Spiral multi-mode movement pipeline robot

Abstract

The invention discloses a spiral multi-mode moving pipeline robot in the field of robots, which comprises a front rotating unit, a middle transmission unit and a rear driving unit, one end of the middle transmission unit is connected with the front rotating unit, and the other end of the middle transmission unit is connected with the rear driving unit; power provided by the rear driving unit acts on the front rotating unit through the middle transmission unit to drive the front rotating unit to do rotating motion and steering motion so as to achieve linear propelling motion and steering motion of the robot. The front rotating unit is driven by the rear driving unit to rotate, spiral movement of the robot is achieved, steering of the robot is achieved through the steering mechanism so as to adapt to pipelines in different arrangements, a telescopic rotating arm is further arranged on the front rotating unit, and telescopic arms are arranged on a front shell of the middle transmission unit and a rear shell of the rear driving unit. The rotating arm and the telescopic arm are passively adjusted through springs so as to adapt to pipelines with different diameters.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a spiral multi-mode motion pipeline robot. Background Art

[0002] The pipeline system is an important component widely used in modern industry, urban infrastructure and special environments, covering multiple fields such as oil, natural gas, water resources transportation, chemical production and nuclear industry. With the expansion of the scale of the pipeline system and the increase of its service life, its internal corrosion, blockage, cracks and other problems pose a serious threat to the safety and stability of the system. In order to ensure the normal operation of the pipeline, regular inspection and maintenance have become an indispensable link. When facing complex pipeline environments (such as vertical pipelines or variable diameter pipelines), existing pipeline inspection and maintenance equipment generally have problems such as poor adaptability, easy slippage and insufficient obstacle crossing ability. To this end, the present invention proposes a spiral pipeline robot, which realizes the stable spiral motion and flexible steering of the robot in the pipeline through innovative power transmission and structural design, so as to adapt to various complex pipeline working conditions.

[0003] According to the different propulsion methods, pipeline robots can be divided into tracked pipeline robots, wheeled pipeline robots, walking pipeline robots, magnetic adsorption pipeline robots and spiral pipeline robots. Tracked pipeline robots generate friction through the contact between the tracks and the inner wall of the pipeline to achieve linear propulsion. This type of robot is suitable for pipelines with larger diameters and can provide higher thrust. However, in curved pipelines or smooth pipe wall environments, its motion stability is poor and it is prone to slipping or jamming. Wheeled pipeline robots use wheels as moving components and rely on rolling friction to achieve propulsion. They have higher movement speed and lower energy consumption. This type of robot is more suitable for straight or large radius curved pipelines, but it is easy to slip in wet or lubricated pipelines and has limited climbing ability. Walking pipeline robots use mechanical feet to imitate the way biological beings walk and walk in the pipeline. It has strong adaptability and can operate stably in uneven or complex pipeline environments, but its movement speed is slow and the control system is complex. Magnetic adsorption pipeline robots rely on magnetic devices to adsorb to the inner or outer wall of the pipeline for movement. This type of robot is mainly suitable for metal pipes, especially has strong stability in vertical or curved pipes, but cannot be used for non-metallic pipes.

[0004] In summary, existing pipeline robots have the problem of low adaptability and cannot adapt to complex pipelines. Summary of the invention

[0005] The purpose of the present invention is to provide a spiral multi-mode motion pipeline robot, which can realize the flexible turning of the robot in the pipeline, adapt to the complex curved pipeline, and can adapt to pipelines of different sizes to a certain extent.

[0006] In order to solve the above technical problems, the following technical solutions are adopted:

[0007] The present invention provides a spiral multi-mode motion pipeline robot, comprising a front rotating unit, an intermediate transmission unit and a rear driving unit, wherein one end of the intermediate transmission unit is connected to the front rotating unit, and the other end is connected to the rear driving unit, and the power provided by the rear driving unit acts on the front rotating unit through the intermediate transmission unit, driving the front rotating unit to perform rotating motion and steering motion, so as to realize the linear propulsion motion and steering motion of the robot;

[0008] The front rotating unit comprises a rotating body connected to the intermediate transmission unit and a retractable rotating arm mounted on the rotating body;

[0009] The intermediate transmission unit includes a screw drive mechanism for realizing the movement of the robot and a steering mechanism for realizing the steering of the robot;

[0010] The rear drive unit includes a screw drive motor for driving the screw drive mechanism and a steering motor for driving the steering mechanism.

