Electric intelligent pipeline walking robot

Abstract

The invention discloses an electric intelligent pipeline walking robot, which relates to the technical field of robots, and comprises a crawler belt assembly, a variable diameter assembly and a central spline shaft, the crawler belt assembly comprises a rack, a driving wheel, a driven wheel and a belt, a control circuit and a battery are integrated in the rack, the driving wheel, the driven wheel and the supporting wheel are all rotationally installed on the rack, a driving motor is installed in the rack, a driving bevel gear is installed on a driving shaft of the driving motor, a driven bevel gear is installed in the center of the driving wheel, and the belt is installed on the driving bevel gear. The driving bevel gear is in meshing transmission with the driven bevel gear; the multiple crawler belt assemblies are distributed on the outer side of the center spline shaft in a circumferential mode. A variable-diameter assembly is arranged on the central spline shaft; through the innovative modular design, the advanced variable-diameter assembly and the intelligent power distribution and differential function of the gear transmission bridge, flexible driving force adjustment, wide pipe diameter adaptability and efficient walking performance are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an electric intelligent pipeline walking robot. Background Art

[0002] In today's pipeline inspection, maintenance and operation scenarios, traditional pipeline walking equipment has exposed many problems that need to be solved urgently. For example, pipeline walking robots driven by a single motor often fall into the dilemma of lack of power when faced with complex pipeline environments such as winding, rough inner walls or changes in pipe diameters, and it is difficult to complete tasks stably and efficiently. Although robots driven by multiple motors have improved in power, their complex structure inevitably brings negative effects such as a significant increase in costs and reduced reliability. In addition, existing equipment generally has limitations when dealing with pipelines of different diameters. Operators need to frequently replace or adjust equipment components, which not only significantly increases the difficulty of operation, but also consumes a lot of time and costs, seriously restricting the improvement of work efficiency and the expansion of the scope of operation. Summary of the invention

[0003] The purpose of the present invention is to solve the defects in the prior art and to propose an electric intelligent pipeline walking robot.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] An electric intelligent pipeline walking robot comprises a track assembly, a variable diameter assembly and a central spline shaft;

[0006] The crawler assembly includes a frame, a driving wheel, a driven wheel, and a belt. The frame is integrated with a control circuit and a battery. The driving wheel, the driven wheel, and the supporting wheel are all rotatably mounted on the frame. A driving motor is installed in the frame. A driving bevel gear is installed on the driving shaft of the driving motor. A driven bevel gear is installed at the center of the driving wheel. The driving bevel gear and the driven bevel gear are meshed for transmission.

[0007] There are multiple track assemblies, and the multiple track assemblies are circumferentially distributed on the outer side of the central spline shaft;

[0008] The central spline shaft is provided with a variable diameter assembly, and is connected to a plurality of track assemblies via the variable diameter assembly;

[0009] The variable diameter assembly includes two sliders slidably mounted on the central spline shaft, and the two sliders are fixed by a special-shaped rod. A spring is also sleeved on the central spline shaft, and the spring is located between the two sliders. The two sliders are hingedly mounted with a connecting rod at the position corresponding to each track assembly, one end of the connecting rod is hingedly mounted to the slider, and the other end of the connecting rod is hingedly mounted to the frame of the track assembly.

[0010] Furthermore, it also includes a gear transmission bridge, which includes an outer shell fixed to the end of a central spline shaft, a central bevel gear rotatably installed in the outer shell, and a plurality of transmission spline shafts rotatably installed on the outer side of the outer shell, and transmission bevel gears are respectively installed at both ends of the transmission spline shafts, and the transmission bevel gear at one end of each transmission spline shaft is meshed with the central bevel gear in the outer shell for transmission, and the transmission bevel gear at the other end of each transmission spline shaft is meshed with the driven bevel gear installed at the center of the driving wheel for transmission.

[0011] Furthermore, there are three crawler track assemblies, and a driving motor is installed in the frame of each crawler track assembly.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] The invention achieves flexible driving force adjustment, wide pipe diameter adaptability and efficient walking performance through innovative modular design, advanced variable diameter components and intelligent power distribution and differential functions of gear transmission bridge. The robot has extremely high practicality and broad market application prospects, and is expected to bring revolutionary changes to the fields of pipeline inspection, maintenance and operation, and promote a significant improvement in the industry's technical level. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0015] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0016] Figure 2 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention;

[0017] Figure 3 It is a schematic diagram of the overall structure of the crawler assembly;

[0018] Figure 4 is a partial cross-sectional view of a track assembly;

[0019] Figure 5 for Figure 4 A magnified view of the structure of part a.

