame (234).

4. A pipeline dredging robot with bistable characteristics according to claim 3, characterized in that: The driving mechanism (4) comprises a driving motor (41), a first gear (42), a second gear (43), a driving screw (44) and a driving nut (45); the driving screw (44) is rotatably connected to the inside of the robot body (1); the second gear (43) is fixedly mounted on the outer wall of the driving screw (44); the driving motor (41) is fixedly mounted on the robot body (1); the first gear (42) is fixedly mounted on the output end of the driving motor (41); there are a plurality of driving motors (41), and the plurality of driving motors (41) are distributed in a circular array inside the robot body (1); the first gear (42) is meshed with the second gear (43).

5. The pipeline dredging robot with bistable characteristics according to claim 1, characterized in that: The linkage arm (24) comprises a first spring telescopic rod (241) and a second spring telescopic rod (242); one end of the first spring telescopic rod (241) is rotatably connected to one end of the moving frame (234); the other end of the second spring telescopic rod (242) is rotatably connected to the other end of the moving frame (234); and the ends of the first spring telescopic rod (241) and the second spring telescopic rod (242) away from the moving frame (234) are both rotatably connected to the moving wheel (22).

6. According to a pipeline dredging robot with a bistable feature as described in claim 2, the variable rigidity connection mechanism (3) comprises a wedge-shaped movable head (31), a wedge-shaped fixed seat (32), a universal joint (33) and a sliding rod (34), the wedge-shaped movable head (31) is fixedly installed at the rear end of one of the robot bodies (1), the wedge-shaped fixed seat (32) is fixedly installed at the front end of the other robot body (1), one end of the universal joint (33) is fixedly connected to the sliding rod (34), the other end of the universal joint (33) is slidably connected to one of the robot bodies (1), and the end of the sliding rod (34) away from the universal joint (33) is slidably connected to the wedge-shaped fixed seat (32); The variable rigidity connection mechanism (3) has the following two states: In a rigid connection state, the wedge-shaped movable head (31) and the wedge-shaped fixed seat (32) remain plugged in, and the universal joint (33) is located inside the wedge-shaped movable head (31); In the flexible connection state, the wedge-shaped movable head (31) is separated from the wedge-shaped fixed seat (32), the universal joint (33) is located inside the wedge-shaped movable head (31) and the wedge-shaped fixed seat (32), and both ends of the universal joint (33) are movably connected to the wedge-shaped movable head (31) and the wedge-shaped fixed seat (32) respectively through sliding rods (34).

7. The pipeline dredging robot with bistable characteristics according to claim 1, characterized in that: The invention also comprises a water gun mechanism (5) arranged at the end of the robot body (1), the water gun mechanism (5) comprising a rotation drive mechanism (51), a water gun body (52), a rotating seat (53) and a pitch drive mechanism (54), the rotation drive mechanism (51) being arranged at the end of the robot body (1), the rotating seat (53) being fixedly connected to the output end of the rotation drive mechanism (51), the pitch drive mechanism (54) being arranged inside the rotating seat (53), the water gun body (52) being rotationally connected to the inside of the rotating seat (53), and the output end of the pitch drive mechanism (54) being connected to the water gun body (52).

8. The pipeline dredging robot with bistable characteristics according to claim 2, characterized in that: The number of the movable arms (2) is several, and the several movable arms (2) are distributed on the robot body (1) in a circular array, wherein the movable arms (2) on two robot bodies (1) are staggered.

9. The pipeline dredging robot with bistable characteristics according to claim 7, characterized in that: The rotary drive mechanism (51) comprises a rotary motor (511), a linkage shaft (512), a third gear (513) and a fourth gear (514); the rotary motor (511) is fixedly mounted on the robot body (1); the linkage shaft (512) is rotatably connected to the robot body (1); the third gear (513) is fixedly connected to the output end of the rotary motor (511); the fourth gear (514) is fixedly connected to the linkage shaft (512); the fourth gear (514) is meshed with the third gear (513); and one end of the linkage shaft (512) is fixedly connected to the rotating seat (53).

10. The pipeline dredging robot with bistable characteristics according to claim 7, characterized in that: The pitch drive mechanism (54) comprises a water gun bracket (541), an electric push rod (542) and a camera (543); the water gun bracket (541) is rotatably connected to the rotating seat (53); the water gun body (52) is rotatably connected to the water gun bracket (541); the camera (543) is fixedly connected to the water gun bracket (541); one end of the electric push rod (542) is rotatably connected to the rotating seat (53); and the output end of the electric push rod (542) is rotatably connected to the water gun body (52).

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