A Mecanum wheel-driven pipeline robot

Abstract

The present invention relates to the field of robotics technology and discloses a Mecanum wheel-driven pipeline robot. The pipeline robot comprises a working unit, wherein the working unit comprises a steering mechanism and two groups of moving parts connected at both ends of the steering mechanism. The steering mechanism drives the moving parts to steer, and each group of moving parts comprises a driving mechanism and two Mecanum wheels connected thereto. The driving mechanism comprises a brushless DC motor, a shaft gear, and two end gears. The brushless DC motor is fixed in a motor compartment, the shaft gear is fixed to the output shaft of the brushless DC motor, the two end gears are rotatably connected to the motor compartment and are located on both sides of the shaft gear. The end gears mesh with the shaft gear. The two Mecanum wheels are connected to the end gears in a one-to-one correspondence, and the two Mecanum wheels are distributed in a mirror image on both sides of the shaft gear. The present invention provides a Mecanum wheel-driven pipeline robot capable of operating in small-diameter and complex pipelines.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a pipeline robot driven by a Mecanum wheel. Background Art

[0002] With the acceleration of urbanization and the continuous improvement of infrastructure, pipeline systems are becoming increasingly complex and difficult to maintain. Traditional manual inspection methods are not only time-consuming and labor-intensive, but also pose safety risks and are no longer able to meet the needs of efficiency and accuracy.

[0003] Today, pipeline robots integrate a variety of advanced technologies, enabling them to navigate complex pipeline environments autonomously, collect information, detect defects, and repair them. They can operate in confined, dangerous, or toxic environments difficult for personnel to access, significantly enhancing personnel safety. With the rapid advancement of microelectronics, computers, and automation, pipeline robotics technology has matured. In recent years, thanks to the integrated application of high-precision sensors, advanced machine vision algorithms, and intelligent control systems, robots have achieved significant advances in detection accuracy, stability, and intelligence. These technological innovations enable robots to penetrate deep into pipelines, conducting comprehensive, comprehensive inspections without blind spots. Even tiny cracks, corrosion spots, or deposits can be accurately captured and transmitted to the control center in real time.

[0004] For example, wheeled spiral pipe robots can effectively and safely clean water pipelines in challenging environments. However, these robots are too large and heavy for use in larger underground projects like tunnels and natural gas pipelines. Soft pipe robots, for example, can adapt to the appropriate diameter and leverage their softness to enter complex and narrow pipelines. However, their limited drive capability, speed, and structural rigidity limit their general application in pipeline exploration, limiting their operational capabilities. Therefore, there is currently no more suitable robot for small-diameter, complex pipelines, which require both high flexibility and high rigidity. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a Mecanum wheel-driven pipeline robot that can operate in small-diameter complex pipelines.

[0006] The present invention provides a Mecanum wheel-driven pipeline robot, comprising a working unit, the working unit comprising: a steering mechanism and two groups of moving parts connected at the front and rear ends of the steering mechanism, the steering mechanism driving the moving parts to steer, each group of moving parts comprising a driving mechanism and two Mecanum wheels connected thereto; wherein the driving mechanism comprises: a brushless DC motor, a shaft gear, and two end face gears, the brushless DC motor being fixed in a motor compartment, the shaft gear being fixedly connected to the output shaft of the brushless DC motor, the two end face gears being rotatably connected to the motor compartment and being located on either side of the shaft gear, the end face gears being meshed with the shaft gear; the two Mecanum wheels being connected to the end face gears in a one-to-one correspondence, and the two Mecanum wheels being distributed on either side of the shaft gear in a mirror-image manner.

[0007] Optionally, each Mecanum wheel includes a plurality of variable diameter units in an annular array, and the moving component also includes a variable diameter mechanism that drives the variable diameter unit to move toward or away from the center of the Mecanum wheel. Each variable diameter unit includes two parallel Mecanum wheel rollers and an A-type support frame and a B-type support frame connected to both sides of the Mecanum wheel rollers, and the A-type support frame and the B-type support frame are arranged in a centrally symmetrical manner.

[0008] Optionally, each set of variable diameter mechanisms includes a slide bar fixedly connected to the A-type support frame and the B-type support frame, and a push-pull assembly that drives the slide bar to move toward or away from the center of the Mecanum wheel.

[0009] Optionally, the push-pull assembly includes: a fixed disc and a fixed sleeve connected to both sides of the Mecanum wheel, the fixed disc is fixedly connected to the end gear, and the corresponding positions of the fixed disc and the fixed sleeve are provided with linear slide grooves that are centrally symmetrically distributed along their radial directions; a movable disc, rotatably connected to the side of the fixed sleeve away from the Mecanum wheel, and the corresponding positions of the movable disc are provided with arc-shaped slide grooves that are centrally symmetrically distributed along their radial directions; a servo motor, fixedly connected to the fixed sleeve, the output shaft of the servo motor is fixed to the movable disc, the slide rod passes through the A-type support frame and the B-type support frame, and the two ends of the slide rod are correspondingly slidably connected to the linear slide groove and the arc slide groove.

