Long-endurance pipeline robot and control method thereof

Abstract

The invention relates to the field of pipeline robots, and particularly discloses a long-endurance pipeline robot and a control method thereof.The long-endurance pipeline robot comprises a driving wheel set and a driven wheel set, the driving wheel set and the driven wheel set are rotatably connected to a main body at intervals, and at least one wheel of the driving wheel set is provided with a plurality of blades at intervals in the circumferential direction of the wheel; the plurality of blades are arranged on the wheel in a retractable manner; the motor is electrically connected to the battery, the battery supplies power to the motor, and the motor drives the driving wheel set to rotate; the first lifting assembly and the second lifting assembly are connected to the top and the bottom of the main body respectively and arranged in the main body in a foldable mode, and after the first lifting assembly and the second lifting assembly are opened, the lifting ends of the first lifting assembly and the second lifting assembly can abut against the inner wall of the natural gas pipeline; and one end of the locking assembly is connected to the main body, the other end of the locking assembly is connected to the wheel of the driving wheel, and the locking assembly is used for locking folding of the blades. The effect of prolonging the cruising ability of the natural gas pipeline robot is achieved.

Description

Technical Field

[0001] The present invention relates to the field of pipeline robots, and in particular to a long-endurance pipeline robot and a control method thereof. Background Art

[0002] The gas pipeline robot is a robot specially designed for detecting and repairing underground gas pipelines. This robot can walk inside the gas pipeline and realize rapid detection of the gas pipeline, which plays a vital role in ensuring the safety and reliability of the gas pipeline.

[0003] In the related technology, natural gas pipeline robots generally include cabled pipeline robots and cableless pipeline robots. For cabled natural gas pipeline robots, the outside world can continuously provide them with energy, so there is no need to worry about energy supply issues. However, due to the presence of cables, the walking distance of cabled natural gas pipeline robots is relatively limited. For cableless natural gas pipeline robots, they have their own batteries. As the natural gas pipeline robots move forward, electricity is continuously consumed, and due to the presence of wind resistance, the endurance of cableless natural gas pipeline robots is greatly restricted. In summary, the above two forms of pipeline robots both restrict the mileage of natural gas pipeline robots.

[0004] To this end, we propose a long-endurance pipeline robot and its control method to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide a pipeline robot with long battery life and a control method thereof, so as to solve the problem of limited mileage of the natural gas pipeline robot mentioned in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] On the one hand, the present application discloses a long-endurance pipeline robot, including a driving wheel group and a passive wheel group, which are connected to the main body in an interval and rotational manner, at least one wheel of the driving wheel group is provided with a plurality of blades at intervals along its circumferential direction, and the plurality of blades are retractably arranged on the wheel; a battery and a motor, both of which are installed on the main body, the motor is electrically connected to the battery, the battery supplies power to the motor, and the motor drives the driving wheel group to rotate; a first lifting assembly and a second lifting assembly, both of which are respectively connected to the top and bottom of the main body, and both are retractably arranged in the main body, and when the first lifting assembly and the second lifting assembly are both opened, the lifting ends of both can be pressed against the inner wall of the natural gas pipeline; a locking assembly, one end of the locking assembly is connected to the main body, and the other end is connected to the wheel of the driving wheel, and is used to lock the folding of the blades.

[0008] By adopting the above technical solution, when the natural gas pipeline robot moves normally in the natural gas pipeline, the battery supplies power to the motor, the motor drives the driving wheel group to rotate, the blades are folded into the wheel of the driving wheel, and the locking assembly locks the folding of the blades. At the same time, the first lifting assembly and the second lifting assembly are folded into the main body. When the battery of the natural gas pipeline robot needs to be charged, the motor stops rotating, the first lifting assembly and the second lifting assembly are opened, the lifting ends of the first lifting assembly and the second lifting assembly are both pressed against the inner wall of the natural gas pipeline, and the driving wheel group and the passive wheel group are both suspended. At this time, the locking assembly releases the lock on the blades, and the blades unfold. Under the blowing of natural gas, the blades drive the rotation of the driving wheel group, and the motor rotates together, and the rotating motor generates electricity to charge the battery.

