Modular pipeline robot capable of active and passive radial resizing

Abstract

The application discloses a modular pipeline robot capable of realizing active and passive radial size adjustment and belongs to the technical field of pipeline robots. The application aims at solving the problems of poor bending performance, small size adjustment scale and unstable structure operation caused by large volume of the pipeline robot in the prior art. The application comprises an active variable-diameter module, a passive variable-diameter module, an actuating mechanism module and a control and energy module. The active variable-diameter module is provided with three circular arrays of passive variable-diameter modules on the outer side. The passive variable-diameter module comprises a track structure and is connected with the active variable-diameter module. The active variable-diameter module is provided with a transmission member with a planar helical groove, which converts rotary motion into radial linear motion. The active variable-diameter module adjusts the distance between the track of the passive variable-diameter module and the main body of the robot and can be self-locked, so that the track can be in stable contact with the inner wall of the pipeline. The passive variable-diameter module realizes the crossing of the obstacles on the inner wall of the pipeline through the asymmetric compression of two spring shock absorbers.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of pipeline robots, and particularly relates to a modular pipeline robot capable of realizing active and passive radial size adjustment. BACKGROUND

[0002] Pipelines bear important transportation functions in modern cities. With the passage of time, problems such as corrosion and blockage may occur inside the pipelines, which not only reduce the efficiency of the pipelines but also may affect the normal functions of the pipelines, so it is necessary to regularly detect and dredge the pipelines. As an important tool for modern pipeline detection and maintenance, a pipeline robot can carry sensors into a pipeline to perform detection and maintenance tasks. However, due to the complex environment inside the pipeline, there are different diameters, curvatures and obstacles, and a traditional fixed-diameter robot is difficult to adapt to all pipeline sizes, so a pipeline robot design with automatic diameter adjustment capability is needed to improve its passability and detection efficiency and ensure stable operation in various complex environments.

[0003] A multifunctional variable-diameter self-adaptive pipeline robot is disclosed in Chinese Patent No. CN118775677A. The pipeline robot uses a variable-diameter device composed of a lead screw, a sliding block, a trapezoidal screw nut and a connecting rod. When the motor drives the synchronous belt to rotate, the lead screw rotates, the trapezoidal screw nut translates in the axial direction of the robot, and the sliding block drives the connecting rod to displace, causing the driving wheel to expand and contract radially, thereby realizing the variable diameter of the pipeline robot. However, the pipeline robot uses a lead screw plus swing arm or gimbal method, which occupies a large axial space. Since the lead screw is long and arranged in the axial position of the pipeline robot, using this variable-diameter method will increase the axial size of the pipeline robot, which is not suitable for miniaturization, reduces the performance of the pipeline robot in the pipeline, and also reduces the space utilization of the body.

[0004] A Chinese patent with publication number CN118306488B discloses a deformable tracked pipeline robot and its differential bending method. The pipeline robot adopts a central variable-diameter module composed of springs, moving hinges, support rods, and tracked feet. When the tracked feet pass through a pipeline with varying diameter, the tracked feet are inclined parallel to the inner wall of the pipeline, and the two side support rods compress the two side springs to achieve a certain degree of passive variable diameter. The support leg module is composed of a brake, a synchronous pulley, a transmission shaft, a synchronous belt, a drive motor, a gear set, a coupling, and a side plate. The drive motor provides power, the brake controls the start and stop of the variable diameter function, the coupling, gear set, and synchronous belt are used for transmission, and the drive motor drives the synchronous belt through the coupling to adjust the angle of the support leg module relative to the tracked foot module, realizing the stretching and contraction of the external tracked in the radial direction. However, the design uses a brake, a synchronous belt, and a coupling to drive the support leg module, which has a small variable diameter adjustment scale, limiting its application range. When the radial size increases, the contact area between the tracked and the pipe wall decreases, resulting in reduced friction. The structure is complex, the cost is high, and the design of the support rod and the spring sacrifices part of the body space, limiting the expansion capability.

[0005] A Chinese patent with publication number CN114719123B discloses a variable-diameter pipeline robot. The pipeline robot uses a rudder, a rotating disc with grooves, and an extension support with protrusions to change the radial size. The rotating disc has grooves, and the protrusions on the extension support are installed in the grooves of the rotating disc. The rudder drives the rotating disc to rotate, and the grooves and protrusions adjust the rotational motion of the rotating disc to radial straight motion. However, the invention does not design a passive pipe diameter adaptation module. The method of using a rudder, a rotating disc with grooves, and an extension support with protrusions does not design a self-locking mechanism. When the pipe diameter changes or there are obstacles on the pipe wall, the driving wheel and the driven wheel are subjected to inward pressure. The protrusions on the extension support transmit the reverse force to the rotating disc, driving the rotating disc to rotate in the direction of reducing the radial size of the driving wheel. This causes the device to lose sufficient support force, resulting in unstable operation of the robot. SUMMARY

[0006] The present application aims to provide a modular pipeline robot that can achieve active and passive radial size adjustment, solving the problems of poor bending performance, small variable diameter adjustment scale, and unstable structure operation caused by the large size of the pipeline robot in the prior art.

[0007] To achieve the above-mentioned purpose, the present application provides a modular pipeline robot that can achieve active and passive radial size adjustment, which comprises an active variable-diameter module, a passive variable-diameter module, an execution mechanism module arranged at the front end of the active variable-diameter module in the direction of movement, and a control and energy module arranged at the rear end of the active variable-diameter module in the direction of movement. The overall action is controlled by the control and energy module.

