A progressive pipe robot with actively variable diameter

Abstract

The present invention relates to the technical field of pipeline robots. More specifically, it relates to a progressive pipeline robot with active diameter variation, which includes a first motion module and a multifunctional module. The multifunctional module is detachably connected to the first motion module. The first motion module includes a housing, a middle pipe, a progressive wheel, a forward wheel, a first motor, and a wheel diameter control mechanism. The middle pipe is sleeved inside the housing and is rotatably connected to the housing. The forward wheel is connected to the middle pipe. The progressive wheel is connected to the housing, and the friction force direction between the progressive wheel and the pipeline forms an angle with the pipeline axis. The first motor drives the housing to rotate relative to the middle pipe. The wheel diameter control mechanism includes an adjustment component and a detection component for detecting the inner diameter of the pipeline. The detection component is arranged on the housing and is signal-connected to the adjustment component. Adjustment components are provided between the progressive wheel and the housing and between the forward wheel and the middle pipe respectively. The present invention realizes the active diameter variation of the driving structure of the pipeline robot, improving the flexibility and the performance of passing through curves.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline robots, and more specifically, to a screw-in type pipeline robot capable of actively changing its diameter. Background Art

[0002] At present, pipelines are widely used in various fields of industrial production, including oil and gas pipelines, chemical pipelines, drainage pipelines, etc. To improve the service life of pipelines, it is necessary to regularly conduct effective inspection and cleaning of the inner wall of pipelines. However, due to the narrow structure and special use environment inside the pipelines, the difficulty and cost of manual inspection and cleaning are relatively high. Therefore, pipeline robots have developed rapidly in recent years.

[0003] At present, there are already various pipeline robots on the market at home and abroad. In terms of structure, existing pipeline cleaning robots mostly adopt crawler type, supporting wheel type, multi-legged type or peristaltic type structures. Although multi-legged robots have high flexibility, their anti-interference ability is weak. Once in a complex pipeline environment, the diversity of pipeline shapes, sizes and materials will affect the walking performance and flexibility; crawler robots, due to their special design, perform well in terms of movement efficiency and stability, which enables them to work in special environments. However, for non-supporting crawler robots, when turning in small-diameter pipelines, the crawler may not fit tightly with the pipeline, reducing the stability of the robot; in the case of using supporting crawler robots, affected by their complex mechanical structure, the traction force will be correspondingly reduced; peristaltic robots have good passing performance in curves, but the design and manufacturing processes are complex, and due to the characteristics of peristaltic drive, the walking speed of the robot is also relatively slow, restricting its application scenarios. In the prior art, the drive structures of pipeline robots are mostly supporting wheels or crawlers, all of which are mainly rigid structures, with poor flexibility, and it is difficult to achieve flexible and autonomous diameter change and turning functions, and they cannot adapt to the complex and diverse pipeline types nowadays. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art that the drive structure has poor flexibility, it is difficult to achieve flexible and autonomous diameter change, and it cannot adapt to complex pipeline types, and to provide a screw-in type pipeline robot capable of actively changing its diameter, realizing the active diameter change of the drive structure of the pipeline robot, thereby improving the flexibility and curve passing performance of the robot.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is:

[0006] Provided is a progressive pipe robot with actively variable diameter, comprising a first motion module and a multi-functional module. The multi-functional module is detachably connected to the first motion module. The first motion module includes a housing, a middle pipe, a progressive wheel, a forward wheel, a first motor and a wheel diameter control mechanism. The middle pipe is sleeved inside the housing and rotatably connected to the housing. The forward wheel is connected to the middle pipe. The progressive wheel is connected to the housing and the friction force direction between the progressive wheel and the pipe forms an angle with the pipe axis. The first motor drives the housing to rotate relative to the middle pipe. The wheel diameter control mechanism includes an adjustment component and a detection component for detecting the inner diameter of the pipe. The detection component is arranged on the housing and is in signal connection with the adjustment component. The adjustment component is provided between the progressive wheel and the housing and between the forward wheel and the middle pipe.

