Micro-miniature pipeline detection flexible robot depending on air injection attachment

Abstract

The invention relates to a microminiature pipeline detection flexible robot depending on air injection attachment, and solves the technical problem of how to improve the flexibility, the degree of freedom, the reliability and the adaptability of pipelines with different diameters of an existing soft robot for pipeline detection. The continuous body comprises a head, a continuous body trunk and a tail, the head comprises a head body and two idle wheel assemblies, the tail comprises a tail body and two synchronous belt wheel sets, the tail body is provided with a gas channel and a gas hole, and the continuous body trunk comprises a front end wire disc, four driving wires and a joint assembly. The device is widely applied to detection of flange stop valves and pipelines.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline detection robots, and in particular to a miniature pipeline detection flexible robot that relies on air jet attachment. Background Art

[0002] At present, the robots used for pipeline inspection are mainly based on rigid robots that support the pipe wall structure, with reference to the utility model patent with patent number 202222211140.6, entitled A Pipeline Inspection Robot, and the invention patent application with application publication number CN114923062A, entitled Adaptive Climbing Pipeline Inspection Robot, as well as the invention patent application with application publication number CN116357834A, entitled Soft Rod Magnetic Wheel Adsorption Robot for Internal Inspection of Valve Containers, and the invention patent application with application publication number CN116221540A, entitled Soft Body Robot for Internal Inspection of Valve Containers that Can Adapt to Variable Diameter Inner Cavity.

[0003] The rigid robot based on the supporting pipe wall structure has a large mechanical body and low degree of freedom, which limits its ability to enter complex spaces such as valves for detection. Inspection inside the container requires passing through a flange stop valve channel, and the valve inlet and outlet diameters are 60 to 100 mm. If a rigid robot based on the supporting pipe wall structure is used, it is difficult to pass through the two continuous bends inside the flange stop valve.

[0004] At present, the flexibility, degree of freedom and reliability of the soft robot through the flange stop valve need to be improved, and its ability to adapt to pipes of different diameters needs to be improved. Summary of the invention

[0005] The purpose of this application is to solve the technical problem of how to improve the flexibility, degree of freedom, reliability and adaptability of existing soft robots used for pipeline inspection to pipelines of different diameters, and to provide a micro-pipeline inspection flexible robot with high flexibility, high compliance and high freedom of movement, which is suitable for pipelines of different diameters and relies on jet attachment.

[0006] In one aspect of the present disclosure, there is provided a miniature pipeline inspection flexible robot that relies on air jet attachment, comprising a head, a continuum trunk, and a tail;

[0007] The head includes a head body and two sets of idler wheel assemblies. The head body includes a head frame, a yaw drive motor, a pitch drive motor, a yaw winding wheel, a pitch winding wheel, a first positioning cylinder, a second positioning cylinder, a third positioning cylinder, a fourth positioning cylinder and a cylinder. The cylinder is fixedly connected to the head frame. The yaw drive motor and the pitch drive motor are respectively fixedly connected to the head frame. The yaw winding wheel is connected to the output shaft of the yaw drive motor. The yaw winding wheel is provided with two winding areas. The pitch winding wheel is connected to the output shaft of the pitch drive motor. The pitch winding wheel is provided with two winding areas. area; the first positioning cylinder and the second positioning cylinder are fixedly connected to the left side of the head frame respectively, and the third positioning cylinder and the fourth positioning cylinder are fixedly connected to the right side of the head frame respectively; the idler assembly includes a large idler, a small idler and a rubber soft belt, and the rubber soft belt is connected between the large idler and the small idler; there are two sets of idler assemblies in total, the large idler and the small idler of the first set of idler assemblies are rotatably connected to the first positioning cylinder and the second positioning cylinder respectively through bearings, and the large idler and the small idler of the second set of idler assemblies are rotatably connected to the third positioning cylinder and the fourth positioning cylinder respectively through bearings;

[0008] The tail section includes a tail body and two sets of synchronous pulley groups, the tail body includes a dual-axis drive motor, a right-side positioning column, a tail frame and a left-side positioning column, the dual-axis drive motor is fixedly connected to the tail frame, the right-side positioning column is fixedly connected to the right side of the tail frame, the left-side positioning column is fixedly connected to the left side of the tail frame, and the dual-axis drive motor is provided with a first output shaft and a second output shaft; the tail frame is provided with a gas channel and an air hole, and the air hole is connected to the gas channel; the synchronous pulley group includes a driving pulley, a driven pulley and a synchronous belt, and the synchronous belt is connected between the driving pulley and the driven pulley; the driving pulley of the first set of synchronous pulley groups is fixedly connected to the first output shaft of the dual-axis drive motor, and the driven pulley of the first set of synchronous pulley groups is rotatably connected to the left-side positioning column through a bearing; the driving pulley of the second set of synchronous pulley groups is fixedly connected to the second output shaft of the dual-axis drive motor, and the driven pulley of the second set of synchronous pulley groups is rotatably connected to the right-side positioning column through a bearing;