[0008] The active variable-diameter module comprises a variable-diameter driving part and two groups of variable-diameter adjusting parts symmetrically arranged at both ends of the variable-diameter driving part, each group of the variable-diameter adjusting parts comprises at least a variable-diameter base and a plurality of legs uniformly distributed on the end face of the variable-diameter base away from the variable-diameter driving part, and the legs slide along the radial direction relative to the end face of the variable-diameter base; the legs of the two groups of the variable-diameter adjusting parts are arranged opposite to each other; and the length of the legs extending out of the variable-diameter base is adjusted by the variable-diameter driving part.

[0009] The passive variable-diameter module comprises a plurality of track structures uniformly distributed on the outer side of the active variable-diameter module and spring shock absorbers, and each track structure is connected with two legs opposite to each other of the two groups of the variable-diameter adjusting parts through two spring shock absorbers at both ends of the side close to the active variable-diameter module.

[0010] The variable-diameter driving part comprises:

[0011] An assembly mounting sleeve, a plurality of assembly mounting surfaces are arranged on the inner ring surface of the assembly mounting sleeve;

[0012] A variable-diameter driving motor, which is installed on the assembly mounting surface of the assembly mounting sleeve through a variable-diameter driving motor mounting seat;

[0013] An active driving gear coaxially fixed on the output shaft of the variable-diameter driving motor;

[0014] And two passive driving gears, the two passive driving gears and the active driving gear are uniformly distributed in the circumferential direction, each passive driving gear is installed on a gear mounting seat through a gear bearing, and the gear mounting seat is installed on the assembly mounting surface through bolt connection.

[0015] Each group of the variable-diameter adjusting parts further comprises:

[0016] A driving disc installed on the variable-diameter base through a driving disc bearing, a planar helical groove is arranged on the side of the driving disc close to the variable-diameter base, and an annular helical gear meshing with the active driving gear and the passive driving gear is arranged on the side of the driving disc away from the variable-diameter base;

[0017] And a leg mounting seat, a plurality of radial sliding grooves are uniformly distributed on the end face of the variable-diameter base away from the variable-diameter driving part, a plurality of leg mounting seats are respectively and radially slidably connected with the plurality of sliding grooves; the side of the leg mounting seat close to the driving disc is provided with a planar helical groove, the planar helical groove of the leg mounting seat is meshed with the planar helical groove of the driving disc, and the leg is fixed on the leg mounting seat.

[0018] The passive variable diameter module also includes a double-fork ear seat connected between the spring shock absorber and the track structure. The double-fork ear seat and the track structure are hingedly installed. The bottom plate of the double-fork ear seat is fixedly connected to the mounting platform at one end of the spring shock absorber, and the other end of the spring shock absorber is hinged to the support leg.

[0019] The crawler structure comprises:

[0020] Two track side plates are arranged opposite to each other, and both ends of the track side plates are arc-shaped ends;

[0021] A walking track wound around the outer sides of the two track side plates;

[0022] A crawler drive unit, which drives the walking crawler to rotate;

[0023] and a tensioning adjusting portion, through which the tensioning degree of the walking crawler belt is adjusted.

[0024] The crawler drive unit includes:

[0025] A crawler drive motor is mounted on the outer end surface of a crawler side plate through a crawler drive motor mounting base;

[0026] A driving bevel gear coaxially arranged with the output shaft of the crawler drive motor;

[0027] A crawler drive shaft is arranged perpendicular to the output shaft of the crawler drive motor, and one end of the crawler drive shaft extends between the two crawler side plates;

[0028] A driven bevel gear fixed to the other end of the crawler drive shaft, the driven bevel gear being meshed with the driving bevel gear;

[0029] A track driving wheel fixed to the portion of the track driving shaft located between the two track side plates, wherein the track driving wheel is engaged with one end of the traveling track near an arcuate end of the track side plate for transmission;

[0030] and a plurality of crawler driven wheels, which are arranged at two long sides of the traveling crawler track and meshed with the traveling crawler track.

[0031] The tensioning adjustment part is located at an arc-shaped end of the crawler side plate away from the crawler driving part; the tensioning adjustment part includes a tensioning shaft, a tensioning wheel coaxially fixed on the tensioning shaft, and two sets of flexible adjustment structures symmetrically arranged on the two crawler side plates, the tensioning wheels are engaged with the walking crawler; each set of the flexible adjustment structures includes:

[0032] The tensioning support is fixedly arranged at the opposite positions of two track side plates, the track side plates are provided with a tensioning moving groove along the length direction, the cavity in the middle of the tensioning support is arranged opposite to the tensioning moving groove on the track side plate, the vertical plate of the tensioning support is provided with a first spring positioning block;

[0033] The L-shaped tensioning mounting base is located in the cavity of the tensioning support and is slidably matched along the length direction of the walking track, the bottom plate of the tensioning mounting base is provided with a circular groove, the side plate is provided with a second spring positioning block, and the two ends of the tensioning shaft are respectively installed on the circular grooves of the two tensioning mounting bases through the tensioning bearings;

[0034] The tensioning spring is connected and positioned at one end of the first spring positioning block of the tensioning support and at the other end of the second spring positioning block of the tensioning mounting base.

[0035] The execution mechanism module comprises:

[0036] An execution mechanism base, one end surface of the execution mechanism base is detachably connected with the front end of the active variable-diameter module in the advancing direction;

[0037] An execution mechanism upper cover, one end of the execution mechanism upper cover is detachably connected with the other end of the execution mechanism base, and the execution mechanism upper cover is provided with a detection sensor mounting hole;

[0038] An execution mechanism driving motor arranged in the interior of the execution mechanism upper cover;

[0039] A cleaning cutter head, the cleaning cutter head is fixedly connected with the execution mechanism driving motor coaxially at the other end of the execution mechanism upper cover, and a plurality of cleaning cutters are radially arranged and uniformly distributed on the circumferential surface of the front end acting surface of the cleaning cutter head;

[0040] And a drill bit coaxially arranged on the front end acting surface of the cleaning cutter head.