[0009] After the battery is fully charged again, the first lifting assembly extends and the second lifting assembly shortens, but at this time the lifting ends of the first lifting assembly and the second lifting assembly are still pressed against the inner wall of the natural gas pipeline until the blades contact the inner wall of the pipeline. The motor drives the active wheel group to rotate, and then the first lifting assembly continues to extend and the second lifting assembly continues to shorten until the blades are re-folded into the wheels. The first lifting assembly and the second lifting assembly are folded into the main body, and the natural gas pipeline robot can continue to travel.

[0010] It can be seen that the natural gas pipeline robot is able to charge its battery under the wind power of natural gas, thereby extending the endurance of the natural gas pipeline robot and reducing the limitations on the mileage of the natural gas pipeline robot.

[0011] In a further embodiment, the first lifting assembly includes a first lifting motor and a first support plate, the housing of the first lifting motor is connected to the main body, and the first support plate is fixed to the telescopic end of the first lifting motor; and / or, the second lifting assembly includes a second lifting motor and a second support plate, the housing of the second lifting motor is connected to the main body, and the second support plate is fixed to the telescopic end of the second lifting motor.

[0012] In a further embodiment, a accommodating groove is provided at the top of the main body along the length direction of the main body, and one end of the first lifting motor is flipped and set in the accommodating groove; when the first lifting motor is flipped to a vertical state, the lifting end of the first lifting motor extends out of the accommodating groove and faces the inner wall of the natural gas pipeline.

[0013] In a further embodiment, the locking assembly includes: an adsorption member, which is slidably connected to the wheel of the driving wheel group, and the sliding direction is in the direction of approaching or moving away from the blade; a reset member, which is connected between the adsorption member and the wheel of the driving wheel group, and is used to reset the adsorption member in the direction close to the blade; a pull rope, one end of which is connected to the adsorption member and the other end is connected to a pulling component, and the pulling component is used to pull the pull rope.

[0014] In a further embodiment, the pulling component includes: an iron ring, which is sleeved on the rotating shaft of the driving wheel group and the end of the pull rope is fixedly connected to it; an electromagnet, which is fixed to the main body and arranged adjacent to the iron ring. When the electromagnet is energized, the electromagnet absorbs the iron ring.

[0015] In a further embodiment, a synchronization component is connected between the driving wheel group and the passive wheel group, one end of the synchronization component is connected to the rotating shaft of the driving wheel group, and the other end is connected to the rotating shaft of the passive wheel group, for making the driving wheel group and the passive wheel group rotate synchronously.

[0016] In a further embodiment, the synchronization component includes: a first gear and a second gear, both of which are coaxially fixed to the rotating shaft of the driving wheel group and the rotating shaft of the driven wheel group respectively; a transmission shaft, at both ends of which transmission gears are coaxially fixed, and the two transmission gears are respectively meshed with the first gear and the second gear.

[0017] In a further embodiment, a driving assembly is further included between the motor and the driving wheel set, the driving assembly includes a driving gear and a driven gear meshing with each other, the driving gear is coaxially fixed to the rotating shaft of the motor, and the driven gear is coaxially fixed to the rotating shaft of the driving wheel set.

[0018] In a further embodiment, the number of teeth of the driving gear is smaller than the number of teeth of the driven gear.

[0019] In a second aspect, the present application discloses a control method for a long-endurance pipeline robot, which comprises the following steps:

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] When the natural gas pipeline robot is moving normally in the natural gas pipeline, the battery powers the motor, the motor drives the active wheel group to rotate, the blades are retracted into the wheel of the active wheel, and the locking assembly locks the retraction of the blades. At the same time, the first lifting assembly and the second lifting assembly are retracted into the main body. When the battery of the natural gas pipeline robot needs to be charged, the motor stops rotating, the first lifting assembly and the second lifting assembly are opened, the lifting ends of the first lifting assembly and the second lifting assembly are both pressed against the inner wall of the natural gas pipeline, and the active wheel group and the passive wheel group are both suspended. At this time, the locking assembly releases the lock on the blades, and the blades unfold. Under the blowing of natural gas, the blades drive the rotation of the active wheel group, and the motor rotates together, and the rotating motor generates electricity to charge the battery.