[0010] Optionally, each Mecanum wheel includes four centrosymmetrical variable diameter units, and the corresponding linear grooves on the fixed disc and the fixed sleeve, and the arc-shaped grooves on the movable disc are four each.

[0011] Optionally, the motor bin is cylindrical as a whole, a fixing slot is opened in the middle of the motor bin, the brushless DC motor is fixed in the fixing slot, and the output shaft of the brushless DC motor is perpendicular to the extension direction of the motor bin, and the end gear is rotatably sleeved on the motor bin.

[0012] Optionally, the steering mechanism includes: a corrugated airbag having a plurality of independent chambers distributed along its circumference, with both ends of the corrugated airbag being respectively connected to the moving parts; and an inflation and deflation assembly respectively connected to each independent chamber to inflate and deflate the independent chamber.

[0013] Optionally, both ends of the corrugated airbag are respectively connected with sealing connectors, and the sealing connectors clamp the head and tail ends of the corrugated airbag in the radial direction.

[0014] Optionally, multiple working units are connected via corrugated airbags.

[0015] Optionally, the gas filling and deflation assembly is connected to each independent chamber via an air pipe, and the air pipe passes through the end face gear.

[0016] The technical solution provided by the embodiment of the present invention has the following advantages compared with the existing technology:

[0017] The embodiment of the present invention provides a Mecanum wheel-driven pipeline robot that can operate in small-diameter complex pipelines. Through the steering mechanism, it can adapt to complex pipelines as the direction of the pipeline changes. The drive mechanism drives the Mecanum wheel to move and can walk in the pipeline. The brushless DC motor in the drive mechanism starts to drive the shaft gear to rotate, and indirectly drives the two Mecanum wheels to reverse at the same speed on the same axis through the end gear transmission principle, so as to realize the flexible movement of the robot in the pipeline. The drive mechanism can ensure that it has better rigidity. When encountering complex pipelines such as those with blockages or obstacles in the pipeline, it can still walk and work normally. Compared with the traditional drive method of one motor driving one Mecanum wheel, the single motor in the present invention drives the Mecanum wheel to rotate. A motor drives two Mecanum wheels, making the robot structure more compact. While ensuring the motor torque output, it effectively shortens the robot's axial size along the pipeline, making it adaptable to complex and narrow congested pipelines. The two rotating Mecanum wheels are designed on the same axis, so that the two Mecanum wheels can offset each other's torque on the axis, which not only reduces the load on the axis, but also prevents the motor compartment and steering mechanism from rotating relative to the inner wall of the pipeline. The combination of rigidity and flexibility is achieved by the moving parts and the steering mechanism, ensuring that the robot can turn while having the corresponding load-bearing capacity. If a working device needs to be loaded on the robot, the coaxial reversing mechanism can ensure the stability of the working device's feed, ensuring that it can perform operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A simulation diagram of a Mecanum wheel-driven pipeline robot turning in a pipeline provided by an embodiment of the invention;

[0019] Figure 2 A simulation diagram of a Mecanum wheel-driven pipeline robot before turning in a pipeline, provided by an embodiment of the invention;

[0020] Figure 3 A simulation diagram of a Mecanum wheel-driven pipeline robot passing a bend in a pipeline provided by an embodiment of the invention;

[0021] Figure 4A schematic diagram of the overall structure of the drive mechanism and the diameter-changing mechanism after being connected according to an embodiment of the invention;

[0022] Figure 5 A schematic diagram of the structure of a driving mechanism provided in an embodiment of the invention;

[0023] Figure 6 An exploded view of a drive mechanism provided for an embodiment of the invention;

[0024] Figure 7 A schematic structural diagram of a diameter-changing mechanism provided in an embodiment of the invention;

[0025] Figure 8 An exploded view of a diameter-changing mechanism provided in an embodiment of the invention;

[0026] Figure 9 A schematic structural diagram of a B-type variable diameter unit provided in an embodiment of the invention;

[0027] Figure 10 A schematic structural diagram of an A-type variable diameter unit provided in an embodiment of the invention;

[0028] Figure 11 A schematic structural diagram of a fixed sleeve provided in an embodiment of the invention;

[0029] Figure 12 A schematic structural diagram of a steering mechanism provided in an embodiment of the invention;

[0030] Figure 13 An exploded view of a steering mechanism provided in accordance with an embodiment of the present invention;

[0031] Figure 14 A conceptual diagram of the connectable mechanism of a Mecanum wheel-driven pipeline robot provided in an embodiment of the invention.

[0032] Description of reference numerals:

[0033] 1. Driving mechanism; 101. Connecting nut; 102. Shaft; 103. Bearing; 104. Motor compartment; 105. End gear; 106. Air pipe; 107. Brushless DC motor; 108. Shaft gear; 2. Variable diameter mechanism; 201. Fixed disk; 202. Variable diameter unit; 203. Fixed sleeve; 204. Moving disk; 205. Servo motor; 206. Sliding rod; 207. Locking screw; 208. Type B support frame; 209. Wheat wheel roller; 210. Type A support frame; 3. Steering mechanism; 301. Corrugated airbag; 302. Sealing connector; 303. Bidirectional thrust tapered roller bearing; 4. Pipeline; 5. Connectable unit. DETAILED DESCRIPTION

[0034] A specific embodiment of the present invention is described in detail below with reference to the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiment.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the technical solutions of 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 should not be understood as limiting the present invention.