[0041] The beneficial effects of the present application are that the modular pipeline robot capable of active and passive radial size adjustment adopts the combination of active and passive variable diameter to adapt to the working pipeline; the outer side of the active variable diameter module is uniformly provided with three passive variable diameter modules along the circumference, the passive variable diameter module comprises a track foot structure, the plane helical groove of the cooperation surface of the driving disc and the leg mounting seat in the active variable diameter module is engaged, the distance between the track foot and the central axis of the pipeline robot can be adjusted, the self-locking can be realized by the design of the plane helical groove, the radial force borne by the track foot due to the crossing of obstacles or welds cannot reversely drive the driving disc to rotate, the change of the radial position of the track caused by external obstacles is prevented, and the stable operation of the pipeline robot in the pipeline is ensured; when the pipeline robot advances on the inner wall of the pipeline without obstacles, the track can run smoothly through the pipeline; the variable diameter structure occupies small axial space, is modular in the whole, has strong expandability, and is suitable for pipelines with various diameters; the track position is adjusted to be slightly larger than the inner diameter of the pipeline by the active variable diameter module, the two groups of spring shock absorbers of the passive variable diameter module are compressed, and sufficient positive pressure can be generated between the track foot and the inner wall of the pipeline; when the pipeline robot advances on the inner wall of the pipeline with welds or obstacles, the track structure will climb along the welds or obstacles, the differential compression of the two end spring shock absorbers is used to realize the change of the angle of the track foot relative to the axial diameter of the pipeline, and the small welds and obstacles in the pipeline are smoothly passed through; the present application can pass through the pipeline with variable inner diameter; the distance sensor provided in the actuator module can obtain the pipe diameter, the radial position of the track is adjusted by the active variable diameter module according to the variable amount of the inner diameter of the pipeline and the maximum crossing angle (the angle of the track relative to the pipeline axis when one side spring shock absorber is limitedly compressed and the other side spring shock absorber is not compressed) that can be reached by the passive variable diameter module, the track is pressed by the inner wall of the pipeline, the two spring shock absorbers of the passive variable diameter mechanism are compressed to different degrees, the track is tightly attached to the inclined inner wall of the pipeline (the inner wall of the pipeline with variable inner diameter), and the compression degree of the two spring shock absorbers is adjusted by the active variable diameter module to provide sufficient friction, so that the pipeline robot can move and work in the pipeline with variable inner diameter. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is a whole structure assembly drawing of the modular pipeline robot capable of active and passive radial size adjustment of the present application;

[0043] Figure 2 It is a module explosion drawing of the modular pipeline robot capable of active and passive radial size adjustment of the present application;

[0044] Figure 3 It is an explosion schematic view of the active variable diameter module in the modular pipeline robot capable of active and passive radial size adjustment of the present application;

[0045] Figure 4 A schematic diagram of a variable-diameter driving part of an active variable-diameter module in a modular pipeline robot capable of active and passive diameter adjustment according to the present application;

[0046] Figure 5 A schematic diagram of an assembly of a variable-diameter driving part of an active variable-diameter module in a modular pipeline robot capable of active and passive diameter adjustment according to the present application;

[0047] Figure 6 A schematic diagram of a passive variable-diameter module in a modular pipeline robot capable of active and passive diameter adjustment according to the present application;

[0048] Figure 7 A schematic diagram of a tension adjustment part in a modular pipeline robot capable of active and passive diameter adjustment according to the present application;

[0049] Figure 8 A schematic diagram of an actuator module in a modular pipeline robot capable of active and passive diameter adjustment according to the present application;

[0050] Figure 9 A schematic diagram of a variable-diameter increase in friction in a pipeline in a modular pipeline robot capable of active and passive diameter adjustment according to the present application;

[0051] Figure 10 A schematic diagram of a variable-diameter increase in friction in a pipeline in a modular pipeline robot capable of active and passive diameter adjustment according to the present application;

[0052] Figure 11 A schematic diagram of a variable-diameter increase in friction in a pipeline in a modular pipeline robot capable of active and passive diameter adjustment according to the present application;

[0053] Figure 12 A schematic diagram of a variable-diameter increase in friction in a pipeline in a modular pipeline robot capable of active and passive diameter adjustment according to the present application;

[0054] 1、active variable-diameter module, 101、variable-diameter base, 1011、bearing mounting shaft, 1012、mounting step surface, 1013、slotted guide, 1014、convex first mounting surface, 102、drive disc bearing, 103、drive disc, 104、driven gear, 105、gear mounting seat, 106、gear bearing, 107、variable-diameter driving motor mounting seat, 108、variable-diameter driving motor, 109、driving gear, 110、component mounting sleeve, 1101、component mounting surface, 111、leg mounting seat, 1111、concave first mounting surface, 1112、convex second mounting surface, 112、leg, 1121、concave second mounting surface, 113、leg mounting screw;

[0055] 2, passive variable diameter module, 201, spring shock absorber, 202, double fork seat, 203, track side plate, 2031, tensioning moving groove, 204, track drive motor mounting seat, 205, track drive motor, 206, track drive shaft mounting seat, 207, track drive bearing, 208, track drive shaft, 209, driving bevel gear, 210, driven bevel gear, 211, track drive wheel, 212, tensioning support, 2121, cavity, 2122, first spring positioning block, 213, tensioning spring, 214, tensioning mounting seat, 2141, second spring positioning block, 215, tensioning bearing, 216, tensioning shaft, 217, tensioning wheel, 218, walking track, 219, track driven wheel;

[0056] 3, actuator module, 301, actuator base, 302, actuator upper cover, 3021, detection sensor mounting hole, 303, cleaning cutter, 304, drill bit;

[0057] 4, control and energy module;

[0058] 5, fixed diameter pipe;

[0059] 6, weld or impurity deposition;

[0060] 7, pipe with smooth transition change of pipe diameter. DETAILED DESCRIPTION

[0061] The embodiments of the present application will be further described below with reference to the accompanying drawings.