[0007] For the progressive pipe robot with actively variable diameter of the present invention, the first motion module drives the whole robot to move stably in the pipe. The detachably connected multi-functional module can be selected according to user needs, so as to complete diversified tasks such as pipe dirt cleaning and pipe detection. During the movement of the robot, the first motor controls the rotation of the housing, driving the progressive wheel connected to the housing to rotate along the pipe wall. During the forward movement of the robot, the friction force between the progressive wheel and the pipe can be decomposed into a force parallel to the pipe direction, and this part of the component force is used to drive the movement of the robot. The forward wheel does not rotate along the inner wall of the pipe, but rolls along the pipe extension direction under the action of the progressive wheel, providing support for the middle pipe, so that the whole robot can maintain stability in the pipe. When the robot moves to a place where the inner diameter of the pipe changes, the detection component on the wheel diameter control mechanism can detect the change of the inner diameter of the pipe, and control the adjustment component according to the change of the inner diameter, so that the distance between the progressive wheel and the housing and the distance between the forward wheel and the middle pipe change synchronously, always keeping in contact with the inner wall of the pipe, realizing the actively variable diameter of the driving structure of the pipe robot, thereby improving the flexibility of the robot and the performance of passing through bends, and being applicable to various occasions with relatively complex pipe environments.

[0008] Furthermore, the adjustment component includes an upper base, a lower base, a middle rod, a first elastic member, a telescopic component, and a flexible cable. The upper base and the lower base are respectively sleeved at two ends of the middle rod and are slidably connected to the middle rod. The first elastic member is sleeved on the outer periphery of the middle rod, and both ends of the first elastic member are respectively fixed to the upper base and the lower base. Both ends of the flexible cable are respectively connected to the upper base and the motor. Both the forward wheel and the swivel wheel are connected to the upper base. During the operation of the pipeline robot, the first elastic member always remains in a compressed state. When the inner diameter of the pipeline decreases, the telescopic component controls the flexible cable to contract, driving the upper base to approach the lower base along the middle rod, further compressing the first elastic member, and reducing the distance between the swivel wheel and the outer shell. When the inner diameter of the pipeline increases, the telescopic component relaxes the flexible cable, the compression amount of the first elastic member decreases, and the upper base and the lower base move along the middle rod, and the distance between the two increases, so as to actively change the diameter to adapt to the change of the inner diameter of the pipeline.

[0009] Furthermore, the wheel diameter control mechanism further includes a fine-tuning component for finely tuning the positions of the swivel wheel and the forward wheel. The fine-tuning component is connected between the upper base and the swivel wheel, and / or the fine-tuning component is connected between the upper base and the forward wheel. The fine-tuning component enables the swivel wheel and the forward wheel to be able to fine-tune autonomously when encountering relatively small protrusions or obstacles on the inner wall of the pipeline, without the need for the motor to drive the telescopic movement, reducing the energy consumption.

[0010] Furthermore, both the swivel wheel and the forward wheel include a wheel body and a wheel frame. The wheel body is connected to the upper base through the wheel frame. The fine-tuning component is a second elastic member arranged between the wheel frame and the upper base, and the elastic modulus of the second elastic member is less than the elastic modulus of the first elastic member. When encountering a small obstacle, since the elastic modulus of the second elastic member is less than that of the first elastic member, at this time, the telescopic amount of the second elastic member is larger, while the telescopic amount of the first elastic member is smaller. At this time, the distance between the upper base and the wheel frame is mainly changed through the telescopic of the second elastic member to realize a small change in the wheel diameter, which is convenient for crossing small obstacles in the pipeline, and can be automatically reset after crossing the obstacle, without the need for motor drive control.

[0011] Furthermore, a wheel shaft is arranged inside the wheel body. The included angle between the axial direction of the wheel shaft of the swivel wheel and the axial direction of the middle pipe is 20 - 45°. The angle between the wheel shaft and the axis of the middle pipe will affect the movement speed and stability of the robot. If the angle is too large, it is easy to cause a reduction in the forward driving force along the pipeline direction. If the angle is too small, the movement stability will be reduced. To effectively balance the propulsion efficiency and stability of the device, the angle between the wheel shaft and the axis of the middle pipe is maintained between 20 - 45°, and it can be adjusted according to the actual situation of the pipeline diameter and the inner surface to improve the adaptability of the robot to different pipelines.

[0012] Furthermore, a rotating connection part is provided inside the outer shell. A rolling bearing is provided between the middle pipe and the rotating connection part. A motor bracket for fixing the first motor is provided on the middle pipe. A first gear connected to the first motor is provided on the motor bracket. An internal gear meshing with the first gear is provided inside the outer shell. The motor is installed on the middle pipe through the motor bracket to drive the first gear to rotate, thereby driving the internal gear to rotate. Cooperating with the rolling bearing, it realizes stable relative rotation between the outer shell and the middle pipe, providing stable power support for the screw-in drive structure of the robot.