[0036] Existing robots are unable to operate in complex, narrow and congested pipes.

[0037] To this end, an embodiment of the present invention provides a Mecanum wheel-driven pipeline robot capable of operating in small-diameter complex pipelines.

[0038] At least one embodiment of the present invention provides a Mecanum wheel-driven pipeline robot, including a working unit, the working unit including: a steering mechanism, two groups of moving parts connected to the front and rear ends of the steering mechanism, each group of moving parts including a driving mechanism and two Mecanum wheels connected thereto, wherein the driving mechanism includes: a brushless DC motor, a shaft gear, and two end gears, wherein the brushless DC motor is fixed in a motor compartment, the shaft gear is fixed to the output shaft of the brushless DC motor, the two end gears are rotatably connected to the motor compartment and are located on both sides of the shaft gear, the end gears meshing with the shaft gear, and the two Mecanum wheels are connected to the end gears in a one-to-one correspondence, and the two Mecanum wheels are distributed in a mirror image on both sides of the shaft gear.

[0039] In the Mecanum wheel-driven pipeline robot provided by the above-mentioned embodiment of the present invention, the steering mechanism can adapt to complex pipelines as the pipeline direction changes. The drive mechanism drives the Mecanum wheels to move and enable them to travel within the pipeline. Among them, the brushless DC motor in the drive mechanism starts to drive the shaft gear to rotate, indirectly driving the two Mecanum wheels coaxially and at the same speed to reverse through the end gear transmission principle.

[0040] The present invention is described below by means of several specific embodiments. To keep the following description of the embodiments of the present invention clear and concise, detailed descriptions of known functions and components may be omitted. When any component of an embodiment of the present invention appears in more than one drawing, the component may be represented by the same reference numeral in each drawing.

[0041] refer to Figures 1 to 6 , Figure 1 A simulation diagram of a Mecanum wheel-driven pipeline robot turning in a pipeline provided by an embodiment of the invention. Figure 2 A simulation diagram of a Mecanum wheel-driven pipeline robot before turning in a pipeline, provided in an embodiment of the invention. Figure 3 A simulation diagram of a Mecanum wheel-driven pipeline robot passing a bend in a pipeline provided by an embodiment of the invention. Figure 4 This is a schematic diagram of the overall structure of the drive mechanism and the diameter-changing mechanism after they are connected according to an embodiment of the invention. Figure 5 A schematic diagram of the structure of the driving mechanism provided by an embodiment of the invention, Figure 6 An exploded diagram of a driving mechanism provided in an embodiment of the invention is shown in FIG. Figures 1 to 6As shown, an embodiment of the present invention provides a pipeline robot driven by a Mecanum wheel 2, including a working unit, which includes: a steering mechanism 3 and two groups of moving parts connected at the head and tail ends of the steering mechanism 3. The steering mechanism 3 drives the moving parts to turn. It should be understood that the steering mechanism 3 is the core control part of the robot, responsible for adjusting the movement direction of the robot. It is connected to the head and tail ends of the two groups of moving parts to ensure that the robot can perform precise steering operations in the pipeline. The steering mechanism 3 is not only responsible for adjusting the direction of the robot, but may also integrate sensors (such as gyroscopes, accelerometers, etc.) to achieve more precise posture control. By real-time feedback on the geometric shape of the inner wall of the pipeline and the movement state of the robot, the steering mechanism can dynamically adjust the Mecanum wheel 2 angle and speed to ensure the stable operation of the robot in complex pipelines. The general steering mechanism 3 includes a steering drive unit and / or a transmission mechanism, a steering actuator, a sensor and feedback system, and a control system. No restrictions are imposed on the various components here, as long as steering can be achieved. Each group of moving parts includes a drive mechanism 1 and two Mecanum wheels 2 connected thereto. The drive mechanism 1 includes: a brushless DC motor 107, a shaft gear 108, and two end gears 105. The brushless DC motor 107 is fixed in the motor compartment 104. The motor compartment 104 may have an integrated heat dissipation device (such as a heat sink or a fan) to ensure that the brushless DC motor 107 does not overheat during long-term operation. The core of the drive mechanism 1 is the brushless DC motor 107, which is fixed in the motor compartment 104. The brushless DC motor has the characteristics of high efficiency, low noise and long life, and is suitable for use in pipeline robots. The shaft gear 108 is fixed to the output shaft of the brushless DC motor 107. The two end gears 105 are rotatably connected to the motor compartment 104 and are located on both sides of the shaft gear 108. The end gears 105 are engaged with the shaft gear 108. The shaft gear 108 is responsible for transmitting the rotational power of the brushless DC motor 10 to the end gears 105. The bearings 103 are symmetrically mounted on the short shaft 102. The short shaft 102 is connected to both ends of the motor compartment 104. The two Mecanum wheels 2 are connected to the end gears 105 in a one-to-one manner. The two Mecanum wheels 2 are mirror-imaged and distributed on both sides of the shaft gear 108. The two Mecanum wheels 2 are mirror-imaged and distributed on both sides of the shaft gear 108. The layout of the Mecanum wheels 2 enables the robot to achieve omnidirectional movement within the pipeline, including forward, backward, sideways, and rotational movements. In the present invention, the rollers of the Mecanum wheels 2 can be made of highly wear-resistant materials (such as polyurethane or rubber) to adapt to different pipe inner wall materials (such as metal, plastic, or concrete). The end gears 105 transmit power to the Mecanum wheels 2. The design of the end gears 105 enables the two Mecanum wheels 2 to rotate independently, thereby achieving flexible movement of the robot. The pipeline robot provided by the embodiment of the present invention adopts a modular design. Each component (such as the micro-steering mechanism, drive mechanism, Mecanum wheels 2, etc.) can be independently replaced or upgraded, which improves the maintainability and scalability of the robot and enables it to adapt to complex and changing pipeline environments.Currently, wireless signals may be interfered with in long or complex pipelines. Fiber optic communication or repeater technology can be used to ensure stable communication between the robot and the control center. By introducing machine learning algorithms, the robot can learn the characteristics of the pipeline environment, optimize its movement path and task execution strategy, and improve work efficiency. Lightweight materials such as carbon fiber or high-strength aluminum alloy can be considered to further reduce the robot's weight and improve its movement speed and energy efficiency.