[0009] The continuum trunk includes a front wire disk, a first bearing, a second bearing, a first guide pin, a second guide pin, a third guide pin, a fourth guide pin, a first drive wire, a second drive wire, a third drive wire, a fourth drive wire, a joint assembly, a guide pin connecting seat and a central fixing sleeve, wherein the central fixing sleeve is fixedly connected to the end surface of the wire disk, the four guide pin connecting seats are fixedly connected to the end surface of the wire disk, the first guide pin, the second guide pin, the third guide pin and the fourth guide pin are respectively fixedly connected to the four guide pin connecting seats, the first bearing and the second bearing are respectively connected to the end surface of the front wire disk The joint assembly is formed by a plurality of joints connected to each other by hinges, the frontmost joint among the plurality of joints is connected to the front wire disc by a hinge, the first driving wire, the second driving wire, the third driving wire and the fourth driving wire respectively pass through each joint along the length direction of the joint assembly, the front end of the first driving wire passes through the front wire disc and then bypasses the first guide pin, the front end of the second driving wire passes through the front wire disc and then bypasses the second guide pin, the front end of the third driving wire passes through the front wire disc and then bypasses the third guide pin, and the front end of the fourth driving wire passes through the front wire disc and then bypasses the fourth guide pin;

[0010] The central fixing sleeve of the continuum trunk is sleeved on the cylinder of the head body and fixed, the front end of the first driving wire is wound around the first guide pin and then wound on the first winding area of ​​the yaw winding wheel, the second driving wire is wound around the second guide pin and then wound on the second winding area of ​​the yaw winding wheel, and the winding direction of the second driving wire in the second winding area is opposite to the winding direction of the first driving wire in the first winding area; the front end of the third driving wire is wound around the third guide pin and then wound on the first winding area of ​​the pitch winding wheel, the front end of the fourth driving wire is wound around the fourth guide pin and then wound on the second winding area of ​​the pitch winding wheel, and the winding direction of the third driving wire in the first winding area of ​​the pitch winding wheel is opposite to the winding direction of the fourth driving wire in the second winding area of ​​the pitch winding wheel; the end of the output shaft of the yaw driving motor is connected to the second bearing, and the end of the output shaft of the pitch driving motor is connected to the first bearing;

[0011] The rear ends of the first driving wire, the second driving wire, the third driving wire and the fourth driving wire of the continuum trunk are all fixed on the tail frame.

[0012] Preferably, the tail portion further comprises an air pipe, which is connected to the gas channel of the tail portion frame.

[0013] Preferably, the tail also includes an active roll mechanism, which includes a roll motor, a pinion, a large gear, a small sleeve and a large sleeve. The pinion is fixedly connected to the output shaft of the roll motor, the small sleeve is located in the large sleeve, and the small sleeve and the large sleeve form a rotating pair through cylindrical surface cooperation; the large sleeve is fixed in the gas channel of the tail frame, the large gear is fixedly connected to the small sleeve, the pinion is meshed with the large gear, and the roll motor is fixedly connected to the tail frame.

[0014] Preferably, the tail portion further includes an air pipe, which is connected to the small sleeve.

[0015] Preferably, the head also includes a snake bone gimbal, which includes a snake bone pitch winding wheel, a snake bone yaw winding wheel, a snake bone pitch motor, a snake bone yaw motor, a snake bone soft mechanical arm, a guide pin 1 and a guide pin 2, the snake bone pitch motor and the snake bone yaw motor are fixedly connected to the head frame, the snake bone pitch wire wheel is connected to the output shaft of the snake bone pitch motor, the snake bone yaw wire wheel is connected to the output shaft of the snake bone yaw motor, the guide pin 1 and the guide pin 2 are fixedly connected to the head frame, the rear end of the snake bone soft mechanical arm is fixed in the positioning hole of the head frame, and the snake bone soft mechanical arm is provided with four driving wires, two of which are respectively wound around the guide pin 1 and the guide pin 2 and then wound around the two winding areas of the snake bone pitch winding wheel in opposite directions, and the other two driving wires are respectively wound around the guide pin 1 and the guide pin 2 and then wound around the two winding areas of the snake bone yaw winding wheel in opposite directions;

[0016] The front end wire drum of the continuum trunk is connected with the third bearing and the fourth bearing, the end of the output shaft of the serpentine yaw motor is connected with the third bearing, and the end of the output shaft of the serpentine pitch motor is connected with the fourth bearing.