[0022] After the battery is fully charged again, the first lifting assembly extends and the second lifting assembly shortens, but at this time the lifting ends of the first lifting assembly and the second lifting assembly are still pressed against the inner wall of the natural gas pipeline until the blades contact the inner wall of the pipeline. The motor drives the active wheel group to rotate, and then the first lifting assembly continues to extend and the second lifting assembly continues to shorten until the blades are re-folded into the wheels. The first lifting assembly and the second lifting assembly are folded into the main body, and the natural gas pipeline robot can continue to travel.

[0023] It can be seen that the natural gas pipeline robot is able to charge its battery under the wind power of natural gas, thereby extending the endurance of the natural gas pipeline robot and reducing the limitations on the mileage of the natural gas pipeline robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure in the embodiment of the present application;

[0025] Figure 2 This is a schematic diagram showing the internal structure in an embodiment of the present application;

[0026] Figure 3 This is a structural schematic diagram showing the power generation state in an embodiment of the present application;

[0027] Figure 4 In the embodiment of this application Figure 2 A magnified schematic diagram of part A;

[0028] Figure 5 This is a schematic diagram of the structure in which the blades are unfolded in the embodiment of the present application;

[0029] Figure 6 It is a schematic diagram of the cross-sectional structure of the driving wheel group in the embodiment of the present application.

[0030] In the figure: 1, main body; 11, receiving slot;

[0031] 2. driving wheel set; 21. blades; 22. annular groove;

[0032] 3. Passive wheel set;

[0033] 4. Battery;

[0034] 5. Motor;

[0035] 6. First lifting assembly; 61. First lifting motor; 62. First support plate;

[0036] 7. Second lifting assembly; 71. Second lifting motor; 72. Second support plate;

[0037] 8. Locking assembly; 81. Adsorption member; 82. Reset member; 83. Pull rope; 84. Pulling member; 841. Iron ring; 842. Electromagnet;

[0038] 9. Driving assembly; 91. Driving gear; 92. Passive gear;

[0039] 10. Synchronous assembly; 101. First gear; 102. Second gear; 103. Transmission shaft. DETAILED DESCRIPTION

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] See also Figure 1-Figure 3The present application provides an embodiment of a pipeline robot with a long endurance, which includes a main body 1, a driving wheel group 2, a passive wheel group 3, a battery 4, a motor 5, a first lifting assembly 6, a second lifting assembly 7 and a locking assembly 8. The driving wheel group 2 and the passive wheel group 3 are connected to the main body 1 in an interval rotation manner. At least one wheel of the driving wheel group 2 is provided with a plurality of blades 21 at intervals along its circumferential direction. The plurality of blades 21 are retractably arranged on the wheels. When the pipeline robot is traveling, the blades 21 are retracted in the wheels of the driving wheel group 2. When the pipeline robot is charging, the blades 21 extend from the wheels of the driving wheel group 2 and unfold. The main body 1 is a shell structure. The battery 4 and the motor 5 are both installed inside the main body 1. The motor 5 is electrically connected to the battery 4. The battery 4 supplies power to the motor 5, and the motor 5 drives the driving wheel group 2 to rotate. The first lifting assembly 6 and the second lifting assembly 7 are connected to the top and bottom of the main body 1 respectively, and both can be folded and arranged in the main body 1. When the first lifting assembly 6 and the second lifting assembly 7 are opened, the lifting ends of both can be pressed against the inner wall of the natural gas pipeline, so that the pipeline robot stops in the natural gas pipeline. One end of the locking assembly 8 is connected to the main body 1, and the other end is connected to the wheel of the driving wheel, which is used to lock the folding of the blade 21.