[0013] Furthermore, the multifunctional module includes a second motion module and a cleaning module for collecting dirt inside the pipe. A universal joint connected to the first motion module is provided on the second motion module. The cleaning module is detachably connected to the first motion module. An aggregate port communicating with the cleaning module is provided on the middle pipe. The flexible connection between the first motion module and the second motion module is realized through the universal joint, increasing the motion stability of the robot. The cleaning component collects the dirt inside the pipe and guides it to the aggregate port on the middle pipe, realizing the centralized collection and temporary storage of the silt inside the pipe, achieving an efficient cleaning effect and solving the problem of the robot being affected by the silt inside the pipe when moving forward.

[0014] Furthermore, the cleaning module includes a chassis, a spring pull rod, and multiple groups of support trusses. A fixing part is provided on the chassis. An elastic membrane covers the surfaces of the multiple groups of support trusses. The multiple groups of support trusses are all movably connected to the fixing part and are inclined in a funnel shape towards the fixing part. The spring pull rod is connected between the support trusses and the chassis. During the cleaning process, the spring pull rod remains in a stretched state. Under the action of the tensile force, the top of the support truss contacts the pipe wall and is restricted by the pipe wall. The support truss always remains in an open state, forming a stable funnel shape. An elastic membrane covers between the multiple groups of support trusses, enabling the cleaning module to form a complete funnel structure and realizing passive change of the aperture. Finally, the silt inside the pipe is guided to the fixing part on the chassis, realizing all-round cleaning of the inside of the pipe.

[0015] Furthermore, a sealing bracket is provided inside the outer shell. A sealing groove is provided on the middle pipe. A sealing ring is provided inside the sealing bracket. The sealing ring abuts against the sealing groove. The sealing mechanism between the outer shell and the middle pipe is such that one end of the sealing ring is fixed through the sealing bracket, and the other end protrudes from the outer shell and abuts against the sealing groove on the middle pipe, thereby forming a bionic valve structure to achieve stable sealing. It can undergo adaptive deformation when the middle pipe and the outer shell rotate relative to each other, preventing external sewage from seeping into the inside of the robot.

[0016] Furthermore, an installation bracket and a signal transmitting component for installing the multifunctional module are provided on the first motion module and / or the second motion module. The multifunctional module further includes a camera component, a lidar component, and an infrared thermal imaging component. The camera component, the lidar component, and the infrared thermal imaging component are all signal-connected to the signal transmitting component. The installation bracket allows users to install multiple multifunctional modules on the first motion module. The camera component is responsible for detecting stains on the front pipeline wall, identifying cracks, and assisting in navigation path planning. The lidar is deployed to fuse data through triangulation to generate a three-dimensional point cloud of the pipeline in real time and identify obstacles in combination with visual data. The infrared thermal imaging component preliminarily detects abnormal temperature conditions inside the pipeline, such as leakage points and local corrosion heating. The camera component, the lidar component, and the infrared thermal imaging component all transmit the collected data to the signal transmitting component, and the signal transmitting component transmits relevant information to the console outside the pipeline, facilitating the user to understand the specific situation inside the pipeline in real time.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. The active diameter variation of the driving structure of the pipeline robot is realized, with strong adaptability to complex environments, and the flexibility and bend passing performance of the robot are improved;

[0019] 2. The functions of the robot are rich, and the multifunctional module can complete various tasks such as pipeline cleaning and pipeline detection according to user needs;

[0020] 3. The sealing ring adopts a valve flap matching structure, with better sealing effect, preventing dirt in the pipeline from entering the robot interior and extending the service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of a progressive pipeline robot capable of active diameter variation;

[0022] Figure 2 It is a schematic structural diagram of the first motion module;

[0023] Figure 3 It is a schematic internal structure diagram of the first motion module;

[0024] Figure 4 It is a schematic internal structure diagram of the middle pipe;

[0025] Figure 5 It is a cross-sectional view of the first motion module;

[0026] Figure 6 It is for Figure 5 The partial enlarged view of position A in

[0027] Figure 7 It is a schematic structural diagram of the wheel diameter control mechanism;

[0028] Figure 8 is Figure 7 a sectional view taken along the B-B position in

[0029] Figure 9 a schematic structural diagram of the cleaning module.