[0020] In the figure: 1 center spline shaft, 2 variable diameter assembly, 20 special-shaped rod, 21 slider, 22 spring, 23 connecting rod, 3 track assembly, 30 drive motor, 31 frame, 32 drive wheel, 33 driven wheel, 34 belt, 35 support wheel, 36 active bevel gear, 37 driven bevel gear, 4 gear transmission bridge, 40 housing, 41 transmission spline shaft, 42 transmission bevel gear. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention;

[0022] Embodiment 1

[0023] Reference Figure 1 , Figure 2-Figure 5 , an electric intelligent pipeline walking robot, comprising a track assembly 3, a variable diameter assembly 2, and a central spline shaft 1;

[0024] The crawler assembly 3 includes a frame 31, a driving wheel 32, a driven wheel 33, and a belt 34. The frame 31 is integrated with a control circuit and a battery. The driving wheel 32, the driven wheel 33, and the supporting wheel 35 are all rotatably mounted on the frame 31. A driving motor 30 is mounted in the frame 31. A driving bevel gear 36 is mounted on the driving shaft of the driving motor 30. A driven bevel gear 37 is mounted at the center of the driving wheel 32. The driving bevel gear 36 is meshed with the driven bevel gear 37 for transmission.

[0025] There are multiple track assemblies 3, and the multiple track assemblies 3 are circumferentially distributed on the outer side of the central spline shaft 1;

[0026] A variable diameter assembly 2 is provided on the central spline shaft 1, and is connected to a plurality of track assemblies 3 via the variable diameter assembly 2;

[0027] The variable diameter assembly 2 includes two sliders 21 slidably mounted on the center spline shaft 1, and the two sliders 21 are fixed by a special-shaped rod 20. A spring 22 is also sleeved on the center spline shaft 1, and the spring 22 is located between the two sliders 21. The two sliders 21 are hingedly mounted with a connecting rod 23 at the position corresponding to each track assembly 3. One end of the connecting rod 23 is hingedly mounted to the slider 21, and the other end of the connecting rod 23 is hingedly mounted to the frame 31 of the track assembly 3.

[0028] Embodiment 2

[0029] Reference Figure 1-Figure 5 On the basis of the above-mentioned embodiment 1, the present invention also includes a gear transmission bridge 4, which includes a housing 40 fixed to the end of the central spline shaft 1, a central bevel gear is rotatably installed in the housing 40, and a plurality of transmission spline shafts 41 are rotatably installed on the outer side of the housing 40, and transmission bevel gears 42 are respectively installed at both ends of the transmission spline shaft 41. The transmission bevel gear 42 at one end of each transmission spline shaft 41 is meshed with the central bevel gear in the housing 40 for transmission, and the transmission bevel gear 42 at the other end of each transmission spline shaft 41 is meshed with the driven bevel gear 37 installed in the center of the driving wheel 32 for transmission.

[0030] Further, there are three crawler assemblies 3, and a drive motor 30 is installed in the frame 31 of each crawler assembly 3. In other embodiments, the crawler assemblies 3 can also be set to 4 groups, 5 groups, etc., which are selected according to actual needs.

[0031] Taking three sets of crawler assemblies 3 as an example, during operation, the present invention can also be divided into a single motor drive mode, a dual motor drive mode and a triple motor drive mode;

[0032] Single motor drive mode: In this mode, we can choose to install the drive motor 30 in only one set of track assemblies 3, making it an active walking mechanism, and the other two sets as passive walking mechanisms. Through the gear transmission bridge, the passive walking mechanism is connected and transmitted with the active walking mechanism to achieve efficient transmission of power. Before the actual operation, the operator can use the variable diameter assembly 2 and the center spline shaft 1 to accurately adjust the diameter of the robot according to the diameter of the pipeline so that it fits perfectly to the inner wall of the pipeline. When ready, start the drive motor 30, and through the built-in control circuit, accurately control the robot to walk smoothly in the pipeline. It is suitable for pipeline scenes with relatively stable pipe diameters and relatively simple working environments.

[0033] Dual-motor drive mode: In this mode, we can choose to install drive motors 30 in two sets of crawler assemblies 3 to give the robot a stronger driving force, and the other set serves as a passive walking mechanism. Similarly, the passive walking mechanism is connected to one of the active walking mechanisms through the gear transmission bridge 4 to ensure smooth transmission of power. Before entering the pipeline operation, according to the diameter of the pipeline, the diameter of the robot is flexibly adjusted using the variable diameter assembly 2 and the center spline shaft 1 to adapt it to the inner wall of the pipeline. During operation, the two drive motors 30 are started at the same time, and the operating parameters of each motor are intelligently coordinated through the control circuit to achieve stable and efficient walking of the robot in the pipeline. Compared with single-motor drive, dual-motor drive can provide greater driving force and is more suitable for operation in complex pipeline environments such as rough inner walls, large slopes, or local blockages.