[0062] Reference Figures 1-12 A modular pipeline robot capable of active and passive radial size adjustment comprises an active variable diameter module 1, a passive variable diameter module 2, an actuator module 3 arranged at the front end of the active variable diameter module 1 in the direction of travel, and a control and energy module 4 arranged at the rear end of the active variable diameter module 1 in the direction of travel; the overall action is controlled by the control and energy module 4;

[0063] The active variable diameter module 1 comprises a variable diameter drive part and two groups of variable diameter adjusting parts symmetrically arranged at both ends of the variable diameter drive part, each group of the variable diameter adjusting part comprises at least a variable diameter base 101 and a plurality of legs 112 uniformly distributed on the end face of the variable diameter base 101 away from the variable diameter drive part, the legs 112 are slidably fitted along the radial direction of the end face of the variable diameter base 101; the legs 112 of the two groups of variable diameter adjusting parts are arranged opposite to each other; the length of the legs 112 extending out of the variable diameter base 101 is adjusted by the variable diameter drive part;

[0064] The passive variable-diameter module 2 comprises a plurality of track structures and spring shock absorbers 201, which are circumferentially and evenly distributed outside the active variable-diameter module 1, and each of the track structures is connected to two groups of the opposite two legs 112 of the variable-diameter adjusting part through two spring shock absorbers 201 at both ends of the side close to the active variable-diameter module 1.

[0065] The variable-diameter driving part comprises:

[0066] The assembly mounting sleeve 110 is provided with a plurality of assembly mounting surfaces 1101 on the inner circumferential surface thereof;

[0067] The variable-diameter driving motor 108 is mounted on the assembly mounting surface 1101 of the assembly mounting sleeve 110 through the variable-diameter driving motor mounting seat 107;

[0068] The active driving gear 109 is coaxially fixed on the output shaft of the variable-diameter driving motor 108;

[0069] and two passive driving gears 104, which are circumferentially and evenly distributed with the active driving gear 109, and each of the passive driving gears 104 is mounted on the gear mounting seat 105 through the gear bearing 106, and the gear mounting seat 105 is mounted on the assembly mounting surface 1101 through bolt connection.

[0070] Each group of the variable-diameter adjusting part further comprises:

[0071] The driving disc 103 is mounted on the variable-diameter base 101 through the driving disc bearing 102, and the driving disc 103 is provided with a planar helical groove on the side close to the variable-diameter base 101 and an annular helical gear meshing with the active driving gear 109 and the passive driving gear 104 on the side away from the variable-diameter base 101;

[0072] and the leg mounting seat 111, the variable-diameter base 101 is provided with a plurality of radially arranged sliding grooves 1013 on the end face away from the variable-diameter driving part, and a plurality of the leg mounting seats 111 are respectively and radially slidably matched with the plurality of sliding grooves 1013; the leg mounting seat 111 is provided with a planar helical groove on the side close to the driving disc 103, the planar helical groove of the leg mounting seat 111 is meshed with the planar helical groove of the driving disc, and the leg 112 is fixed on the leg mounting seat 111 through the leg mounting screw 113 and extends relative to the variable-diameter base 101.

[0073] The variable-diameter base 101 is provided with a cylindrical inner cavity near the side facing the variable-diameter driving part, a bearing mounting shaft 1011 and a mounting step surface 1012 are arranged at the center of the inner cavity, and a convex first mounting surface 1014 is arranged at the opposite position of the side wall of the sliding slot 1013 of the variable-diameter base 101; the inner ring of the driving disc bearing 102 is mounted on the bearing mounting shaft 1011, the end surface is in contact with the mounting step surface 1012, and the outer ring is connected with the inner hole surface of the driving disc 103;

[0074] The cross section of the leg mounting seat 111 is an I-shaped section, and is matched with the sliding slot 1013 to slide radially; the side opposite to the planar spiral groove of the leg mounting seat 111 is a convex second mounting surface 1112, and the opposite two side walls are provided with concave first mounting surfaces 1111; the two concave first mounting surfaces 1111 of the leg mounting seat 111 are matched with the two convex first mounting surfaces 1014 of the sliding slot 1013 of the variable-diameter base 101;

[0075] The side contacting the leg mounting seat 111 of the leg 112 is provided with a concave second mounting surface 1121, and the second mounting surface of the leg 112 is matched with the convex second mounting surface 1112 of the leg mounting seat 111.