[0011] Optionally, at least three rotating arms are provided, and the three rotating arms are evenly spaced and installed on the rotating body. The rotating arm includes a coil spring, a sliding track, a sliding rod and a rotating wheel. One end of the sliding track is connected to the rotating body, and the other end is movably connected to the sliding rod. The coil spring is arranged on the outer walls of the sliding track and the sliding rod. The rotating wheel is installed on the end of the sliding rod, and the rotating wheel forms an angle of 10° with the rotating body.

[0012] Optionally, the spiral drive mechanism includes a rear transmission shaft, a driving bevel gear, an intermediate bevel gear and a driven bevel gear, one end of the rear transmission shaft is connected to the spiral drive motor, and the other end is connected to the driving bevel gear, the driving bevel gear is connected to the driven bevel gear through the intermediate bevel gear, and the driven bevel gear is connected to the rotating body through the front transmission shaft.

[0013] Optionally, the helical drive motor is connected to the rear transmission shaft via a helical drive coupling.

[0014] Optionally, the steering mechanism includes an active spur gear, a driven spur gear, an active steering bevel gear, a driven steering bevel gear, a lower intermediate rotating shaft and an outer connecting rod, the active spur gear is connected to the steering motor, the active spur gear is meshed with the driven spur gear, the driven spur gear is connected together with the active steering bevel gear, the active steering bevel gear is meshed with the driven steering bevel gear, two bearings are placed inside the active steering bevel gear, which is connected to the rear transmission shaft through the bearings, the driven steering bevel gear is connected to the lower intermediate rotating shaft, one end of the outer connecting rod is connected to the lower intermediate rotating shaft, the other end is connected to the upper intermediate rotating shaft, and the middle part is connected to the front transmission shaft, an inner connecting rod is also connected between the upper intermediate rotating shaft and the lower intermediate rotating shaft, the middle part of the inner connecting rod is connected to the rear transmission shaft, and the rear transmission shaft is connected to the spiral drive motor.

[0015] Optionally, the steering motor is connected to the driving spur gear via a steering coupling.

[0016] Optionally, the intermediate transmission unit also includes a front housing, the spiral drive mechanism and the steering mechanism are both arranged in the front housing, the front housing is connected to the rear housing in the rear drive unit, one end of the front housing is connected to the rear drive unit through a needle bearing, and the other end is symmetrically provided with two U-shaped notches.

[0017] Optionally, two telescopic arms are symmetrically provided on the outer side of the front shell, and passive wheels are installed on the telescopic arms.

[0018] Optionally, the rear drive unit also includes a rear shell, a rear cover and a telescopic arm installed on the rear shell, the rear cover is installed on one end of the rear shell, and the other end is connected to the front shell in the intermediate transmission unit through a needle bearing, and the spiral drive motor and the steering motor are both arranged in the rear shell.

[0019] Optionally, three telescopic arms are evenly arranged circumferentially on the outer side of the rear shell, and passive wheels are arranged on the telescopic arms.

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

[0021] 1. The present invention drives the front rotating unit to rotate through the rear driving unit to realize the spiral movement of the robot, converts the rotational motion of the front rotating unit into the linear propulsion motion of the robot as a whole, and realizes the steering of the robot through the steering mechanism to adapt to pipelines with different arrangements. A retractable rotating arm is also provided on the front rotating unit to adapt to pipelines with different diameters. The robot can move efficiently in a curved, vertical or complex pipeline environment and has strong adaptability.

[0022] 2. The front housing of the intermediate transmission unit and the rear housing of the rear drive unit of the present invention are provided with telescopic arms, wherein the wheels on the telescopic arms on the intermediate transmission unit are epicyclic wheels, and both the rotating arm and the telescopic arm are passively adjusted by springs.

[0023] 3. The present invention provides two motors to drive the steering mechanism and the spiral driving mechanism respectively. The two mechanisms can operate simultaneously without interfering with each other, thereby realizing the steering and movement of the robot.