[0034] Three-motor drive mode: In this mode, the three sets of crawler assemblies 3 are all equipped with drive motors 30 to provide powerful power support for the robot. At the same time, the gear transmission bridge 4 is installed to achieve efficient transmission and intelligent distribution of power. Before operation, according to the diameter of the pipeline, the diameter of the robot is adjusted using the variable diameter assembly 2 and the center spline shaft 1 to ensure that it fits tightly against the inner wall of the pipeline. During operation, the three drive motors 30 are started synchronously, and the operation of each motor is finely coordinated through the control circuit to achieve high-speed and efficient walking of the robot in the pipeline. It is worth mentioning that the gear transmission bridge 4 can not only realize the transmission of power, but also has an advanced differential function, which can realize the average distribution of power of the three drive motors 30, ensuring that the power output of each crawler walking mechanism is more balanced when the robot walks in the pipeline, significantly improving the stability and efficiency of walking, and is suitable for large pipelines with frequent changes in pipe diameter and complex working environment.

[0035] In addition, through the control circuit, the operator can also flexibly control the working state of the drive motor 30, stop one or more of the drive motors 30, and realize different numbers of drive motors 30. For example, when the pipeline environment is relatively simple and only a small driving force is required, one or two drive motors 30 can be turned off, and only a single motor or dual motor drive can be used, thereby effectively saving energy and reducing operating costs. This flexible motor control method further improves the applicability and economy of the robot, enabling it to perform at its best in various complex and changeable pipeline operation scenarios.

[0036] In other embodiments, the three sets of crawler assemblies 3 are all equipped with drive motors 30, but the gear transmission bridge 4 is not installed. Before operation, the diameter of the robot is adjusted according to the diameter of the pipeline using the variable diameter assembly 2 and the central spline shaft 1 to adapt it to the inner wall of the pipeline. During operation, the operator can control the drive motor 30 of each set of crawler assemblies 3 separately to achieve efficient walking of the robot in the pipeline. The unique advantage of this design is that the three sets of crawler assemblies 3 can be independently controlled without installing the gear transmission bridge 4. When the pipeline turns or encounters complex terrain, each crawler assembly 3 can run at different speeds, thereby achieving more flexible steering and environmental adaptability. For example, when the pipeline turns, the inner crawler assembly 3 can slow down or stop, and the outer crawler assembly 3 maintains a normal speed, allowing the robot to pass the curve easily and smoothly. This design further improves the flexibility and adaptability of the robot in a complex pipeline environment, enabling it to maintain stable walking performance under various complex terrain conditions, and provides a more diversified solution for pipeline operations.

Claims

1. An electric intelligent pipeline walking robot, comprising a crawler assembly (3), characterized in that: It also includes a variable diameter component (2) and a central spline shaft (1); The crawler assembly (3) comprises a frame (31), a driving wheel (32), a driven wheel (33), and a belt (34); a control circuit and a battery are integrated in the frame (31); the driving wheel (32), the driven wheel (33), and the supporting wheel (35) are all rotatably mounted on the frame (31); a driving motor (30) is mounted in the frame (31); a driving bevel gear (36) is mounted on the driving shaft of the driving motor (30); a driven bevel gear (37) is mounted at the center of the driving wheel (32); the driving bevel gear (36) and the driven bevel gear (37) are meshed and driven; There are multiple track assemblies (3), and the multiple track assemblies (3) are circumferentially distributed on the outer side of the central spline shaft (1); The central spline shaft (1) is provided with a variable diameter assembly (2), and is connected to a plurality of crawler assemblies (3) via the variable diameter assembly (2); The variable diameter assembly (2) comprises two sliders (21) slidably mounted on the central spline shaft (1), and the two sliders (21) are fixed by a special-shaped rod (20). A spring (22) is also sleeved on the central spline shaft (1), and the spring (22) is located between the two sliders (21). The two sliders (21) are hingedly mounted with a connecting rod (23) at the position corresponding to each crawler assembly (3), one end of the connecting rod (23) is hingedly mounted on the slider (21), and the other end of the connecting rod (23) is hingedly mounted on the frame (31) of the crawler assembly (3).

2. The electric intelligent pipeline walking robot according to claim 1, characterized in that: The invention also comprises a gear transmission bridge (4), wherein the gear transmission bridge (4) comprises a housing (40) fixed to the end of a central spline shaft (1), a central bevel gear being rotatably mounted in the housing (40), a plurality of transmission spline shafts (41) being rotatably mounted on the outer side of the housing (40), transmission bevel gears (42) being mounted at both ends of the transmission spline shafts (41), the transmission bevel gears (42) at one end of each transmission spline shaft (41) being meshed with the central bevel gear in the housing (40) for transmission, and the transmission bevel gears (42) at the other end of each transmission spline shaft (41) being meshed with the driven bevel gear (37) mounted at the center of the driving wheel (32) for transmission.

3. An electric intelligent pipeline walking robot according to claim 1 or 2, characterized in that: There are three crawler track assemblies (3), and a driving motor (30) is installed in the frame (31) of each crawler track assembly (3).

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