[0076] The variable-diameter base 101 is provided with a cylindrical inner cavity on the side facing the variable-diameter driving part, a bearing mounting shaft 1011 and a mounting step surface 1012 are arranged at the center of the inner cavity; the outer ring of the driving disc bearing 102 is matched with the circular opening at the center of the driving disc 103, the driving disc 103 is mounted in the inner cavity of the variable-diameter base 101, the driving disc 103 can rotate relative to the variable-diameter base 101, the side of the driving disc 103 close to the variable-diameter base 101 is provided with a planar spiral groove, and the side away from the variable-diameter base 101 is provided with an annular bevel gear; the driving disc 103 is matched with a driving gear 109 and two driven gears 104, the driving gear 109 and the driven gears 104 are uniformly distributed along the circumference, and the gear mounting seat 105 is mounted on the assembly mounting surface 1101 through bolt connection; the variable-diameter driving motor 108 drives the driving gear 109, and the forward rotation and reverse rotation of the driving disc 103 are controlled through gear transmission; the side of the variable-diameter base 101 away from the driving disc 103 is uniformly provided with three sliding grooves 1013, the sliding grooves 1013 are arranged outward along the radial direction with the center of the side of the variable-diameter base 101 as the vertex, and the cut part of the cross section of the sliding groove 1013 is in the shape of an I-beam; the sliding groove 1013 is used for mounting the leg mounting seat 111, limiting the movement and torsion of the leg mounting seat 111 in the central axis direction of the variable-diameter base 101, so that the leg mounting seat 111 moves in the radial direction of the variable-diameter base 101 in the sliding groove 1013, and the number of the leg mounting seat 111 is the same as that of the sliding groove 1013; the side of the leg mounting seat 111 close to the variable-diameter base 101 is provided with a planar spiral groove matched with the driving disc 103, the planar spiral grooves of the leg mounting seat 111 and the driving disc 103 are matched, and the positions of the planar spiral grooves of the plurality of leg mounting seats 111 are not completely the same, so as to ensure that the distances of the plurality of leg mounting seats 111 relative to the axis of the variable-diameter base 101 are the same; when the driving disc 103 rotates, the leg mounting seat 111 moves outward or inward along the radial direction through the transmission of the planar spiral groove, and the active variable-diameter function of the mechanism is realized; due to the arrangement of the planar spiral grooves of the driving disc 103 and the leg mounting seat 111, the radial position of the leg mounting seat 111 can be adjusted by rotating the driving disc 103, but the driving disc 103 cannot be rotated by applying a radial force to the leg mounting seat 111, that is, the design has a self-locking function; the leg mounting seat 111 and the leg 112 are assembled through the protrusion and groove structure and connected through bolts, and the number of the leg 112 is the same as that of the leg mounting seat 111; the leg 112 is provided with two parallel fork-shaped arms in the direction away from the central axis of the base, through holes are formed in the fork-shaped arms, the passive variable-diameter module 2 is connected through a hinge, and the position of the leg mounting seat 111 relative to the axis of the variable-diameter base 101 can be controlled through gear transmission of the variable-diameter driving motor 108, so as to adjust the positions of the plurality of passive variable-diameter modules 2 relative to the axis of the variable-diameter base 101, and the active variable-diameter adaptive function is realized.

[0077] The passive variable diameter module 2 further comprises a double fork lug seat 202 connected between the spring shock absorber 201 and the track structure, the double fork lug seat 202 and the track structure are hingedly installed, the bottom plate of the double fork lug seat 202 and the mounting platform at one end of the spring shock absorber 201 are fixedly connected, and the other end of the spring shock absorber 201 is hingedly connected with the supporting leg 112.

[0078] The track structure comprises:

[0079] Two track side plates 203 arranged oppositely, the track side plates 203 are overall rectangular, one of the opposite two sides is a long side and the other is a short side, and the two ends are arc-shaped end portions, one end of the arc-shaped end portion is connected with the long side end portion, and the other end extends along the tangent direction of the arc-shaped end portion;

[0080] A walking track 218 wound outside the two track side plates 203;

[0081] A track driving part for driving the walking track 218 to rotate;

[0082] And a tension adjusting part for adjusting the tension degree of the walking track 218.

[0083] The track driving part comprises:

[0084] A track driving motor 205 installed on the outer end face of one track side plate 203 through a track driving motor mounting seat 204;

[0085] And a driving bevel gear 209 coaxially arranged with the output shaft of the track driving motor 205;

[0086] And a track driving shaft 208 vertically arranged with the output shaft of the track driving motor 205, the track driving shaft 208 is installed on a track driving shaft mounting seat 206 through a track driving shaft bearing 207, the track driving shaft mounting seat 206 is fixedly installed on the track side plate 203, and one end of the track driving shaft 208 extends into between the two track side plates 203;

[0087] A driven bevel gear 210 fixed at the other end of the track driving shaft 208, the driven bevel gear 210 and the driving bevel gear 209 are engaged;

[0088] A track driving wheel 211 fixed on the part of the track driving shaft 208 between the two track side plates 203, the track driving wheel 211 and the walking track 218 are engaged in transmission near one end of the arc-shaped end portion of the track side plate 203;

[0089] And a plurality of track driven wheels 219, the plurality of track driven wheels 219 are arranged at two long edges of the walking track 218 and engaged with the walking track 218.