[0030] In the attached drawings: 100, the first motion module; 110, the housing; 111, the rotating connection part; 112, the internal gear; 113, the sealing bracket; 114, the mounting bracket; 120, the middle pipe; 121, the rolling bearing; 122, the motor bracket; 123, the first gear; 124, the sealing groove; 125, the sealing ring; 130, the precession wheel; 131, the wheel body; 132, the wheel frame; 133, the wheel axle; 140, the forward wheel; 150, the first motor; 160, the wheel diameter control mechanism; 161, the upper base; 162, the lower base; 163, the middle rod; 164, the first elastic member; 165, the telescopic assembly; 166, the flexible cable; 167, the fine-tuning assembly; 168, the second elastic member; 169, the detection assembly; 200, the multi-functional module; 210, the second motion module; 211, the universal joint; 220, the cleaning module; 221, the fixing part; 222, the chassis; 223, the spring pull rod; 224, the support truss; 230, the camera assembly; 240, the lidar assembly; 250, the infrared thermal imaging assembly. Specific Embodiments

[0031] The present invention will be further described below in conjunction with specific embodiments. Among them, the attached drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and should not be construed as a limitation to this patent; in order to better illustrate the embodiments of the present invention, some components in the attached drawings will be omitted, enlarged or reduced, which do not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the attached drawings may be omitted.

[0032] In the attached drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or position relationship, it is based on the orientation or position relationship shown in the attached drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the attached drawings are only for illustrative purposes and should not be construed as a limitation to this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0033] Embodiment 1

[0034] This embodiment is the first embodiment of a progressive pipe robot with an actively variable diameter, including a first motion module 100 and a multi-functional module 200. The multi-functional module 200 is detachably connected to the first motion module 100. The first motion module 100 includes a housing 110, a middle pipe 120, a progressive wheel 130, a forward wheel 140, a first motor 150, and a wheel diameter control mechanism 160. The middle pipe 120 is sleeved inside the housing 110 and is rotatably connected to the housing 110. The forward wheel 140 is connected to the middle pipe 120. The progressive wheel 130 is connected to the housing 110, and the friction direction between the progressive wheel 130 and the pipe forms an angle with the pipe axis. The first motor 150 drives the housing 110 to rotate relative to the middle pipe 120. The wheel diameter control mechanism 160 includes an adjustment component and a detection component 169 for detecting the inner diameter of the pipe. The detection component 169 is arranged on the housing 110 and is signal-connected to the adjustment component. Adjustment components are provided between the progressive wheel 130 and the housing 110, and between the forward wheel 140 and the middle pipe 120.

[0035] In the progressive pipe robot with an actively variable diameter in this embodiment, the first motion module 100 drives the whole robot to move stably in the pipe. The detachably connected multi-functional module 200 can be selected according to user needs, mainly completing tasks such as pipe detection (such as pipe corrosion detection, pipe leakage detection, etc.), pipe pretreatment (such as pipe corrosion cleaning, leakage pretreatment, pipe maintenance, etc.). As Figure 1 , Figure 2 shown, during the movement of the robot, the first motor 150 controls the housing 110 to rotate, driving the progressive wheel 130 connected to the housing 110 to rotate along the pipe wall. During the forward movement of the robot, the friction force between the progressive wheel 130 and the pipe can be decomposed into a force parallel to the pipe direction. This part of the component force is used to drive the robot to move. The forward wheel 140 does not rotate along the inner wall of the pipe, but moves along the pipe direction under the action of the progressive wheel 130, providing support for the middle pipe 120, enabling the whole robot to move stably in the pipe. The forward wheel 140 and the progressive wheel 130 have the same structure. The rotation direction of the forward wheel 140 is the same as the pipe extension direction, but the angle of the progressive wheel 130 is different from that of the forward wheel 140, and there is a certain angle with the pipe extension direction, so as to drive the whole robot through the force parallel to the pipe direction. When the robot moves to a place where the inner diameter of the pipe changes, the detection component 169 on the wheel diameter control mechanism 160 can detect the change of the inner diameter of the pipe, and control the adjustment component according to the change of the inner diameter, so as to control the synchronous change of the distance between the progressive wheel 130 and the housing 110 and the distance between the forward wheel 140 and the middle pipe 120, always keeping in contact with the inner wall of the pipe, realizing the active variable diameter of the driving structure of the pipe robot, improving the flexibility and bend passing performance of the robot, and being applicable to various occasions with relatively complex pipe environments.

[0036] In this embodiment, the detection component 169 is selected as an ultrasonic sensor, which measures the distance between the robot housing 110 and the pipe wall in real time, and assists the adjustment component to adaptively adjust the pressures on the rotation wheel 130 and the forward wheel 140 to avoid jamming. The detection component 169 can also adopt a multi-modal perception structure, including a self-cleaning camera or a sensor with an anti-fouling coating, to survey the inner wall condition of the pipeline and judge whether there is a bend ahead.