[0044] When the natural gas pipeline robot is moving normally in the natural gas pipeline, the battery 4 supplies power to the motor 5, the motor 5 drives the driving wheel group 2 to rotate, the blades 21 are retracted into the wheel of the driving wheel, and the locking assembly 8 locks the retraction of the blades 21. At the same time, the first lifting assembly 6 and the second lifting assembly 7 are retracted into the main body 1. When the battery 4 of the natural gas pipeline robot needs to be charged, the motor 5 stops rotating, the first lifting assembly 6 and the second lifting assembly 7 are opened, the lifting ends of the first lifting assembly 6 and the second lifting assembly 7 are both pressed against the inner wall of the natural gas pipeline, and the driving wheel group 2 and the passive wheel group 3 are both suspended. At this time, the locking assembly 8 releases the lock on the blades 21, and the blades 21 unfold. Under the blowing of natural gas, the blades 21 drive the rotation of the driving wheel group 2, and the motor 5 rotates together. The rotating motor 5 generates electricity to charge the battery 4.

[0045] After the battery 4 is fully charged again, the first lifting assembly 6 extends and the second lifting assembly 7 shortens, but at this time the lifting ends of the first lifting assembly 6 and the second lifting assembly 7 are still pressed against the inner wall of the natural gas pipeline until the blades 21 contact the inner wall of the pipeline. The motor 5 drives the driving wheel group 2 to rotate, and then the first lifting assembly 6 continues to extend and the second lifting assembly 7 continues to shorten until the blades 21 are retracted into the wheels. The first lifting assembly 6 and the second lifting assembly 7 are retracted into the main body 1, and the natural gas pipeline robot can continue to travel.

[0046] It can be seen that the natural gas pipeline robot can charge the battery 4 under the wind power of natural gas, thereby extending the endurance of the natural gas pipeline robot and reducing the limitation of the mileage of the natural gas pipeline robot.

[0047] In a preferred embodiment of the present application, refer to Figure 1-Figure 5 The wheel side wall of the driving wheel group 2 is recessed inward to form an annular groove 22. One end of the blade 21 is hinged to the wheel of the driving wheel group 2, and the hinge axis is parallel to the rotation axis of the driving wheel group 2. The hinge end of the blade 21 is provided with a torsion spring for unfolding the blade 21. When the blade 21 is folded in the annular groove 22, the locking assembly 8 locks the folding of the blade 21. When the locking assembly 8 releases the lock on the blade 21, the blade 21 automatically unfolds under the action of the torsion spring.

[0048] In order to enable the motor 5 to drive the rotation of the driving wheel group 2, refer to Figure 2 A driving assembly 9 is provided between the motor 5 and the driving wheel set 2. In a preferred embodiment of the present application, the driving assembly 9 includes a driving gear 91 and a driven gear 92 that mesh with each other, the driving gear 91 is coaxially fixed to the rotating shaft of the motor 5, and the driven gear 92 is coaxially fixed to the rotating shaft of the driving wheel set 2. When the driving shaft of the motor 5 rotates, the driving gear 91 rotates with the driving shaft of the motor 5, and then drives the rotating shaft of the driving wheel set 2 to rotate through the driven gear 92, thereby realizing the driving of the pipeline robot.

[0049] Normally, the rotation speed of the motor 5 is relatively high. In order to make the movement speed of the pipeline robot more moderate, that is, the rotation speed of the shaft of the driving wheel set 2 needs to be moderate, therefore, the number of teeth of the driving gear 91 is less than the number of teeth of the passive gear 92. Through such a setting, the rotation speed of the drive shaft of the motor 5 is decelerated, thereby making the movement speed of the pipeline robot more moderate. In addition, when the blades 21 are unfolded and blown, driving the shaft of the driving wheel set 2 to rotate, the passive gear 92 drives the driving gear 91 to rotate. Since the number of teeth of the driving gear 91 is less than the number of teeth of the passive gear 92, the power of the shaft is accelerated when it is transmitted to the drive shaft of the motor 5, thereby increasing the rotation speed of the generator 5 motor 5, which is more conducive to the power generation of the motor 5.