[0090] The tension adjusting part is located at one arc-shaped end of the track side plate 203 away from the track driving part; the tension adjusting part comprises a tension shaft 216, a tension wheel 217 coaxially fixed on the tension shaft 216, and two groups of flexible adjusting structures symmetrically arranged on the two track side plates 203, the tension wheel 217 is engaged with the walking track 218; each group of the flexible adjusting structure comprises:

[0091] A tension support 212 is fixedly arranged at the opposite positions of the two track side plates 203, the track side plate 203 is provided with a tension moving groove 2031 along the length direction, the cavity 2121 in the middle of the tension support 212 is oppositely arranged with the tension moving groove 2031 on the track side plate 203, and the vertical plate of the tension support 212 is provided with a first spring positioning block 2122;

[0092] An L-shaped tension mounting seat 214 is located in the cavity 2121 of the tension support 212 and is slidingly fitted along the length direction of the walking track 218 relative to the cavity 2121, the bottom plate of the tension mounting seat 214 is provided with a circular groove, the side plate is provided with a second spring positioning block 2141, and the two ends of the tension shaft 216 are respectively installed on the circular grooves of the two tension mounting seats 214 through the tension bearings 215;

[0093] And a tension spring 213, one end of the tension spring 213 is connected and positioned with the first spring positioning block 2122 of the tension support 212, and the other end is connected and positioned with the second spring positioning block 2141 of the tension mounting seat 214.

[0094] The spring shock absorber 201 has multiple, the same number of support legs 112, one end of the spring shock absorber 201 is provided with a hinged seat, a circular through hole is formed in the hinged seat, and the hinged seat is hinged with the fork-shaped arm structure of the support leg 112; one end of the spring shock absorber 201 away from the hinged seat is designed with a mounting platform, which is fixed with the bottom plate of the double fork ear seat 202 through bolt connection; the two support plates of the double fork ear seat 202 are arranged in parallel, the support plates are provided with through holes, and are hingedly installed with the track structure; a plurality of threaded holes and through holes are arranged on the track side plate 203, which are used for installing different functional components; the two track side plates 203 are fixed to each other by bolt connection through the connecting shaft; the track driving wheel 211, the tensioning wheel 217 and a plurality of track driven wheels 219 are installed between the two track side plates 203; the track driving wheel 211 and the track driving shaft 208 are connected through a key structure to realize torque transmission; the tensioning wheel 217 is arranged on the side away from the track driving wheel 211; the tensioning wheel 217 and the tensioning shaft 216 are connected through a key structure; the bottom plate of the tensioning support 212 is provided with a cavity 2121, the shape of the cavity 2121 is similar to that of the bottom plate of the tensioning mounting seat 214, which is used for limiting the degree of freedom of the tensioning shaft 216, so that the tensioning shaft 216 can only move back and forth along the long side direction of the track side plate 203; the tensioning mounting seat 214 is moved in the direction of tensioning the track by the elastic force of the tensioning spring 213, thereby driving the tensioning wheel 217 to move synchronously, so that the walking track 218 is tensioned.

[0095] The execution mechanism module 3 comprises:

[0096] An execution mechanism base 301, one end face of the execution mechanism base 301 is detachably connected with the front end of the active variable diameter module 1 in the advancing direction;

[0097] An execution mechanism upper cover 302 detachably connected with the other end of the execution mechanism base 301, the execution mechanism upper cover 302 is provided with a detection sensor mounting hole 3021;

[0098] An execution mechanism drive motor arranged in the execution mechanism upper cover 302;

[0099] A cleaning cutter head 303 arranged at the other end of the execution mechanism upper cover 302 and coaxially fixedly connected with the execution mechanism drive motor, a plurality of cleaning cutters are radially arranged on the circumferential surface of the front end of the cleaning cutter head 303;

[0100] And a drill bit 304 coaxially arranged on the front end of the cleaning cutter head 303.

[0101] The actuator base 301 is provided with a plurality of slots near one side of the active variable diameter module 1, the number of slots is the same as the number of legs 112, the slots are uniformly distributed along the radial direction outward from the center axis of the actuator base 301 as the end point, for accommodating the legs 112; the actuator base 301 is fixed by bolt connection with the actuator cover 302, the side of the actuator cover 302 close to the actuator base 301 is cylindrical, the side away from the actuator base 301 is spherical, a through hole is provided at the center of the spherical cover along the axis of the actuator cover 302, the output shaft of the actuator drive motor is installed through the bearing, the actuator drive motor is fixed inside the actuator cover 302 by bolt connection through the motor support, the spherical part of the actuator cover 302 is provided with a detection sensor mounting hole 3021 for installing various sensors and other equipment for detection and measurement; the output shaft of the actuator drive motor is locked in rotation through the key structure and positioned through the pin connection, the disc surface of the cleaning cutter head 303 is provided with a plurality of through holes, and a plurality of cleaning cutters are uniformly installed on the disc surface, the axis position of the cleaning cutter head 303 is provided with a drill bit 304 through bolt connection; the specifications of the cleaning cutter head 303 and the drill bit 304 are various, which are designed according to different pipes.

[0102] The control and energy module 4 is installed with control system and battery and other electronic and functional components, the overall action is controlled by the control system, and the overall power supply is realized by the battery.

[0103] When the pipeline robot of the application enters different fixed-diameter pipelines 5 to work, different specifications of cleaning cutter heads 303 need to be replaced according to the inner diameter of the pipeline, and then the distance of the plurality of passive variable-diameter modules 2 relative to the central axis is adjusted by controlling the variable-diameter drive motor 108 to make the walking track 218 contact the inner diameter of the pipeline. According to different work requirements, the plurality of supporting legs 112 can be driven radially outward by controlling the drive variable-diameter drive motor 108, so that the spring shock absorber 201 is compressed and the extrusion force on the walking track 218 is increased, thereby increasing the friction between the pipeline robot and the fixed-diameter pipeline 5, making the work of the pipeline robot in the fixed-diameter pipeline 5 more stable. When the pipeline robot is located in the fixed-diameter pipeline 5, the walking track 218 can be controlled to move by controlling the forward and reverse rotation of the track drive motor 205, realizing the reciprocating motion of the pipeline robot in the fixed-diameter pipeline 5. The sensors installed in the detection sensor mounting hole 3021 can survey the situation of the location where the pipeline robot is located. When encountering a blockage, the cleaning cutter head 303 is controlled to dredge, the drill bit 304 drills a hole along the pipeline axis for the blockage, and the cut blockage is discharged through the spiral groove, destroying the surface tension and structural integrity of the blockage. As the pipeline robot moves, the cutter on the cleaning cutter head 303 crushes the remaining blockage, and the generated residue is discharged through the through hole on the cleaning cutter head 303. Since the front end of the actuator upper cover 302 is a spherical surface, it can avoid the accumulation of blockage residues on the outer wall of the pipeline robot. Through the above operation, the active variable-diameter function of the pipeline robot designed in the application can be realized, and the task of dredging in different fixed-diameter pipelines 5 can be completed.