[0017] Preferably, the snake-bone gimbal also includes a camera, which is connected to the end of the snake-bone soft robotic arm.

[0018] Preferably, the snake-bone gimbal also includes a rubber soft sleeve, which is sleeved on the snake-bone soft robotic arm.

[0019] Preferably, a camera is connected to the tail frame and / or the head frame.

[0020] The beneficial effects of the present invention are small size, light weight, flexible and reliable movement, the ability to change the body shape and pass through the valve, and the jet-type attachment enables the robot to pass through the valve or pipeline smoothly, stably and reliably. The robot can adapt to pipelines of different diameters.

[0021] Setting up an active rolling mechanism can prevent the robot from rolling over.

[0022] Setting up a snake-bone gimbal can provide more flexible observation of the conditions of the environment to be tested.

[0023] Further features of the present disclosure will be clearly described in the following description of the specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is an axonometric view of a flexible robot for pipeline inspection that relies on air jet attachment;

[0025] Figure 2 yes Figure 1The front view of the pipeline inspection flexible robot shown;

[0026] Figure 3 yes Figure 1 A top view of the pipeline inspection flexible robot is shown;

[0027] Figure 4 yes Figure 1 A bottom view of the pipeline inspection flexible robot shown;

[0028] Figure 5 yes Figure 1 A left view of the pipeline inspection flexible robot shown;

[0029] Figure 6 yes Figure 1 A right view of the pipeline inspection flexible robot shown;

[0030] Figure 7 yes Figure 1 An axonometric view of the pipeline inspection flexible robot from another perspective;

[0031] Figure 8 It is an axonometric view of the head;

[0032] Fig. 9 It is the main view of the head;

[0033] Fig.10 It is a top view of the head;

[0034] Fig.11 It is a left view of the head;

[0035] Fig.12 It is a right view of the head;

[0036] Fig.13 It is an axonometric view of the head from another perspective;

[0037] Fig.14 It is an axonometric view of the head from another perspective;

[0038] Fig.15 It is an axonometric view of the main body of the head;

[0039] Fig.16 It is the front view of the main body of the head;

[0040] Fig.17 It is a right view of the main body of the head;

[0041] Fig.18 It is a top view of the main body of the head;

[0042] Fig.19 This is a schematic diagram of the structure of the snake bone gimbal;

[0043] Fig. 20 This is a schematic diagram of the structure of the snake bone gimbal;

[0044] Fig.21 It is an axonometric view of the tail;

[0045] Fig. 22 yes Fig. 22 a front view of the tail section shown;

[0046] Fig.23 yes Fig. 22 A top view of the tail section shown;

[0047] Fig.24 yes Fig. 22 Left side view of the tail section shown;

[0048] Fig.25 yes Fig. 22 a right side view of the tail section shown;

[0049] Fig.26 yes Fig. 22 Axonometric view of another view of the tail section shown;

[0050] Fig. 27 It is an axonometric view of the main body of the tail;

[0051] Fig.28 yes Fig. 27 A front view of the tail body shown;

[0052] Fig.29 yes Fig. 27 A top view of the tail body shown;

[0053] Fig.30 yes Fig. 27 a left side view of the tail body shown;

[0054] Fig.31 yes Fig. 27 a right side view of the tail body shown;

[0055] Fig.32 yes Fig. 27 An axonometric view of another perspective of the tail body shown;

[0056] Fig.33 It is a schematic diagram of the structure of the gas channel of the tail body;

[0057] Fig.34 It is the axonometric view of the active roll mechanism;

[0058] Fig.35 yes Fig.34 A front view of the active rolling mechanism shown;

[0059] Fig.36 It is an axonometric view of the continuum torso;

[0060] Fig.37 yes Fig.36 a front view of the torso of the continuum shown;

[0061] Fig.38 yes Fig.36 a top view of the continuum torso shown;

[0062] Fig.39 yes Fig.36 Left view of the torso of the continuum shown;

[0063] Fig.40 yes Fig.36 right side view of the continuum torso shown;

[0064] Fig.41 yes Fig.36 Axonometric view of another perspective of the continuum torso shown;

[0065] Fig.42 It is a schematic diagram of the structure of the connection between the trachea and the small sleeve;

[0066] Fig.43 It is a schematic diagram of the robot moving forward in the flange stop valve, with the robot's head in front and its tail in the back;

[0067] Fig.44 It is a schematic diagram of the robot moving backward in the flange stop valve, with the tail of the robot in front and the head in the back.