[0024] 4. The spiral pipeline robot of the present invention can realize climbing movement in a vertical pipeline and realize ±90° turning in a T-shaped pipeline. The spiral pipeline robot of the present invention can move in a continuously curved pipeline in three-dimensional space because the length of the robot is only about 200 mm.

[0025] 5. The steering mechanism and the spiral mechanism are both realized by gears, which makes the transmission process more stable. They are both set in the front housing to reduce contact with the outside world and prevent debris in the pipeline from affecting the transmission of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the overall structure of the spiral multi-mode motion pipeline robot in an embodiment of the present invention;

[0027] Figure 2 2 is a schematic diagram of the front view structure of the spiral multi-mode motion pipeline robot according to an embodiment of the present invention;

[0028] Figure 3 AA is a schematic diagram of a spiral multi-mode motion pipeline robot in an embodiment of the present invention;

[0029] Figure 4 is a schematic diagram of a spiral multi-mode motion pipeline robot according to an embodiment of the present invention;

[0030] Figure 5 is a schematic diagram of the spiral drive principle of the spiral multi-mode motion pipeline robot in an embodiment of the present invention;

[0031] Figure 6 is a schematic diagram of the steering principle of the spiral multi-mode motion pipeline robot in an embodiment of the present invention;

[0032] Figure 7 is a rolling principle diagram of a spiral multi-mode motion pipeline robot in an embodiment of the present invention;

[0033] Figure 8 is a schematic diagram of the structure of a T-pipe in an embodiment of the present invention;

[0034] Fig. 9 Schematic diagram of the structure of the curved pipe in the embodiment of the present invention.

[0035] Description of reference numerals:

[0036] 1. Front rotating unit; 101. Rotating body; 102. Coil spring; 103. Sliding track; 104. Sliding rod; 105. Rotating wheel; 2. Intermediate transmission unit; 201. Outer connecting rod; 202. Driven bevel gear; 203. Upper intermediate rotating shaft; 204. Intermediate bevel gear; 205. Active bevel gear; 206. Inner connecting rod; 207. Active spur gear; 208. Front transmission shaft; 209. Driven steering bevel gear wheel; 210, front housing; 211, lower intermediate shaft; 212, rear transmission shaft; 213, passive wheel; 214, active steering bevel gear; 215, needle bearing; 216, driven spur gear; 3, rear drive unit; 301, steering coupling; 302, steering motor; 303, spiral drive motor; 304, spiral drive coupling; 305, rear housing; 306, rear cover; 4, T-type pipe; 5, curved pipe. DETAILED DESCRIPTION

[0037] The following will be combined with the accompanying 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, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use.

[0038] Example 1

[0039] The present embodiment provides a spiral multi-mode motion pipeline robot, comprising a front rotating unit 1, an intermediate transmission unit 2 and a rear driving unit 3, wherein one end of the intermediate transmission unit 2 is connected to the front rotating unit 1, and the other end is connected to the rear driving unit 3, and the power provided by the rear driving unit 3 acts on the front rotating unit 1 through the intermediate transmission unit 2; the front rotating unit 1 is driven to perform rotational motion and steering motion, so as to realize the linear propulsion motion and steering motion of the robot;

[0040] The front rotating unit includes a rotating body 101 connected to the intermediate transmission unit 2 and a retractable rotating arm mounted on the rotating body 101;

[0041] The intermediate transmission unit 2 includes a screw drive mechanism for realizing the movement of the robot and a steering mechanism for realizing the steering of the robot;

[0042] The rear drive unit 3 includes a screw drive motor 303 for driving the screw drive mechanism and a steering motor 302 for driving the steering mechanism.

[0043] The overall length of the robot is about 200 mm. A camera is installed on the robot. The robot is placed in the pipeline. The robot moves in the pipeline to detect corrosion, blockage, cracks and other problems inside the pipeline. The data and feedback obtained by the camera are transmitted wirelessly to the terminal to monitor the progress of the task.