[0050] In other embodiments, the driving assembly 9 can also be a driving pulley, a passive pulley and a belt. The driving pulley is coaxially fixed to the driving shaft of the motor 5, the passive pulley is coaxially fixed to the rotating shaft of the driving wheel set 2, and the two ends of the belt are respectively sleeved on the driving pulley and the passive pulley. When the driving shaft of the motor 5 drives the driving pulley to rotate, the belt drives the passive pulley to rotate, and then drives the rotating shaft of the driving wheel set 2 to rotate, which can also realize the transmission of the power of the motor 5 to the power of the driving wheel set 2.

[0051] Further, see Figure 2 and Figure 3In a preferred embodiment of the present application, the first lifting assembly 6 includes a first lifting motor 61 and a first support plate 62, the housing of the first lifting motor 61 is connected to the main body 1, and the first support plate 62 is fixed to the telescopic end of the first lifting motor 61. The second lifting assembly 7 includes a second lifting motor 71 and a second support plate 72, the housing of the second lifting motor 71 is connected to the main body 1, and the second support plate 72 is fixed to the telescopic end of the second lifting motor 71. When the pipeline robot is moving, the telescopic rod of the first lifting motor 61 and the telescopic rod of the second lifting motor 71 are both retracted in the main body 1.

[0052] When the telescopic rod of the first lifting motor 61 and the telescopic rod of the second lifting motor 71 are extended from the main body 1 and gradually extend, the first support plate 62 and the second support plate 72 are pressed against the inner wall of the natural gas pipeline, and the pipeline robot stops in the natural gas pipeline.

[0053] Reference Figure 2 and Figure 3 When the first support plate 62 and the second support plate 72 are both pressed against the inner wall of the natural gas pipeline, the telescopic rod of the first lifting motor 61 is shortened, and the telescopic rod of the second lifting motor 71 is extended. After the wheels of the driving wheel group 2 are suspended at a certain height, the blades 21 are unfolded, and the wheels of the driving wheel group 2 can rotate under the blowing of natural gas, and the rotation direction is opposite to the direction of the pipeline robot moving forward.

[0054] Reference Figure 2 and Figure 3 , when the pipeline robot is fully charged, the blades 21 need to be retracted into the wheels. At this time, the telescopic rod of the first lifting motor 61 extends, and the telescopic rod of the second lifting motor 71 shortens, until the blades 21 contact the inner wall of the natural gas pipeline, and the motor 5 drives the wheels of the driving wheel group 2 to rotate, and the rotation direction is opposite to the direction when the pipeline robot moves forward. Then the telescopic rod of the first lifting motor 61 continues to extend, and the telescopic rod of the second lifting motor 71 continues to shorten, pressing the blades 21, until the wheels of the driving wheel group 2 are about to contact the inner wall of the natural gas pipeline, the locking assembly 8 locks the blades 21 and retracts them into the wheels of the driving wheel group 2.

[0055] Further, see Figure 1-Figure 3, a receiving groove 11 is provided on the top of the main body 1 along the length direction of the main body 1, and one end of the first lifting motor 61 is flipped and set in the receiving groove 11. When the first lifting motor 61 is flipped to a vertical state, the lifting end of the first lifting motor 61 extends out of the receiving groove 11 and faces the inner wall of the natural gas pipeline. In the embodiment of the present application, the length direction of the receiving groove 11 is along the length direction of the main body 1. Through such a setting, the main body 1 can fold the first lifting motor 61 of a larger length, so that the pipeline robot can adapt to a larger diameter of the natural gas pipeline. For the second lifting motor 71, it is fixed to the bottom of the main body 1 in the vertical direction, and its shell is located inside the main body 1. When the telescopic rod of the second lifting motor 71 is retracted into the shell, the telescopic rod of the second lifting motor 71 is folded into the main body 1.

[0056] In order to enable the first lifting motor 61 to be connected to the main body 1 in a flipping manner, in some embodiments, the end of the housing of the lifting motor 61 can be hinged to the main body 1, and the rotation axis is parallel to the axis of the driving wheel set 2. The flip motor is fixedly connected to the main body 1, the housing of the flip motor is fixed to the main body 1, and the rotating shaft of the flip motor is fixed to the hinged end of the first lifting motor 61. When the rotating shaft of the flip motor rotates, the lifting motor 61 can be flipped.