[0042] The two groups of moving parts are respectively connected to the head and tail sides of the steering mechanism 3 along the axial direction, and can be further spliced ​​into a robot unit in a standard combination when moving in the pipeline and turning.

[0043] The embodiment of the present invention provides a Mecanum wheel-driven pipeline robot that can operate in small-diameter complex pipelines. Through the steering mechanism, it can adapt to complex pipelines as the direction of the pipeline changes. The drive mechanism drives the Mecanum wheel to move and can walk in the pipeline. The brushless DC motor in the drive mechanism starts to drive the shaft gear to rotate, and indirectly drives the two Mecanum wheels to reverse at the same speed on the same axis through the end gear transmission principle, so as to realize the flexible movement of the robot in the pipeline. The drive mechanism can ensure that it has better rigidity. When encountering complex pipelines such as those with blockages or obstacles in the pipeline, it can still walk and work normally. Compared with the traditional drive method of one motor driving one Mecanum wheel, the single motor in the present invention drives the Mecanum wheel to rotate. Each motor drives two Mecanum wheels, making the robot more compact. This effectively reduces the robot's axial dimension along the pipe while maintaining motor torque output, making it suitable for complex, narrow, and congested pipes. By designing the two rotating Mecanum wheels on the same axis, they offset each other's torque on the axis, reducing loads on the axis and preventing the motor compartment and steering mechanism from rotating relative to the pipe's inner wall. This rigid-flexible combination of moving components and the steering mechanism ensures the robot's steering capability while maintaining its load-bearing capacity. If a working device is required, the coaxial reversing mechanism ensures stable feeding and operational performance. The robot's functionality can be expanded by replacing or adding modules, such as adding a camera module for visual inspection of the pipe interior, a robotic arm module for clearing blockages or performing simple repairs, or a gas sensor module for detecting hazardous gas concentrations within the pipe.