[0044] like Figure 1 As shown, the rotating body 101 is cylindrical and connected to the intermediate transmission unit 2. A rotating arm is installed on the cylindrical side wall. The power of the rear drive unit 3 is transmitted to the rotating body 101 through the intermediate transmission unit 2. When the power is output through the spiral drive motor 303, the power is transmitted to the rotating body 101 through the spiral drive mechanism. The rotating body 101 rotates around the central axis, and the rotating arm rotates with the rotation of the rotating body 101. During the rotation of the rotating arm, the end of the rotating arm is in close contact with the pipe wall and rotates, so as to realize spiral forward or backward movement in the pipe. When the power is output through the steering motor 302, the rotation mechanism realizes the left and right rotation of the entire front rotating unit 1, thereby realizing the turning of the robot.

[0045] Example 2

[0046] This embodiment provides a spiral multi-mode motion pipeline robot based on the embodiment 1, except that:

[0047] There are three rotating arms installed on the rotating body 101 . The three rotating arms are evenly arranged on the side wall of the rotating body 101 , and the angle between two adjacent rotating arms is 120°.

[0048] like Figure 2 As shown, the rotating arm includes a coil spring 102, a sliding track 103, a sliding rod 104 and a rotating wheel 105. One end of the sliding track 103 is installed on the side wall of the rotating body 101, and the other end is slidably connected to the sliding rod 104. The sliding rod 104 can move in the sliding track 103. The other end of the sliding rod 104 is installed with a rotating wheel 105. The coil spring 102 is provided on the outer wall of the sliding rod 104 and the sliding track 103. One end of the coil spring 102 abuts against the side wall of the rotating body 101, and the other end abuts against the rotating wheel 105. The coil spring 102 is installed on the sliding rod 104 and the outer wall of the sliding track 103 through the restriction of the rotating body 101 and the rotating wheel 105.

[0049] like Figure 2 As shown, the angle between the side surface of the rotating wheel 105 and the front end surface of the rotating body 101 is 10 degrees. When the rotating arm rotates, the rotating wheel 105 contacts the inner wall of the pipe and moves in a spiral manner.

[0050] When the rotating arm enters the pipeline, the rotating wheel 105 and the sliding rod 104 move toward the rotating body 101 and compress the spiral spring 102 to generate a certain preload. After the rotating arm enters the pipeline, due to the elastic force of the spiral spring 102, a normal force is generated between the rotating wheel 105 and the inner wall of the pipeline. After the rotating wheel 105 contacts the inner wall of the pipeline, since the spiral spring 102 is still in a compressed state, a force perpendicular to the inner wall of the pipeline is applied to the rotating wheel 105, which increases the friction between the rotating wheel 105 and the inner wall of the pipeline, thereby enabling the robot to climb in the vertical pipeline. When the rotating wheel 105 encounters an obstacle, the spiral spring 102 is compressed by the rotating wheel 105 to enable the sliding rod 104 to move in the sliding track 103 to overcome the obstacle.

[0051] like Figure 3 As shown, the spiral drive mechanism in the intermediate transmission unit 2 includes a rear transmission shaft 212, a driving bevel gear 205, an intermediate bevel gear 204 and a driven bevel gear 202. One end of the rear transmission shaft 212 is connected to the output end of the spiral drive motor 303 through a spiral drive coupling 304, and the other end is connected to the driving bevel gear 205. The output power of the spiral drive motor 303 drives the driving bevel gear 205 to rotate, the driving bevel gear 205 is meshed with the intermediate bevel gear 204, and the intermediate bevel gear 204 is meshed with the driven bevel gear 202. The power is transmitted to the intermediate bevel gear 204 through the driving bevel gear 205, and then to the driven bevel gear 202. The driven bevel gear 202 is connected to the rotating body 101 through the front transmission shaft 208. After the power is transmitted to the driven bevel gear 202, the rotating body 101 is driven to rotate through the front transmission shaft 208, thereby realizing the rotation of the rotating arm and realizing that the front rotating unit 1 drives the entire robot to move.