[0057] Further, see Figure 2-Figure 6 The locking assembly 8 includes an adsorption member 81, a reset member 82, a pull rope 83 and a pulling component 84. The adsorption member 81 is slidably connected to the wheel of the driving wheel group 2, and the sliding direction is in the direction of approaching or moving away from the blade 21. The reset member 82 is connected between the adsorption member 81 and the wheel of the driving wheel group 2, and is used to reset the adsorption member 81 in the direction of approaching the blade 21. One end of the pull rope 83 is connected to the adsorption member 81, and the other end is connected to the pulling component 84, and the pulling component 84 is used to pull the pull rope 83.

[0058] When the locking assembly 8 locks the blade 21, the suction member 81 suctions the blade 21. When the locking assembly 8 releases the blade 21, the pulling member 84 pulls the pull rope 83, the suction member 81 moves away from the blade 21, the blade 21 is unlocked, and the blade 21 unfolds under the action of the torsion spring. When the pulling member 84 removes the pulling force, the suction member 81 returns to the initial position under the reset action of the reset member 82.

[0059] In a preferred embodiment of the present application, the adsorption member 81 is a magnet, and the blade 21 is made of a magnetizable material such as iron. Under the adsorption of the magnet, the blade 21 can remain in a folded state. As for the reset member 82, in a preferred embodiment of the present application, the reset member 82 is a spring, one end of the spring is pressed against the adsorption member 81, and the other end is pressed against the wheel of the driving wheel group 2, and the direction of the elastic restoring force is toward the direction close to the blade 21. When the adsorption member 81 is pulled away from the blade 21 by the pull rope 83, the spring is compressed, and when the pulling force of the pull rope 83 is removed, the adsorption member 81 is reset to the initial position.

[0060] Further, see Figure 4-Figure 6 The pulling component 84 includes an iron ring 841 and an electromagnet 842. The iron ring 841 is slidably mounted on the rotating shaft of the driving wheel group 2, and the end of the pull rope 83 is fixedly connected to it. The electromagnet 842 is fixed to the main body 1 and is arranged adjacent to the iron ring 841. When the electromagnet 842 is powered on, the electromagnet 842 absorbs the iron ring 841. When the electromagnet 842 is powered off, the electromagnet 842 no longer absorbs the iron ring 841. Under the action of the reset member 82, the iron ring 841 returns to its initial position and no longer generates a pulling force on the pull rope 83.

[0061] Further, see Figure 2 , Figure 4 The wheels of the driving wheel group 2 and the wheels of the passive wheel group 3 are both provided with a plurality of blades 21, and a synchronization component 10 is connected between the driving wheel group 2 and the passive wheel group 3, one end of the synchronization component 10 is connected to the rotating shaft of the driving wheel group 2, and the other end is connected to the rotating shaft of the passive wheel group 3, so as to make the driving wheel group 2 and the passive wheel group 3 rotate synchronously.

[0062] Through such an arrangement, on the one hand, when the pipeline robot moves, each wheel can actively rotate, which is more conducive to the movement of the pipeline robot. On the other hand, when the pipeline robot generates electricity, each wheel can be used as a power source to drive the motor 5 to rotate, which is more conducive to the power generation of the motor 5.

[0063] Further, see Figure 2 , Figure 4 The synchronization assembly 10 includes a first gear 101, a second gear 102 and a transmission shaft 103. The first gear 101 and the second gear 102 are coaxially fixed to the rotating shaft of the driving wheel set 2 and the rotating shaft of the driven wheel set 3, respectively. Transmission gears are coaxially fixed to both ends of the transmission shaft 103, and the two transmission gears are respectively meshed with the first gear 101 and the second gear 102. When the first gear 101 rotates, it drives the transmission shaft 103 to rotate, and then drives the second gear 102 to rotate, thereby realizing the synchronous rotation of the driving wheel set 2 and the driven wheel set 3.