[0044] refer to Figures 7 to 10 , Figure 7 A schematic structural diagram of a diameter-changing mechanism provided in an embodiment of the invention, Figure 8 An exploded view of a diameter-changing mechanism provided in an embodiment of the invention, Figure 9 A schematic structural diagram of a B-type variable diameter unit provided in an embodiment of the invention, Figure 10A schematic structural diagram of a type A variable diameter unit provided in an embodiment of the invention, as shown in FIG. Figures 7 to 10 As shown, each Mecanum wheel 2 includes a plurality of annular arrays of variable diameter units 202, each of which can move independently to achieve the overall variable diameter function of the Mecanum wheel 2. The number of variable diameter units 202 depends on the size and design requirements of the Mecanum wheel 2. Generally, the more variable diameter units 202 there are, the higher the variable diameter accuracy and adaptability of the Mecanum wheel 2, but it also increases the complexity of the structure. The moving parts also include a variable diameter mechanism that drives the variable diameter unit 202 to move closer to or away from the center of the Mecanum wheel 2. Each variable diameter unit 202 includes two parallel Mecanum wheel rollers 209 and an A-type support frame 210 and a B-type support frame 208 connected to both sides of the Mecanum wheel rollers 209. The A-type support frame 210 and the B-type support frame 208 are arranged in a centrally symmetrical manner. The Mecanum wheel roller 209 is the part of the Mecanum wheel 2 that directly contacts the inner wall of the pipe. It is usually made of highly wear-resistant materials (such as polyurethane or rubber) to increase friction and reduce wear. The A-type support frame 21 0 is arranged in a centrally symmetrical manner with the B-type support frame 208 to form a stable support structure to ensure that the wheat wheel roller 209 can remain parallel during movement. The A-type support frame 210 and the B-type support frame 208 are usually made of lightweight and high-strength materials (such as aluminum alloy or carbon fiber) to reduce the overall weight and improve the rigidity of the structure. The design of the support frame may include reinforcing ribs or hollow structures to further optimize its mechanical properties. The symmetrical design of the A-type support frame 210 and the B-type support frame 208 ensures the stability of the wheat wheel roller 209 during movement and reduces the possibility of vibration and offset. The variable diameter mechanism is the core component that drives the variable diameter unit 202 to move, and usually includes the following components: drive motor: used to provide power, which can be a stepper motor, servo motor or brushless DC motor, transmission mechanism: such as a screw, gear set or connecting rod mechanism, used to convert the rotational motion of the motor into linear movement of the variable diameter unit, guide device: such as a guide rail or slide groove, used to ensure that the variable diameter unit remains stable during movement. Diameter Variation Process: When the diameter-varying mechanism receives a control signal, the drive motor, through the transmission mechanism, drives the diameter-varying unit 202 toward or away from the center of the Mecanum wheel 2. This process dynamically adjusts the diameter of the Mecanum wheel 2 to accommodate pipes of varying sizes. Diameter Variation Accuracy and Control: The diameter-varying mechanism may be equipped with a high-precision sensor (such as a photoelectric encoder or linear displacement sensor) to monitor the position of the diameter-varying unit 202 in real time and feed this data back to the control system for precise diameter adjustment.

[0045] To adapt to movement within the pipeline, the Mecanum wheel 2 hub was redesigned in the drive mechanism 1. The face gear 105 was combined with the Mecanum wheel 2 hub via a fixed disk 201. To achieve movement within the vertical pipeline, a diameter-reducing mechanism was designed for the Mecanum wheel 2. The complete Mecanum wheel 2 hub was symmetrically divided into multiple diameter-reducing units 202. The diameter-reducing mechanism can drive the diameter-reducing units 202 to move, realizing active diameter change of the Mecanum wheel 2 and increasing the friction of the Mecanum wheel 2 within the vertical pipeline. At the same time, in complex pipelines with bends, branches, or diameter changes, the diameter-reducing function of the Mecanum wheel 2 can help the robot better adapt to changes in the pipeline geometry.

[0046] Reference again Figure 8 Each variable diameter mechanism consists of a slide bar 206 fixed to the A-type support frame 210 and the B-type support frame 208, and a push-pull assembly that drives the slide bar 206 toward or away from the center of the Mecanum wheel 2. The variable diameter unit 202 has a through hole whose diameter closely matches the outer diameter of the slide bar 206. It should be understood that the slide bar 206 is a core component of the variable diameter mechanism. Fixed to the A-type support frame 210 and the B-type support frame 208, the slide bar 206 is typically made of a high-strength material (such as stainless steel or aluminum alloy) with excellent rigidity and wear resistance. The main function of the slide bar 206 is to support the variable diameter unit 202 and ensure its stability during movement. The length and number of slide bars 206 depend on the size and design requirements of the Mecanum wheel 2. The push-pull assembly is a key component that drives the slide bar to move, and usually includes the following parts: a drive motor: provides power, which may be a stepper motor, servo motor or brushless DC motor; a transmission mechanism: such as a screw, gear set or connecting rod mechanism, which is used to convert the rotational motion of the motor into the linear movement of the slide bar 206. When the push-pull assembly receives a control signal, the drive motor drives the slide bar 206 to move toward or away from the center of the Mecanum wheel 2 through the transmission mechanism. The movement of the slide bar 206 will drive the type A support frame and the type B support frame to move synchronously, thereby adjusting the position of the Mecanum wheel roller 209 and achieving diameter change.

[0047] In this embodiment, refer to Figures 7 to 10The push-pull assembly includes: a fixed disc 201 and a fixed sleeve 203 connected to both sides of the Mecanum wheel 2, the fixed disc 201 is fixedly connected to the end gear 105, and the corresponding positions of the fixed disc 201 and the fixed sleeve 203 are provided with linear slide grooves distributed symmetrically along their radial directions; a movable disc 204 is rotatably connected to the side of the fixed sleeve 203 away from the Mecanum wheel 2, and the corresponding position of the movable disc 204 is provided with arc-shaped slide grooves distributed symmetrically along their radial directions; a servo motor 205 is fixedly connected to the fixed sleeve 203, the output shaft of the servo motor 205 is fixed to the movable disc 204, the slide rod 206 passes through the A-type support frame 210 and the B-type support frame 208, and the servo motor 205 is fixed by a nut so as to be embedded in the fixed sleeve 2 03, the moving disc 204 is fixed to the other end face of the servo motor 205 by a nut to ensure that the servo motor 205 can drive the moving disc 204 to rotate relative to the fixed sleeve 203, the fixed disc 201 and the variable diameter unit 202 with the motor axis as the center. The corresponding sliding connections at both ends of the slide 206 are connected to the linear slide and the arc slide. The processing accuracy of the linear slide and the arc slide directly affects the working performance of the push-pull component. The slide is usually processed by high-precision CNC machine tools to ensure its smooth contour and precise size. The surface of the slide may be hardened or coated with a wear-resistant coating to reduce the friction and wear of the slide during movement. The selection of the servo motor needs to consider its torque, speed and control accuracy. Usually, a low-speed, high-torque servo motor is selected to meet the power requirements of the push-pull component. The control signal of the servo motor is sent by the robot's main control system, and the precise adjustment of the slide position is achieved through a closed-loop control algorithm.