[0104] When there is a weld or impurity deposit 6 in the fixed-diameter pipeline 5, due to the self-locking of the matching of the flat spiral groove of the driving disc 103 and the leg mounting seat 111, the force from the walking track 218 radially inward will compress the spring shock absorber 201, increase the friction between the pipeline robot and the inner wall of the pipeline, and facilitate the passage through the obstacle; due to the structural design of the track side plate 203, the tangent part of the side edge of the circular arc segment of the track structure first contacts the weld or impurity deposit 6, providing a reverse force along the contact surface, so that the spring shock absorber 201 close to the contact part is compressed under stress, and as the pipeline robot advances, the walking track 218 structure climbs along the weld or impurity deposit 6, the contact position of the walking track 218 and the weld or impurity deposit 6 changes, the walking track 218 structure and the inner wall of the fixed-diameter pipeline 5 form an inclination angle, the contact area between the walking track 218 and the fixed-diameter pipeline 5 decreases, and the spring shock absorber 201 close to the weld or impurity deposit 6 is compressed under stress, while providing a reaction force to the track structure, enhancing the friction, facilitating the passage through the weld or impurity deposit 6, when the weld or impurity deposit 6 is located at the center position of the track structure, the spring shock absorbers 201 on both sides are compressed by the same amount, and after passing through this position, the spring shock absorber 201 that is compressed first gradually rebounds, prompting the track part passing through the weld or impurity deposit 6 to contact the pipeline, and the spring shock absorber 201 on the other side is further compressed, and the pipeline robot can pass through the weld or impurity deposit 6 in the fixed-diameter pipeline 5.

[0105] When it is necessary to pass through a pipeline 7 with a smooth transition change in diameter, as the pipeline robot moves in the pipeline 7 with a smooth transition change in diameter, the spring shock absorbers 201 on both sides of the track structure are compressed to different degrees, the sensor installed at the actuator module 3 performs scanning on the inner diameter of the pipeline, obtains the size of the diameter, according to the change amount of the inner diameter of the pipeline 7 with a smooth transition change in diameter and the maximum span angle that the passive variable-diameter module 2 can reach (the angle between the track relative to the pipeline axis when one side spring shock absorber 201 is limit compressed and the other side spring shock absorber 201 is not compressed), as the pipeline robot advances to the part with a decreasing inner diameter, the control variable-diameter motor 108 adjusts the radial position of the leg 112, adjusts the leg 112 to the axial position, and thus passes through the pipeline with a change in inner diameter.

[0106] The present application adopts modular design, and can design an expansion module with the same shape as the actuator module 3 and the control and energy module 4 according to requirements, reasonably install the implementer of the required function in the expansion module, and fix the expansion module with the active variable-diameter module 1 and the control and energy module 4 by using bolts, so as to realize the function change and expansion of the pipeline robot.

Claims

1. A modular pipeline robot capable of active and passive radial size adjustment, characterized in that: It comprises an active variable diameter module (1), a passive variable diameter module (2), an actuator module (3) arranged at the front end of the active variable diameter module (1) in the direction of travel, and a control and energy module (4) arranged at the rear end of the active variable diameter module (1) in the direction of travel; the overall movement is controlled by the control and energy module (4); The active variable diameter module (1) comprises a variable diameter driving portion and two groups of variable diameter adjustment portions symmetrically arranged at both ends of the variable diameter driving portion, each group of the variable diameter adjustment portions at least comprises a variable diameter base (101) and a plurality of legs (112) uniformly distributed on the end surface of the variable diameter base (101) away from the variable diameter driving portion, the legs (112) being radially slidably engaged relative to the end surface of the variable diameter base (101); the legs (112) of the two groups of the variable diameter adjustment portions are arranged one by one relative to each other; the length of the legs (112) extending relative to the variable diameter base (101) is adjusted by the variable diameter driving portion; The passive variable diameter module (2) comprises a plurality of crawler structures and spring shock absorbers (201) uniformly distributed on the circumference outside the active variable diameter module (1), and each crawler structure is connected at both ends of a side close to the active variable diameter module (1) to two opposite legs (112) of two groups of variable diameter adjustment parts via two spring shock absorbers (201); The variable diameter driving part includes: A component mounting sleeve (110), wherein a plurality of component mounting surfaces are provided on an inner annular surface of the component mounting sleeve (110); A variable diameter drive motor (108), wherein the variable diameter drive motor (108) is mounted on the component mounting surface of the component mounting sleeve (110) via a variable diameter drive motor mounting seat (107); An active drive gear (109) coaxially fixed to the output shaft of the variable diameter drive motor (108); and two passive drive gears (104), the two passive drive gears (104) and the active drive gear (109) being evenly distributed around the circumference, each of the passive drive gears (104) being mounted on a gear mounting seat (105) via a gear bearing (106), and the gear mounting seat (105) being mounted on the assembly mounting surface via bolt connection; Each group of the variable diameter adjustment parts further includes: A drive disc (103) is mounted on the variable diameter base (101) via a drive disc bearing (102), wherein a surface of the drive disc (103) close to the variable diameter base (101) is provided with a planar spiral groove, and a surface away from the variable diameter base (101) is provided with annular helical teeth meshing with an active drive gear (109) and a passive drive gear (104); A support leg mounting seat (111) is provided. A plurality of radially arranged sliding grooves (1013) are uniformly distributed on the circumference of an end surface of the variable diameter base (101) away from the variable diameter driving portion. The plurality of support leg mounting seats (111) are respectively slidably matched with the plurality of sliding grooves (1013) in the radial direction. A plane spiral groove is provided on a side of the support leg mounting seat (111) close to the driving disk (103). The plane spiral groove of the support leg mounting seat (111) is engaged with the plane spiral groove of the driving disk (103). The support leg (112) is fixed on the support leg mounting seat (111).