[0064] In other embodiments, the synchronous component 10 can also be a driving pulley, a passive pulley and a belt. The driving pulley is coaxially fixed to the rotating shaft of the driving wheel set 2, the passive pulley is coaxially fixed to the rotating shaft of the passive wheel set 3, and the two ends of the belt are respectively sleeved on the driving pulley and the passive pulley. When the rotating shaft of the driving wheel set 2 drives the driving pulley to rotate, the belt drives the passive pulley to rotate, and then drives the rotating shaft of the passive wheel set 3 to rotate, so that the synchronous rotation of the driving wheel set 2 and the passive wheel set 3 can also be achieved.

[0065] Based on the above embodiment of the long-endurance pipeline robot, the present application also discloses a control method for the long-endurance pipeline robot, which includes the following steps:

[0066] When the pipeline robot is fully charged, the blade 21 is retracted into the wheel of the driving wheel group 2, the locking assembly 8 locks the blade 21, and the first lifting assembly 6 and the second lifting assembly 7 are retracted into the main body 1;

[0067] The battery 4 supplies power to the motor 5, which drives the wheels of the driving wheel set 2 to rotate, so that the pipeline robot travels in the natural gas pipeline;

[0068] When the pipeline robot is low on power, the first lifting assembly 6 and the second lifting assembly 7 are deployed, and the lifting ends of both are pressed against the inner wall of the natural gas pipeline, and the driving wheel group 2 and the driven wheel group 3 are suspended in the air;

[0069] The locking assembly 8 releases the lock on the blade 21, and the blade 21 unfolds. The natural gas in the natural gas pipeline blows the blade 21 to rotate, and the blade 21 drives the motor 5 to rotate, and the motor 5 generates electricity to charge the battery 4;

[0070] When the pipeline robot is fully charged, the lifting end of the first lifting assembly 6 is continuously extended, and the lifting end of the second lifting assembly 7 is continuously shortened, until the blade 21 contacts the inner wall of the natural gas pipeline, and the motor 5 drives the blade 21 to rotate;

[0071] After the blade 21 is retracted into the wheel of the driving wheel assembly 2 , the locking assembly 8 locks the blade 21 , and the first lifting assembly 6 and the second lifting assembly 7 are retracted into the main body 1 .

[0072] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0073] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A long-endurance pipeline robot, comprising a main body (1), characterized in that: Also includes: A driving wheel group (2) and a driven wheel group (3), both of which are connected to the main body (1) in a rotational manner at intervals, at least one wheel of the driving wheel group (2) is provided with a plurality of blades (21) at intervals along its circumferential direction, and the plurality of blades (21) are arranged on the wheel in a retractable manner; A battery (4) and a motor (5), both of which are mounted on the main body (1); the motor (5) is electrically connected to the battery (4); the battery (4) supplies power to the motor (5); and the motor (5) drives the driving wheel set (2) to rotate; A first lifting assembly (6) and a second lifting assembly (7), both of which are connected to the top and bottom of the main body (1) respectively, and both are foldably arranged in the main body (1); when the first lifting assembly (6) and the second lifting assembly (7) are both opened, the lifting ends of both can be pressed against the inner wall of the natural gas pipeline; A locking assembly (8), one end of which is connected to the main body (1), and the other end of which is connected to the wheel of the driving wheel, and is used to lock the folding of the blade (21).

2. A long-endurance pipeline robot according to claim 1, characterized in that: The first lifting assembly (6) comprises a first lifting motor (61) and a first support plate (62), the housing of the first lifting motor (61) is connected to the main body (1), and the first support plate (62) is fixed to the telescopic end of the first lifting motor (61); And / or, the second lifting assembly (7) comprises a second lifting motor (71) and a second support plate (72), the housing of the second lifting motor (71) is connected to the main body (1), and the second support plate (72) is fixed to the telescopic end of the second lifting motor (71).

3. A long-endurance pipeline robot according to claim 2, characterized in that: The top of the main body (1) is provided with a receiving groove (11) along the length direction of the main body (1), and one end of the first lifting motor (61) is turned over and arranged in the receiving groove (11); When the first lifting motor (61) is flipped to a vertical state, the lifting end of the first lifting motor (61) extends out of the accommodating groove (11) and faces the inner wall of the natural gas pipeline.