[0048] The brushless DC motor 107 in the drive mechanism 1 starts to drive the shaft gear 108 to rotate, indirectly driving the two Mecanum wheels 2 to coaxially rotate at a constant speed through the transmission principle of the end gear 105. When the two Mecanum wheels 2 rotate, the Mecanum rollers 209 of the reducer unit 202 on them rotate in reverse. Due to the transverse movement of the Mecanum wheels, the drive mechanism 1 drives the two reducers, which are respectively installed with the A-type support frame 210 and the B-type support frame 208, to coaxially rotate and drive the robot forward and backward in the pipeline. The slide bar 206 passes through the arc groove of the movable disc 204, the linear groove of the fixed sleeve 203, the through hole of the reducing unit 202 and the linear groove of the fixed disc 201 in sequence, and is finally fixed by the locking screw 207 so that the fixed sleeve 203, the reducing unit 202 and the fixed disc 201 do not rotate relative to each other. When the movable disc 204 rotates, the arc groove of the movable disc 204 pushes the side of the slide bar 206 to make it slide, but because it is constrained by the linear grooves of the fixed sleeve 203 and the fixed disc 201 during the sliding process, the slide bar 206 only slides along the linear groove. The end gear 105 in the drive mechanism 1 has radially circumferentially distributed keys that cooperate with the keyways on the fixed disc 201 and the fixed sleeve 204 in the reducing mechanism. There are multiple square keys on the side of the end gear 105, which are respectively embedded in multiple square holes on the side of the fixed disc 201 and fixed by welding.

[0049] Compared with the common screw motor driven diameter change, it does not need to install a screw and related connecting rod mechanism placed along the axial direction of the pipe, thereby reducing the axial size of the robot and making the overall structure of the robot more compact. The servo motor 205 of the diameter change mechanism is at the center of the moving disc 204, and the overall structure is centrally symmetrical. Compared with the diameter change method through radial support, its structure is simpler, and the synchronization of the diameter change of the driving diameter change unit is good. There is no need to install a driving element separately for each diameter change unit, so that it can better adapt to complex and narrow pipes, and also provides a basis for carrying other working units.

[0050] In the embodiment of the present invention, reference Figure 11 Each Mecanum wheel 2 includes four centrosymmetric variable diameter units 202, corresponding to four linear grooves on the fixed disk 201 and the fixed sleeve 203, and four arcuate grooves on the movable disk 204. The movable disk 204, the servo motor 205, the fixed sleeve 203, and the fixed disk 201 are coaxially distributed in sequence along the axis of the servo motor 205. When the servo motor 205 drives the movable disk 204 to rotate relative to the fixed sleeve 203, the fixed disk 201, and the variable diameter units 202 around the motor axis, the four sliding rods 206 and the four variable diameter units 202 respectively fixed thereto slide back and forth along the radial direction of the fixed disk 201 in the linear grooves of the fixed sleeve 203 under the drive of the four arcuate grooves of the movable disk 204. Based on this principle, the four variable diameter units distributed along the circumference can realize active diameter change of the Mecanum wheel 2.

[0051] For details, please refer to Figure 6 The motor bin 104 is cylindrical as a whole, and a fixing groove is opened in the middle of the motor bin 104. The brushless DC motor 107 is fixed in the fixing groove, and the output shaft of the brushless DC motor 107 is perpendicular to the extension direction of the motor bin 104. The end gear 105 is rotatably sleeved on the motor bin 104. The motor bin 104 is designed to be cylindrical as a whole, which can serve as a support structure for the brushless DC motor 107 and as a connecting shaft to connect the end gear 105, thereby further reducing the weight of the robot.