2. A modular pipeline robot capable of active and passive radial size adjustment according to claim 1, characterized in that: The passive variable diameter module (2) further comprises a double-fork lug seat (202) connected between the spring shock absorber (201) and the crawler structure, the double-fork lug seat (202) and the crawler structure being hingedly mounted, the bottom plate of the double-fork lug seat (202) being fixedly connected to the mounting platform at one end of the spring shock absorber (201), and the other end of the spring shock absorber (201) being hingedly mounted to the support leg (112).

3. A modular pipeline robot capable of active and passive radial size adjustment according to claim 1 or 2, characterized in that: The crawler structure comprises: Two track side plates (203) are arranged opposite to each other, and both ends of the track side plates (203) are arc-shaped ends; A walking crawler (218) wound around the outside of the two crawler side plates (203); A crawler belt drive unit, which drives the traveling crawler belt (218) to rotate; and a tensioning adjustment portion, through which the tensioning degree of the walking crawler belt (218) is adjusted.

4. The modular pipeline robot capable of active and passive radial size adjustment according to claim 3, characterized in that: The crawler drive unit includes: A crawler drive motor (205) is mounted on an outer end surface of a crawler side plate (203) via a crawler drive motor mounting seat (204); A driving bevel gear (209) coaxially arranged with the output shaft of the crawler drive motor (205); A crawler drive shaft (208) is arranged perpendicular to the output shaft of the crawler drive motor (205), and one end of the crawler drive shaft (208) extends between the two crawler side plates (203); A driven bevel gear (210) is fixed to the other end of the crawler drive shaft (208), wherein the driven bevel gear (210) is meshed with the driving bevel gear (209); A crawler drive wheel (211) is fixed to the portion of the crawler drive shaft (208) located between the two crawler side plates (203), wherein the crawler drive wheel (211) and one end of the traveling crawler (218) close to an arcuate end of the crawler side plate (203) are meshed for transmission; and a plurality of crawler driven wheels (219), which are arranged at two long sides of the traveling crawler (218) and mesh with the traveling crawler (218).

5. The modular pipeline robot capable of active and passive radial size adjustment according to claim 3, characterized in that: The tensioning adjustment portion is located at an arc-shaped end portion of the crawler side plate (203) away from the crawler driving portion; the tensioning adjustment portion comprises a tensioning shaft (216), a tensioning wheel (217) coaxially fixed on the tensioning shaft (216), and two sets of flexible adjustment structures symmetrically arranged on the two crawler side plates (203), wherein the tensioning wheel (217) is engaged with the walking crawler (218); each set of the flexible adjustment structures comprises: A tensioning support (212), the tensioning support (212) is fixedly arranged at a position opposite to the two track side plates (203), the track side plates (203) are provided with tensioning movable grooves (2031) along the length direction, the cavity (2121) in the middle of the tensioning support (212) and the tensioning movable grooves (2031) on the track side plates (203) are arranged opposite to each other, and a first spring positioning block (2122) is provided on the vertical plate of the tensioning support (212); An L-shaped tensioning mounting seat (214), the tensioning mounting seat (214) is located in the cavity (2121) of the tensioning support (212) and is slidably fitted relative to the cavity (2121) along the length direction of the walking track (218), the bottom plate of the tensioning mounting seat (214) is provided with a circular slot, the side plate is provided with a second spring positioning block (2141), and the two ends of the tensioning shaft (216) are respectively installed on the circular slots of the two tensioning mounting seats (214) through tensioning bearings (215); and a tensioning spring (213), wherein one end of the tensioning spring (213) is connected and positioned with a first spring positioning block (2122) of the tensioning support (212), and the other end is connected and positioned with a second spring positioning block (2141) on the tensioning mounting seat (214).

6. The modular pipeline robot capable of active and passive radial size adjustment according to claim 1, characterized in that: The actuator module (3) comprises: An actuator base (301), wherein one end surface of the actuator base (301) is detachably connected to the front end of the active variable diameter module (1) in the direction of travel; an actuator upper cover (302) detachably connected at one end to the actuator base (301) at the other end, wherein a detection sensor mounting hole (3021) is provided on the actuator upper cover (302); an actuator drive motor disposed inside the actuator upper cover (302); A cleaning cutter disc (303) is arranged at the other end of the actuator upper cover (302) and is coaxially fixedly connected to the actuator drive motor, wherein a plurality of radially arranged cleaning cutters are evenly distributed on the circumference of the front end action surface of the cleaning cutter disc (303); and a drill bit (304) coaxially arranged on the front end action surface of the cleaning cutter disc (303).

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