4. The long-endurance pipeline robot according to claim 1, characterized in that: The locking assembly (8) comprises: An adsorption member (81) is slidably connected to the wheel of the driving wheel group (2), and the sliding direction is in a direction approaching or moving away from the blade (21); a reset member (82), connected between the adsorption member (81) and the wheel of the driving wheel group (2), and used for resetting the adsorption member (81) in a direction close to the blade (21); A pull rope (83) has one end connected to the adsorption member (81) and the other end connected to a pulling component (84), wherein the pulling component (84) is used to pull the pull rope (83).

5. The long-endurance pipeline robot according to claim 4, characterized in that: The pulling component (84) comprises: An iron ring (841) which is sleeved on the rotating shaft of the driving wheel group (2) and to which the end of the pull rope (83) is fixedly connected; The electromagnet (842) is fixed to the main body (1) and is arranged adjacent to the iron ring (841). When the electromagnet (842) is energized, the electromagnet (842) absorbs the iron ring (841).

6. The long-endurance pipeline robot according to claim 1, characterized in that: A synchronization component (10) is connected between the driving wheel group (2) and the passive wheel group (3); one end of the synchronization component (10) is connected to the rotating shaft of the driving wheel group (2), and the other end is connected to the rotating shaft of the passive wheel group (3), so as to enable the driving wheel group (2) and the passive wheel group (3) to rotate synchronously.

7. The long-endurance pipeline robot according to claim 6, characterized in that: The synchronization component (10) comprises: A first gear (101) and a second gear (102), both of which are coaxially fixed to the rotating shaft of the driving wheel group (2) and the rotating shaft of the driven wheel group (3), respectively; The transmission shaft (103) has transmission gears coaxially fixed at both ends thereof, and the two transmission gears are respectively meshed with the first gear (101) and the second gear (102).

8. The long-endurance pipeline robot according to claim 1, characterized in that , further comprising a driving assembly (9) disposed between the motor (5) and the driving wheel assembly (2), the driving assembly (9) comprising a driving gear (91) and a driven gear (92) meshing with each other, the driving gear (91) being coaxially fixed to the rotating shaft of the motor (5), and the driven gear (92) being coaxially fixed to the rotating shaft of the driving wheel assembly (2).

9. The long-endurance pipeline robot according to claim 8, characterized in that: The number of teeth of the driving gear (91) is smaller than the number of teeth of the driven gear (92).

10. A control method for a long-endurance pipeline robot based on any one of claims 1 to 9, characterized in that: The following steps are involved: When the pipeline robot has sufficient power, the blade (21) is retracted into the wheel of the driving wheel group (2), the locking assembly (8) locks the blade (21), and the first lifting assembly (6) and the second lifting assembly (7) are retracted into the main body (1); The battery (4) supplies power to the motor (5), and the motor (5) drives the wheels of the driving wheel group (2) to rotate, so that the pipeline robot travels in the natural gas pipeline; When the pipeline robot is low on power, the first lifting assembly (6) and the second lifting assembly (7) are unfolded, and the lifting ends of both are pressed against the inner wall of the natural gas pipeline, and the driving wheel group (2) and the driven wheel group (3) are suspended in the air; The locking assembly (8) releases the locking of the blade (21), the blade (21) unfolds, the natural gas in the natural gas pipeline blows the blade (21) to rotate, the blade (21) drives the motor (5) to rotate, and the motor (5) generates electricity to charge the battery (4); When the pipeline robot is fully charged, the lifting end of the first lifting component (6) is continuously extended, and the lifting end of the second lifting component (7) is continuously shortened, until the blade (21) contacts the inner wall of the natural gas pipeline, and the motor (5) drives the blade (21) to rotate; After the blade (21) is retracted into the wheel of the driving wheel assembly (2), the locking assembly (8) locks the blade (21), and the first lifting assembly (6) and the second lifting assembly (7) are retracted into the main body (1).

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