[0052] refer to Figure 12 and Figure 13 , Figure 12 A schematic diagram of the structure of the steering mechanism provided by an embodiment of the invention, Figure 13 An exploded view of a steering mechanism provided in an embodiment of the invention, such as Figure 12 and Figure 13 As shown, the steering mechanism 3 includes: a corrugated airbag 301 and an inflation and deflation assembly. The contraction and expansion of the corrugated airbag 301 can be controlled by an external air pump and a reversing valve to indirectly control the robot to turn within a certain angle in the pipeline. The corrugated airbag 301 has multiple independent chambers distributed along its circumference. The two ends of the corrugated airbag 301 are respectively connected to the moving parts, and the inflation and deflation assembly is respectively connected to each independent chamber to inflate and deflate the independent chamber. The corrugated airbag 301 consists of three airbags of the same structure, i.e., independent chambers, which are bonded along the circumference. The bonding surfaces are bonded with special glue, which ensures flexible micro-steering capability while also occupying a small radial dimension. The inner ring of the bidirectional thrust tapered roller bearing 303 of the steering mechanism 3 is interference-connected with the movable disc 204 of the reducer to ensure that the steering mechanism 3 and the reducer do not rotate synchronously. The sealing connector 302 of the steering mechanism 3 and the connecting nut 101 of the drive mechanism 1 are connected by an embedded pin. The corrugated airbag 301 has three independent air cavities, and the sealing connector 302 can be bent along the axial direction of the pipeline by controlling the contraction or expansion of the air cavities through sequential inflation and deflation. When the robot turns, the independent inflation and deflation of the three independent air cavities of the corrugated airbag 301 is controlled by the reversing valve. When one air cavity is deflated and the other two air cavities are inflated, the expansion of the inflation cavity and the contraction of the exhaust cavity will cause the corrugated airbag 301 to bend toward the exhaust cavity side, thereby using the deformation force of the corrugated airbag 301 to lift and push the reducing mechanism of the drive mechanism 1 connected to it that needs to turn through the curve.

[0053] Obstacle crossing: The steering mechanism 3 can control the independent inflation and deflation of the three independent air chambers of the corrugated airbag 301 through an external air pump and a reversing valve. When one air chamber is exhausted and the other two air chambers are inflated, the expansion of the inflation chamber and the contraction of the exhaust chamber will cause the corrugated airbag 301 to bend toward the exhaust chamber side, thereby driving the robot to turn within a certain angle or shrink and stretch as a whole in the pipeline through the deformation force of the corrugated airbag 301. The expansion or contraction of the corrugated airbag itself will push or pull the adjacent driving mechanism 1 and the reducing mechanism to move passively in the pipeline. When the corrugated airbag bends, it will lift the adjacent driving mechanism 1 and the reducing mechanism. When encountering an obstacle, the two sections of the corrugated airbag will lift the adjacent driving mechanism 1 and the reducing mechanism in sequence. At the same time, the reducing mechanism shrinks and the diameter becomes smaller until the original diameter is restored after crossing the obstacle.

[0054] Steering and turning: The steering mechanism 3 can indirectly control the robot to turn within a certain angle in the pipeline or to shrink and stretch the entire robot by controlling the contraction and expansion of the bellows through an external air pump and a reversing valve. This allows the robot to turn at a certain angle. The expansion or contraction of the bellows itself will push or pull the adjacent drive mechanism 1 and reducer to move passively in the pipeline. When the bellows bend, it will lift the adjacent drive mechanism 1 and reducer. When entering a curve, the bellows bends and lifts the drive mechanism 1 and reducer of the previous section, causing them to rotate to a corresponding angle. The bellows then stretches to push it through the curve. The previous reducer increases its diameter and tightens against the inner wall of the pipeline to increase friction. The bellows will then shrink and pull the next drive mechanism 1 and reducer into the pipeline. The above process is repeated over and over again to enable the robot to turn and turn in the pipeline.

[0055] Since the diameters of the inner walls of pipes in engineering applications vary, it is better to modify the McReels to reduce their diameters rather than using different diameter models. The cam principle and iris-like mechanism used in the McReels enable a single McReel to achieve diameter change. Because a single McReel is driven by a servo motor, the diameter change size of each McReel can be controlled individually. Combined with the centrally located corrugated airbag, the McReel and the airbag can be inflated and deflated to achieve the functions of active obstacle crossing and active cornering in the pipeline. The soft structure of the steering mechanism 3 increases the flexibility of the robot in the curved pipe.

[0056] Specifically, the two ends of the corrugated airbag 301 are respectively connected to sealing connectors 302, which clamp the head and tail ends of the corrugated airbag 301 radially and are fixed by bolts. The bidirectional thrust tapered roller bearing 303 is divided into two, which are respectively embedded in the grooves on the sealing connector 302, thereby realizing the sealed connection between the corrugated airbag 301 and the moving disc 204 while ensuring relative rotation.

[0057] Optionally, multiple working units are connected via corrugated airbags 301.

[0058] Optionally, the inflation and deflation assembly is connected to each independent chamber via an air pipe 106 , the air pipe 106 passes through the end gear 105 , the corrugated airbag 301 in the steering mechanism 3 is sealedly connected to the air pipe 106 , and the corrugated airbag 301 is inflated and deflated via the air pipe 106 .

[0059] The Mecanum wheel-driven pipeline robot provided by the present invention has the following beneficial effects:

[0060] Fully automated control operations can be achieved. The brushless DC motor in the drive mechanism is controlled by a remote cable to control the robot's forward, backward and stationary motion. The centrally located corrugated airbag is inflated and deflated via the air pressure reversing valve through the air pipe to control its contraction and bending direction. The rotation angle of the servo motor in the variable diameter mechanism is controlled by a remote cable to indirectly control the diameter of each wheat wheel, ensuring that the robot's head is at the optimal working angle.