[0068] Explanation of symbols in the figure:

[0069] 1000. Head, 1100. Head body, 1200. Snake bone gimbal, 1300. Idle wheel assembly; 2000. Continuum trunk, 2100. Front wire reel, 2200. First bearing, 2300-1. First guide pin, 2300-2. Second guide pin, 2300-3. Third guide pin, 2300-4. Fourth guide pin, 2400-2. Second drive wire, 2500. Joint, 2600. Guide pin connection seat, 2700. Center fixing sleeve, 2800. Second bearing, 2900-1. Third bearing, 2900-2. Fourth bearing; 3000. Tail, 3100. Tail body, 3200. Synchronous belt pulley set, 3300. Active rolling mechanism. 4000. Air pipe. 5000. Flange stop valve. DETAILED DESCRIPTION

[0070] The present application is further described in detail below with reference to the accompanying drawings.

[0071] The specific embodiments described below are only preferred implementations of the present application, and the protection scope of the present application is not limited thereto. For those skilled in the art, some changes or variations can be made based on or according to the principles, concepts, and spirits of the present application, and the technical solutions formed by these changes or variations should be included in the protection scope of the present application.

[0072] like Figure 1-5 As shown, the pipeline inspection flexible robot relying on jet attachment includes a head 1000, a continuous body trunk 2000, and a tail 3000. The continuous body trunk 2000 is flexible and can be bent freely. Figure 8-14 As shown, the head 1000 includes a head body 1100, a snake-bone gimbal 1200 and an idler assembly 1300. The head body 1100 includes a head frame 1101, a protective shell 1102, a yaw drive motor 1103-1, a pitch drive motor 1103-2, a yaw winding wheel 1104-1, a pitch winding wheel 1104-2, a main control circuit board 1105, a first positioning cylinder 1106, a second positioning cylinder 1107, a third positioning cylinder 1108, a fourth positioning cylinder 1109, and a cylinder 1110. The protective shell 1102 is fixed to the head frame 1101 by bolts, and the yaw drive motor 1103-1 and the pitch drive motor 1103-2 are fixedly mounted on On the head frame 1101, the yaw winding wheel 1104-1 is connected to the output shaft of the yaw drive motor 1103-1, and the yaw winding wheel 1104-1 is provided with two winding areas; the pitch winding wheel 1104-2 is connected to the output shaft of the pitch drive motor 1103-2, and the pitch winding wheel 1104-2 is provided with two winding areas; the main control board 1105 is fixedly connected to the head frame 1101; the cylinder 1110 is fixedly connected to the head frame 1101; the first positioning cylinder 1106 and the second positioning cylinder 1107 are respectively fixedly connected to the left side of the head frame 1101, and the third positioning cylinder 1108 and the fourth positioning cylinder 1109 are respectively fixedly connected to the right side of the head frame 1101. The idler assembly 1300 includes a large idler 1301, a small idler 1302, a rubber belt 1303, a bearing 1304, and a bearing 2 1305. The rubber belt 1303 is connected between the large idler 1301 and the small idler 1302. The large idler 1301 is rotatably connected to the first positioning cylinder 1106 through the bearing 1304, and the small idler 1302 is rotatably connected to the second positioning cylinder 1107 through the bearing 2 1305. There are two sets of idler assemblies 1300 in total. The large idler of the other set of idler assemblies is rotatably connected to the third positioning cylinder 1108 through the bearing, and the small idler is rotatably connected to the fourth positioning cylinder 1109 through the bearing.