[0052] like Figure 3As shown, the steering mechanism in the intermediate transmission unit 2 includes a driving spur gear 207, a driven spur gear 216, a driving steering bevel gear 214, a driven steering bevel gear 209, a lower intermediate rotating shaft 211 and an outer connecting rod 201, the driving spur gear 207 is connected to the output end of the steering motor 302 through a steering coupling 301, the driving spur gear 207 is meshed with the driven spur gear 216, the driven spur gear 216 is fixedly connected with the driving steering bevel gear 214, wherein the driving steering bevel gear 214 is connected to the rear transmission shaft 212. Two bearings are arranged between the driving steering bevel gear 214 and the driven steering bevel gear 209. After the power is output from the output end of the steering motor 302, it is transmitted to the driving spur gear 207 through the steering coupling 301. The driving spur gear 207 drives the driven spur gear 216 to rotate. Since the driving steering bevel gear 214 is fixed together with the driven spur gear 216, the driving steering bevel gear 214 will rotate synchronously with the driven spur gear 216, and the driving steering bevel gear 214 drives the driven steering bevel gear 209 to move. The driven bevel gear 202 is connected with a lower intermediate rotating shaft 211, which is connected to one end of the outer connecting rod 201, and the other end of the outer connecting rod 201 is connected to the upper intermediate rotating shaft 203, and the middle part is connected to the front transmission shaft 208. The power of the driven steering bevel gear 209 is transmitted to the outer connecting rod 201 through the lower intermediate rotating shaft 211, and the outer connecting rod 201 is driven by the lower intermediate rotating shaft 211 and rotates together with the lower intermediate rotating shaft 211. Since the middle part of the outer connecting rod 201 is connected to the front transmission shaft 208, when the outer connecting rod 201 rotates together with the lower intermediate rotating shaft 211, the front transmission shaft 208 rotates together with the outer connecting rod 201, thereby driving the entire front rotating unit 1 to rotate together, thereby realizing the left and right rotation of the entire front rotating unit 1.

[0053] like Figure 3 , Figure 4 As shown, the spiral drive mechanism and the steering mechanism are both arranged in the front housing 210, the spiral drive motor 303 and the steering motor 302 are both arranged in the rear housing 305, and one end of the front housing 210 is connected to one end of the rear housing 305 through a needle bearing 215. The other end of the rear housing 305 is connected to the rear cover 306, and two passive wheels 213 are symmetrically installed on the front housing 210, and three passive wheels 213 are arranged circumferentially on the rear housing 305. The passive wheels 213 are similar to the rotating wheels 105. The retractable structure is installed on the front housing 210 and the rear housing 305, and the pre-tightening force of the spiral spring 102 is used to realize stable movement on the inner wall of the pipeline in the pipeline.

[0054] like Figure 1 , Figure 3As shown, two symmetrically arranged U-shaped notches are also provided on the front housing 210. When the robot moves in the T-shaped pipe 4 or the curved pipe 5, the front rotating unit 1 needs to turn, and the directions of the two U-shaped notches need to be consistent with the direction in which the target pipe needs to turn in space, and the front rotating unit 1 rotates at the two U-shaped notches. Since the direction of the pipe placed by the robot is random, it cannot be ensured that the direction of the two U-shaped notches of the front housing 210 is exactly consistent with the direction in which the target pipe needs to turn in space during the turning process, so when the directions of the two are inconsistent, such as Figure 7 As shown, when the front rotating unit 1 is forced to turn, the front rotating unit 1 will be subject to resistance from the inner wall of the pipe, forcing the driven steering bevel gear 209 to drive the outer connecting rod 201, the lower intermediate rotating shaft 211, the upper intermediate rotating shaft 203 and the front housing 210 to rotate circumferentially around the active steering bevel gear 214 and the front transmission shaft 208, wherein the front housing 210 is connected to the rear housing 305 via a needle bearing 215. Therefore, during the rotation of the front housing 210, the rear housing 305 does not move.