[0061] like Figure 14 As shown, since the standard combination of two drive mechanisms, a steering mechanism, and four Mecanum wheels makes the entire robot symmetrical head to tail, it can be further spliced ​​into a robot unit using the standard combination to enter deeper pipes. The robot formed by the connectable units 5 can operate in the pipe 4. It can automatically change the diameter to adapt to different pipe diameters, which can reduce the health, engineering, and labor costs of manual cleaning, reduce the accident rate, and improve production efficiency.

[0062] The above inventions are only several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present invention.

Claims

1. A Mecanum wheel driven pipeline robot, characterized in that: The invention comprises a working unit, wherein the working unit comprises a steering mechanism (3) and two groups of moving parts connected to the front and rear ends of the steering mechanism (3), wherein the steering mechanism (3) drives the moving parts to turn, and each group of the moving parts comprises a driving mechanism (1) and two Mecanum wheels (2) connected thereto; wherein, The driving mechanism (1) comprises: a brushless DC motor (107), a shaft gear (108) and two end face gears (105); the brushless DC motor (107) is fixed in a motor compartment (104); the shaft gear (108) is fixedly connected to an output shaft of the brushless DC motor (107); the two end face gears (105) are rotatably connected to the motor compartment (104) and are located on both sides of the shaft gear (108); the end face gears (105) are meshed with the shaft gear (108); The two Mecanum wheels (2) are connected to the end face gear (105) in a one-to-one correspondence, and the two Mecanum wheels (2) are distributed on both sides of the shaft gear (108) in a mirror image; Each of the Mecanum wheels (2) includes a plurality of annular arrays of variable diameter units (202), the movable component also includes a variable diameter mechanism for driving the variable diameter units (202) to move toward or away from the center of the Mecanum wheel (2), each of the variable diameter units (202) includes two parallel Mecanum wheel rollers (209) and an A-type support frame (210) and a B-type support frame (208) connected to both sides of the Mecanum wheel rollers (209), the A-type support frame (210) and the B-type support frame (208) being centrally symmetrically arranged; Each set of the diameter-changing mechanisms includes a slide bar (206) fixedly connected to the A-type support frame (210) and the B-type support frame (208), and a push-pull assembly that drives the slide bar (206) to move toward or away from the center of the Mecanum wheel (2); The push-pull assembly comprises: A fixed disc (201) and a fixed sleeve (203) are connected to both sides of the Mecanum wheel (2), wherein the fixed disc (201) is fixedly connected to the end face gear (105), and linear slide grooves in a circular array along their radial directions are provided at corresponding positions of the fixed disc (201) and the fixed sleeve (203); A movable disc (204) is rotatably connected to a side of the fixed sleeve (203) away from the Mecanum wheel (2), and a corresponding position of the movable disc (204) is provided with an arc-shaped sliding groove in a circular array along its radial direction; The servo motor (205) is fixedly connected to the fixed sleeve (203), the output shaft of the servo motor (205) is fixed to the movable disc (204), the sliding rod (206) passes through the A-type support frame (210) and the B-type support frame (208), and the two ends of the sliding rod (206) are correspondingly slidably connected to the linear slide groove and the arc slide groove.

2. The Mecanum wheel driven pipeline robot according to claim 1, characterized in that: Each of the Mecanum wheels (2) comprises four diameter-changing units (202) that are centrally symmetrical, and four linear slide grooves on the corresponding fixed disc (201) and the fixed sleeve (203), and four arcuate slide grooves on the movable disc (204).

3. The Mecanum wheel driven pipeline robot according to claim 1, characterized in that: The motor bin (104) is cylindrical in shape as a whole, a fixing groove is provided in the middle of the motor bin (104), the brushless DC motor (107) is fixed in the fixing groove, and the output shaft of the brushless DC motor (107) is perpendicular to the extension of the motor bin (104), and the end face gear (105) is rotatably sleeved on the motor bin (104).

4. The Mecanum wheel driven pipeline robot according to any one of claims 1 to 3, characterized in that: The steering mechanism (3) comprises: A corrugated airbag (301) has a plurality of independent chambers distributed along its circumference, and both ends of the corrugated airbag (301) are respectively connected to the moving parts; The inflation and deflation components are respectively connected to each of the independent chambers to inflate and deflate the independent chambers.

5. The Mecanum wheel driven pipeline robot according to claim 4, characterized in that: Both ends of the corrugated airbag (301) are respectively connected to sealing connectors (302), and the sealing connectors (302) clamp the head and tail ends of the corrugated airbag (301) in the radial direction.

6. The Mecanum wheel driven pipeline robot according to claim 4, characterized in that: The plurality of working units are connected via a corrugated airbag (301).

7. The Mecanum wheel driven pipeline robot according to claim 4, characterized in that: The gas filling and deflation assembly is connected to each of the independent chambers via an air delivery pipe (106), and the air delivery pipe (106) passes through the end face gear (105).

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