[0073] like Fig.19 and 20As shown, the snake-bone gimbal 1200 includes a snake-bone pitch winding wheel 1201-1, a snake-bone yaw winding wheel 1201-2, a snake-bone pitch motor 1202-1, a snake-bone yaw motor 1202-2, a snake-bone soft mechanical arm 1203, a guide pin 1206, a guide pin 2 1207, a rubber soft cover 1204, and a camera 1205. Figure 8 , 9 , 12, 14, the snake-bone pitch motor 1202-1 and the snake-bone yaw motor 1202-2 are fixedly installed in the motor hole of the head frame 1101 and fixed by set screws, the snake-bone pitch wire wheel 1201-1 is connected to the output shaft of the snake-bone pitch motor 1202-1, the snake-bone yaw wire wheel 1201-2 is connected to the output shaft of the snake-bone yaw motor 1202-2, the guide pin 1206 and the guide pin 2 1207 are fixedly installed on the head frame 1101, the snake-bone soft robotic arm 1203 passes through the protective shell 1102, and the rear end of the snake-bone soft robotic arm 1203 is fixed in the positioning hole of the head frame 1101. The snake-bone soft mechanical arm 1203 is provided with four driving wires, two of which are wound around the guide pin 1 1206 and the guide pin 2 1207 in opposite directions and then wound around the two winding areas of the snake-bone pitch winding wheel 1201-1. The snake-bone pitch motor 1202-1 drives the two driving wires to move, thereby causing the snake-bone soft mechanical arm 1203 to make a pitching motion. The other two driving wires are wound around the guide pin 1 1206 and the guide pin 2 1207 in opposite directions and then wound around the two winding areas of the snake-bone yaw winding wheel 1201-2. When the snake-bone yaw motor 1202-2 works, the two driving wires are driven to move, thereby causing the snake-bone soft mechanical arm 1203 to make a yaw motion. The camera 1205 is fixed to the end of the snake-bone soft mechanical arm 1203 by glue. The rubber soft sleeve 1204 is sleeved on the snake-bone soft mechanical arm 1203 to enhance the rigidity.

[0074] like Figure 21-26 As shown, the tail 3000 includes a tail body 3100 , a synchronous pulley set 3200 and an active rolling mechanism 3300 .

[0075] like Figure 27-33As shown, the tail body 3100 includes a dual-axis drive motor 3101, a motor fixing block 3102, a right positioning column 3103, a tail frame 3104, a camera 3105, a camera fixing cover 3106, and a left positioning column 3107. The dual-axis drive motor 3101 is installed on the tail frame 3104 through the motor fixing block 3102, and the camera fixing cover 3106 installs the camera 3105 on the top of the tail frame 3104. The right positioning column 3103 is fixedly connected to the right side of the tail frame 3104, and the left positioning column 3107 is fixedly connected to the left side of the tail frame 3104. The dual-axis drive motor 3101 is provided with a first output shaft 3101-1 and a second output shaft 3101-2. The tail frame 3104 is provided with a gas channel 3104-1 and three air holes 3104-2, and the three air holes 3104-2 are connected to the gas channel 3104-1.

[0076] The synchronous pulley group 3200 includes a driving pulley 3201, a driven pulley 3202, and a synchronous belt 3203. The synchronous belt 3203 is connected between the driving pulley 3201 and the driven pulley 3202. The driving pulley 3201 is fixedly connected to the first output shaft 3101-1, and the driven pulley 3202 is rotatably connected to the left positioning column 3107 through a bearing. Another set of synchronous pulley groups 3200 is arranged on the right side of the tail frame 3104. The driving pulley of the other set of synchronous pulley groups is fixedly connected to the second output shaft 3101-2, and the driven pulley 3202 is rotatably connected to the right positioning column 3103 through a bearing.

[0077] like Fig.34 and 35 As shown, the active roll mechanism 3300 includes a roll motor 3301, a pinion 3302, a large gear 3303, a small sleeve 3304, a large sleeve 3305, and a bolt 3306. The pinion 3302 is fixedly connected to the output shaft of the roll motor 3301, the small sleeve 3304 is located in the large sleeve 3305, and the small sleeve 3304 and the large sleeve 3305 form a revolute pair through cylindrical surface matching, and the small sleeve 3304 can rotate relative to the large sleeve 3305. Fig.25 , 26 33, fix the large sleeve 3305 in the gas channel 3104-1 of the tail frame 3104 by bolts, fix the large gear 3303 on the small sleeve 3304 by metal glue, and the small gear 3302 meshes with the large gear 3303 to form a gear pair. Fix the roll motor 3301 in the tail frame 3104. The small sleeve 3304 can be used to connect the air pipe. Fig.42 As shown, the air tube 4000 is connected to the small sleeve 3304.