[0055] The upper intermediate rotating shaft 203 and the lower intermediate rotating shaft 211 are connected to the front housing 210 through bearings. The upper intermediate rotating shaft 203 and the lower intermediate rotating shaft 211 are connected through the inner connecting rod 206 and the outer connecting rod 201, and a bearing is placed between the front transmission shaft 208 and the outer connecting rod 201. During the steering process, the direction of the U-shaped notch of the front housing 210 needs to be consistent with the direction in which the target pipeline needs to turn in space. When the two directions are inconsistent, after the output power of the steering motor 302 is transmitted to the outer connecting rod 201, as shown in FIG. Figure 7 As shown, when the front rotating unit 1 is forced to turn, the front rotating unit 1 will be subject to the resistance of the inner wall of the pipe, which will force the driven steering bevel gear 209 to drive the outer connecting rod 201, the lower intermediate rotating shaft 211, the upper intermediate rotating shaft 203 and the front housing 210 to rotate around the active steering bevel gear 214 and the front transmission shaft 208, wherein the front housing 210 is connected to the rear housing 305 through the needle bearing 215. Therefore, during the rotation of the front housing 210, the rear housing 305 does not move. When the directions of the two are adjusted to be consistent, the resistance between the front rotating unit 1 and the inner wall of the pipe disappears, as shown in FIG. Figure 6 As shown, the power transmitted to the outer connecting rod 201 will act on the front transmission shaft 208, and the front transmission shaft 208 will drive the front rotating unit 1 to achieve steering. The driven bevel gear 202 on the front transmission shaft 208 will rotate around the intermediate bevel gear 204 during the steering process.

[0056] When the driven steering bevel gear 209 rotates circumferentially, the driven steering bevel gear 209 drives the front housing 210 to rotate circumferentially around the active steering bevel gear 214 through the lower intermediate rotating shaft 211 and the upper intermediate rotating shaft 203, thereby adjusting the direction of the U-shaped notch on the front housing 210 to be consistent with the direction in which the target pipeline needs to turn in space, and the front transmission shaft 208 drives the front rotating unit 1 to rotate toward the U-shaped notch, and the resistance disappears. The driven steering bevel gear 209 stops rotating and begins to be driven by the active steering bevel gear 214 to rotate. At the same time, the spiral drive motor 303 is turned on and acts on the front rotating unit 1 through the spiral drive mechanism to spirally advance. After the front rotation completes the steering, the steering motor 302 is turned off, and the spiral drive motor 303 continues to output power, so that the robot passes through the bend of the T-shaped pipe 4 or the bend of the curved pipe 5 and continues to move forward.

[0057] The torque τ of the screw drive motor 303 satisfies the following formula:

[0058]

[0059] Where: R is the radius of the pipe, k is the stiffness coefficient of the coil spring, d is the pre-tightened compression length of the spring in the pipe, M is the mass of the robot, α is the angle between the rotating wheel and the rotating body, and g is the acceleration of gravity.

[0060] To meet the output power requirements, the robot can move smoothly in the vertical direction within the pipeline.

[0061] like Figure 5 As shown, the unit body on the front rotating unit 1 is driven to rotate, driving the rotating arm and the rotating body 101 thereon to perform rotational motion, and utilizing the angle α between the rotating wheel 105 and the rotating body 101 and the friction between the rotating wheel 105 and the inner wall of the pipe, the rotating wheel 105 realizes spiral movement on the inner wall of the pipe, thereby realizing the movement of the robot.

[0062] like Figure 6 As shown, the steering mechanism is driven by the steering motor 302 to act on the front transmission shaft 208, and the driven bevel gear 202 on the front transmission shaft 208 rotates around the intermediate bevel gear 204, wherein the front transmission shaft 208 drives the front rotating unit 1 to realize the left and right rotation of the front rotating unit 1, thereby realizing the steering of the robot in the pipeline.

[0063] like Figure 7As described, the steering mechanism driven by the steering motor 302 acts on the driven steering bevel gear 209, and since the front rotating unit 1 and the front transmission shaft 208 are subjected to the resistance of the inner wall of the pipeline and cannot perform the above-mentioned steering movement, the driven steering bevel gear 209 is forced to perform circumferential movement around the active steering bevel gear 214, thereby driving the rotation of the front housing 210, so that the direction of the connecting line of the two U-shaped notches on the front end of the front housing 210 is consistent with the direction to be turned. When the two directions are consistent, the resistance between the front rotating unit 1 and the inner wall of the pipeline disappears. Since the driven steering bevel gear 209 has a tendency to rotate itself during the circumferential movement, it automatically starts to perform steering movement after the resistance disappears, thereby realizing the steering of the front rotating unit 1, and then acts on the front rotating unit 1 together with the spiral drive motor 303 and the spiral drive mechanism, and the robot realizes linear propulsion movement, thereby passing through the bend of the pipeline.

[0064] 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. 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.