[0078] like Figure 39-41As shown, the continuum trunk 2000 includes a front wire reel 2100, a first bearing 2200, a first guide pin 2300-1, a second guide pin 2300-2, a third guide pin 2300-3, a fourth guide pin 2300-4, a first drive wire, a second drive wire 2400-2, a third drive wire, a fourth drive wire, a joint 2500, a guide pin connector 2600, a central fixing sleeve 2700, a second bearing 2800, a third bearing 2900-1, and a fourth The bearing 2900-2, the center fixing sleeve 2700 is fixedly connected to the end face of the wire reel 2100, the guide pin connection seat 2600 is fixedly installed on the end face of the wire reel 2100, the first guide pin 2300-1 is fixedly connected to the guide pin connection seat 2600, there are four guide pin connection seats 2600, the first bearing 2200 is installed in the positioning hole on the end face of the front wire reel 2100, and the second bearing 2800 is installed in the positioning hole on the end face of the front wire reel 2100. The third bearing 2900-1 is installed in the positioning hole on the end face of the front wire reel 2100, and the fourth bearing 2900-2 is installed in the positioning hole on the end face of the front wire reel 2100. Several joints 2500 are connected to each other by hinges. The frontmost joint of the joint assembly composed of several joints 2500 is connected to the front end wire reel 2100 through a hinge, and four driving wires pass through each joint 2500 along the length direction of the joint assembly respectively. The front end of the second driving wire 2400-2 passes through the front end wire reel 2100 and bypasses the second guide pin 2300-2, the front end of the first driving wire passes through the front end wire reel 2100 and bypasses the first guide pin 2300-1, the front end of the third driving wire passes through the front end wire reel 2100 and bypasses the third guide pin 2300-3, and the front end of the fourth driving wire passes through the front end wire reel 2100 and bypasses the fourth guide pin 2300-4.

[0079] The central fixing sleeve 2700 is sleeved on the cylinder 1110 of the head body 1100 and fixed with a tightening bolt. The front end of the first driving wire passes around the first guide pin 2300-1 and is wound on the first winding area of ​​the yaw winding wheel 1104-1; the second driving wire 2400-2 passes around the second guide pin 2300-2 and is wound on the second winding area of ​​the yaw winding wheel 1104-1. The winding direction of the second driving wire 2400-2 in the second winding area is opposite to the winding direction of the first driving wire in the first winding area. The front end of the third drive wire is wound around the first winding area of ​​the pitch winding wheel 1104-2 after passing the third guide pin 2300-3, and the front end of the fourth drive wire is wound around the second winding area of ​​the pitch winding wheel 1104-2 after passing the fourth guide pin 2300-4. The winding direction of the third drive wire in the first winding area of ​​the pitch winding wheel 1104-2 is opposite to the winding direction of the fourth drive wire in the second winding area of ​​the pitch winding wheel 1104-2. The end of the output shaft of the yaw drive motor 1103-1 is connected to the inner ring of the second bearing 2800, and the end of the output shaft of the pitch drive motor 1103-2 is connected to the inner ring of the first bearing 2200. The end of the output shaft of the serpentine yaw motor 1202-2 is connected to the inner ring of the third bearing 2900-1, and the end of the output shaft of the serpentine pitch motor 1202-1 is connected to the inner ring of the fourth bearing 2900-2.

[0080] The rear ends of the four driving wires 2400 - 2 are fixed in the corresponding four positioning holes of the tail frame 3104 .

[0081] The working process of the above-mentioned pipeline inspection flexible robot relying on air jet attachment is as follows:

[0082] Start the dual-axis drive motor 3101 of the tail body 3100, and the dual-axis drive motor 3101 drives the two sets of synchronous pulley groups 3200 to move forward or backward to realize the movement of the entire robot. The yaw drive motor 1103-1 works to make the continuum trunk 2000 yaw and then adjust the posture of the entire robot, and the entire robot yaws. The yaw posture can make the robot turn left or right. The pitch drive motor 1103-2 works to make the continuum trunk 2000 pitch and then adjust the posture of the entire robot, and the entire robot pitches. The yaw drive motor 1103-1 and the pitch drive motor 1103-2 work together to make the posture of the entire robot adjust in all directions.

[0083] Adjusting the pitch angle of the robot can make the robot easily pass through the bend inside the flange stop valve. When the robot passes through the bend inside the flange stop valve, compressed air is injected into the robot through the air pipe 4000. The compressed air is discharged outward from the air hole 3104-2 and sprayed on the inner wall of the flange stop valve opposite the air hole. Under the action of the reaction force, the robot clings to the inner wall of the flange stop valve to achieve an adhesion effect, which is conducive to the robot passing through the bend inside the flange stop valve more smoothly and reliably. Discharging compressed air through the air hole is especially suitable for flange stop valves made of non-magnetic materials. Magnetic materials refer to cast iron materials, etc. The schematic diagram of the process of the robot moving forward through the flange stop valve 5000 is shown in the figure. Fig.43 The schematic diagram of the robot moving backward through the flange stop valve 5000 is shown in Fig.44 shown.

[0084] When the robot passes through the flange stop valve and the air pipe 4000 is set, since the air pipe 4000 is heavier than the robot, starting the roll motor 3301 can make the robot rotate with the small sleeve 3304 as a reference (the small sleeve 3304 is basically stationary), thereby adjusting the robot's posture and preventing the robot from tipping over.

[0085] When the robot passes through the flange stop valve, the robot's posture or the internal condition of the flange stop valve can be observed through the camera 3105.

[0086] When the robot passes through the flange stop valve, the snake-bone pan / tilt 1200 can be operated to observe the internal environment and sealing surface of the flange stop valve through the camera 1205 .

[0087] In addition, the flexible pipeline inspection robot that relies on jet attachment is used in vertical pipeline scenarios. The air holes discharge compressed air and spray it on the inner wall of the opposite pipeline. The robot then clings to the inner wall on the other side of the pipeline to achieve an attachment effect, which is conducive to the robot moving up or down more smoothly and reliably.

Claims

1. A miniature pipeline inspection flexible robot that relies on air jet attachment, characterized in that: Includes head, continuum trunk and tail; The head includes a head body and two sets of idler wheel assemblies, the head body includes a head frame, a yaw drive motor, a pitch drive motor, a yaw winding wheel, a pitch winding wheel, a first positioning cylinder, a second positioning cylinder, a third positioning cylinder, a fourth positioning cylinder and a cylinder, the cylinder is fixedly connected to the head frame, the yaw drive motor and the pitch drive motor are respectively fixedly connected to the head frame, the yaw winding wheel is connected to the output shaft of the yaw drive motor, and the yaw winding wheel is provided with two winding areas; the pitch winding wheel is connected to the output shaft of the pitch drive motor, and the pitch winding wheel is provided with two winding areas; the first positioning cylinder and the second positioning cylinder are respectively fixedly connected to the left side of the head frame, and the third positioning cylinder and the fourth positioning cylinder are respectively fixedly connected to the right side of the head frame; the idler assembly includes a large idler, a small idler and a rubber soft belt, and the rubber soft belt is connected between the large idler and the small idler; there are two sets of idler assemblies in total, the large idler and the small idler of the first set of idler assemblies are respectively rotatably connected to the first positioning cylinder and the second positioning cylinder through bearings, and the large idler and the small idler of the second set of idler assemblies are respectively rotatably connected to the third positioning cylinder and the fourth positioning cylinder through bearings; The tail section comprises a tail body and two sets of synchronous pulley groups, the tail body comprises a dual-axis drive motor, a right-side positioning column, a tail frame and a left-side positioning column, the dual-axis drive motor is fixedly connected to the tail frame, the right-side positioning column is fixedly connected to the right side surface of the tail frame, and the left-side positioning column is fixedly connected to the left side surface of the tail frame, the dual-axis drive motor is provided with a first output shaft and a second output shaft; the tail frame is provided with a gas channel and an air hole, and the air hole is communicated with the gas channel; the synchronous pulley group comprises a driving pulley, a driven pulley and a synchronous belt, and the synchronous belt is connected between the driving pulley and the driven pulley; the driving pulley of the first set of synchronous pulley groups is fixedly connected to the first output shaft of the dual-axis drive motor, and the driven pulley of the first set of synchronous pulley groups is rotatably connected to the left-side positioning column through a bearing; the driving pulley of the second set of synchronous pulley groups is fixedly connected to the second output shaft of the dual-axis drive motor, and the driven pulley of the second set of synchronous pulley groups is rotatably connected to the right-side positioning column through a bearing; The continuum trunk comprises a front end wire reel, a first bearing, a second bearing, a first guide pin, a second guide pin, a third guide pin, a fourth guide pin, a first drive wire, a second drive wire, a third drive wire, a fourth drive wire, a joint assembly, a guide pin connecting seat and a central fixing sleeve, wherein the central fixing sleeve is fixedly connected to the end face of the wire reel, four guide pin connecting seats are fixedly connected to the end face of the wire reel, the first guide pin, the second guide pin, the third guide pin and the fourth guide pin are respectively fixedly connected to the four guide pin connecting seats, the first bearing and the second bearing are respectively connected to the end face of the front end wire reel, and the The joint assembly is formed by a plurality of joints connected to each other by hinges, the frontmost joint among the plurality of joints is connected to the front wire disc by a hinge, the first driving wire, the second driving wire, the third driving wire and the fourth driving wire respectively pass through each joint along the length direction of the joint assembly, the front end of the first driving wire passes through the front wire disc and then bypasses the first guide pin, the front end of the second driving wire passes through the front wire disc and then bypasses the second guide pin, the front end of the third driving wire passes through the front wire disc and then bypasses the third guide pin, and the front end of the fourth driving wire passes through the front wire disc and then bypasses the fourth guide pin; The central fixing sleeve of the continuum trunk is sleeved on the cylinder of the head body and fixed, the front end of the first driving wire is wound around the first guide pin and then wound on the first winding area of ​​the yaw winding wheel, the second driving wire is wound around the second guide pin and then wound on the second winding area of ​​the yaw winding wheel, and the winding direction of the second driving wire in the second winding area is opposite to the winding direction of the first driving wire in the first winding area; the front end of the third driving wire is wound around the third guide pin and then wound on the first winding area of ​​the pitch winding wheel, the front end of the fourth driving wire is wound around the fourth guide pin and then wound on the second winding area of ​​the pitch winding wheel, and the winding direction of the third driving wire in the first winding area of ​​the pitch winding wheel is opposite to the winding direction of the fourth driving wire in the second winding area of ​​the pitch winding wheel; the end of the output shaft of the yaw driving motor is connected to the second bearing, and the end of the output shaft of the pitch driving motor is connected to the first bearing; The rear ends of the first driving wire, the second driving wire, the third driving wire and the fourth driving wire of the continuum trunk are all fixed on the tail frame.