[0065] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A spiral multi-mode motion pipeline robot, characterized in that: It includes a front rotating unit, an intermediate transmission unit and a rear driving unit, wherein one end of the intermediate transmission unit is connected to the front rotating unit, and the other end is connected to the rear driving unit, and the power provided by the rear driving unit acts on the front rotating unit through the intermediate transmission unit to drive the front rotating unit to perform rotating motion and steering motion, so as to realize the linear propulsion motion and steering motion of the robot; The front rotating unit comprises a rotating body connected to the intermediate transmission unit and a retractable rotating arm mounted on the rotating body; The intermediate transmission unit includes a screw drive mechanism for realizing the movement of the robot and a steering mechanism for realizing the steering of the robot; The rear drive unit includes a screw drive motor for driving the screw drive mechanism and a steering motor for driving the steering mechanism.

2. The spiral multi-mode motion pipeline robot according to claim 1, characterized in that: At least three rotating arms are provided, and the three rotating arms are evenly spaced and installed on the rotating body. The rotating arms include a coil spring, a sliding track, a sliding rod and a rotating wheel. One end of the sliding track is connected to the rotating body, and the other end is movably connected to the sliding rod. The coil spring is arranged on the outer walls of the sliding track and the sliding rod. The rotating wheel is installed on the end of the sliding rod, and the rotating wheel forms an angle of 10° with the rotating body.

3. The spiral multi-mode motion pipeline robot according to claim 1, characterized in that: The spiral drive mechanism includes a rear transmission shaft, a driving bevel gear, an intermediate bevel gear and a driven bevel gear. One end of the rear transmission shaft is connected to the spiral drive motor, and the other end is connected to the driving bevel gear. The driving bevel gear is transmission-connected to the driven bevel gear through the intermediate bevel gear, and the driven bevel gear is connected to the rotating body through the front transmission shaft.

4. The spiral multi-mode motion pipeline robot according to claim 3, characterized in that: The screw drive motor is connected to the rear transmission shaft via a screw drive coupling.

5. The spiral multi-mode motion pipeline robot according to claim 1, characterized in that: The steering mechanism includes an active spur gear, a driven spur gear, an active steering bevel gear, a driven steering bevel gear, a lower intermediate rotating shaft and an outer connecting rod. The active spur gear is connected to the steering motor, the active spur gear is meshed with the driven spur gear, the driven spur gear is connected with the active steering bevel gear, the active steering bevel gear is meshed with the driven steering bevel gear, two bearings are placed inside the active steering bevel gear, and the rear transmission shaft is connected through the bearings. The driven steering bevel gear is connected to the lower intermediate rotating shaft. One end of the outer connecting rod is connected to the lower intermediate rotating shaft, the other end is connected to the upper intermediate rotating shaft, and the middle part is connected to the front transmission shaft. An inner connecting rod is also connected between the upper intermediate rotating shaft and the lower intermediate rotating shaft. The middle part of the inner connecting rod is connected to the rear transmission shaft, and the rear transmission shaft is connected to the spiral drive motor.

6. The spiral multi-mode motion pipeline robot according to claim 5, characterized in that: The steering motor is connected to the driving spur gear through a steering coupling.

7. The spiral multi-mode motion pipeline robot according to claim 1, characterized in that: The intermediate transmission unit also includes a front housing, the spiral drive mechanism and the steering mechanism are both arranged in the front housing, the front housing is connected to the rear housing in the rear drive unit, one end of the front housing is connected to the rear drive unit through a needle bearing, and the other end is symmetrically provided with two U-shaped notches.

8. The spiral multi-mode motion pipeline robot according to claim 7, characterized in that: Two telescopic arms are symmetrically arranged on the outer side of the front shell, and passive wheels are installed on the telescopic arms.

9. The spiral multi-mode motion pipeline robot according to claim 1, characterized in that: The rear drive unit also includes a rear housing and a rear cover. The rear cover is installed at one end of the rear housing, and the other end is connected to the front housing in the intermediate transmission unit through a needle bearing. The spiral drive motor and the steering motor are both arranged in the rear housing.

10. The spiral multi-mode motion pipeline robot according to claim 9, characterized in that: Three telescopic arms are evenly arranged circumferentially on the outer side of the rear housing, and passive wheels are arranged on the telescopic arms.

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