2. The miniature pipeline inspection flexible robot relying on air jet attachment according to claim 1 is characterized in that: The tail also includes an air pipe, which is connected to the gas channel of the tail frame.

3. The miniature pipeline inspection flexible robot relying on air jet attachment according to claim 1 is characterized in that: The tail also includes an active rolling mechanism, which includes a rolling motor, a small gear, a large gear, a small sleeve and a large sleeve. The small gear is fixedly connected to the output shaft of the rolling motor, the small sleeve is located in the large sleeve, and the small sleeve and the large sleeve form a rotating pair through cylindrical surface cooperation; the large sleeve is fixed in the gas channel of the tail frame, the large gear is fixedly connected to the small sleeve, the small gear is meshed with the large gear, and the rolling motor is fixedly connected to the tail frame.

4. The miniature pipeline inspection flexible robot relying on air jet attachment according to claim 1 is characterized in that: The tail also includes an air pipe, which is connected to the small sleeve.

5. The miniature pipeline inspection flexible robot relying on air jet attachment according to claim 1, 2, 3 or 4, characterized in that: The head also includes a snake bone gimbal, which includes a snake bone pitch winding wheel, a snake bone yaw winding wheel, a snake bone pitch motor, a snake bone yaw motor, a snake bone soft mechanical arm, a guide pin 1 and a guide pin 2, wherein the snake bone pitch motor and the snake bone yaw motor are fixedly connected to the head frame, the snake bone pitch wire wheel is connected to the output shaft of the snake bone pitch motor, the snake bone yaw wire wheel is connected to the output shaft of the snake bone yaw motor, the guide pin 1 and the guide pin 2 are fixedly connected to the head frame, the rear end of the snake bone soft mechanical arm is fixed in the positioning hole of the head frame, and the snake bone soft mechanical arm is provided with four driving wires, wherein two driving wires are respectively wound around the guide pin 1 and the guide pin 2 and then wound around the two winding areas of the snake bone pitch winding wheel in opposite directions, and the other two driving wires are respectively wound around the guide pin 1 and the guide pin 2 and then wound around the two winding areas of the snake bone yaw winding wheel in opposite directions; The front end wire drum of the continuum trunk is connected to the third bearing and the fourth bearing, the end of the output shaft of the serpentine yaw motor is connected to the third bearing, and the end of the output shaft of the serpentine pitch motor is connected to the fourth bearing.

6. The miniature pipeline inspection flexible robot relying on air jet attachment according to claim 5 is characterized in that: The snake-bone gimbal also includes a camera, which is connected to the end of the snake-bone soft robotic arm.

7. The miniature pipeline inspection flexible robot relying on air jet attachment according to claim 5 is characterized in that: The snake-bone gimbal also includes a rubber soft sleeve, which is sleeved on the snake-bone soft mechanical arm.

8. The miniature pipeline inspection flexible robot relying on air jet attachment according to claim 1 is characterized in that: The tail frame and / or the head frame are connected with a camera.

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