[0037] The adjustment component includes an upper base 161, a lower base 162, a middle rod 163, a first elastic member 164, a telescopic component 165 and a flexible cable 166. The upper base 161 and the lower base 162 are respectively sleeved at both ends of the middle rod 163 and are slidably connected to the middle rod 163. The first elastic member 164 is sleeved on the outer periphery of the middle rod 163, and both ends of the first elastic member 164 are respectively fixed to the upper base 161 and the lower base 162. Both ends of the flexible cable 166 are respectively connected to the upper base 161 and the motor. The forward wheel 140 and the rotation wheel 130 are both connected to the upper base 161. As Figure 8 shown, during the operation of the pipeline robot, the first elastic member 164 always remains in a compressed state. When the inner diameter of the pipeline decreases, the telescopic component 165 controls the flexible cable 166 to contract, driving the upper base 161 to approach the lower base 162 along the middle rod 163, further compressing the first elastic member 164 and reducing the distance between the rotation wheel 130 and the housing 110; when the inner diameter of the pipeline increases, the telescopic component 165 relaxes the flexible cable 166, the compression amount of the first elastic member 164 decreases, and the upper base 161 and the lower base 162 move along the middle rod 163, and the distance between the two increases, so as to actively change the diameter to adapt to the change of the inner diameter of the pipeline. In this embodiment, the lower base 162 of the rotation wheel 130 is installed on the housing 110 by a hot-swappable method, which is convenient for disassembly and improves the convenience of maintenance and cleaning.

[0038] The telescopic component 165 in this embodiment includes a second motor and a rotating wheel. The rotating wheel is connected to the output shaft of the second motor. The flexible cable 166 is connected to the rotating wheel and wound around the outer periphery of the rotating wheel. When it is necessary to reduce the distance between the rotation wheel 130 and the housing 110, the second motor is controlled to rotate the rotating wheel to increase the number of turns of the flexible cable 166 wound around the rotating wheel, driving the upper base 161 to move downward; when it is necessary to increase the distance between the rotation wheel 130 and the housing 110, the rotating wheel is rotated in the opposite direction. The telescopic component 165 in this embodiment can also adopt a form of cooperation between a second motor and a telescopic rod. The telescopic rod is fixed to the output end of the second motor. The flexible cable 166 is fixedly connected to the telescopic rod. By driving the telescopic rod to move up and down by the second motor, the telescopic of the flexible cable 166 is controlled, so as to realize the control of the distance between the upper base 161 and the lower base 162.

[0039] As Figure 3 、 Figure 4As shown in the figure, a rotating connection part 111 is provided inside the outer shell 110. A rolling bearing 121 is provided between the middle pipe 120 and the rotating connection part 111. A motor bracket 122 for fixing the first motor 150 is provided on the middle pipe 120. A first gear 123 connected to the first motor 150 is provided on the motor bracket 122. An internal gear 112 meshing with the first gear 123 is provided inside the outer shell 110. The motor is installed on the middle pipe 120 through the motor bracket 122 to drive the first gear 123 to rotate, thereby driving the internal gear 112 to rotate, and cooperating with the rolling bearing 121 to achieve stable relative rotation between the outer shell 110 and the middle pipe 120, providing stable power support for the screw-in driving structure of the robot.

[0040] A sealing bracket 113 is provided inside the outer shell 110. A sealing groove 124 is provided on the middle pipe 120. A sealing ring 125 is provided inside the sealing bracket 113, and the sealing ring 125 abuts against the sealing groove 124. As Figure 5 、 Figure 6 shown in the figure, the sealing structure between the outer shell 110 and the middle pipe 120 adopts a bionic valve structure, which surrounds the outside of the middle pipe 120. One end of the sealing ring 125 is fixed through the sealing bracket 113, and the other end protrudes from the outer shell 110 and abuts against the sealing groove 124 on the middle pipe 120. The sealing groove 124 is U-shaped, and stable sealing is achieved through abutting against the sealing ring 125, and it can undergo adaptive deformation when the middle pipe 120 and the outer shell 110 rotate relatively, preventing external sewage from seeping into the robot interior. As Figure 1 shown in the figure, chamfers are provided at both ends of the first motion module 100, making the overall shape of the first motion module 100 approximately capsule-shaped, avoiding friction between the sharp protrusions at both ends and the inner wall of the pipe during the process of passing through the elbow pipe, and facilitating passage.

[0041] Embodiment 2

[0042] This embodiment is the second embodiment of the screw-in type pipeline robot with active diameter variation. This embodiment is similar to Embodiment 1, the difference being that the wheel diameter control mechanism 160 further includes a fine-tuning component 167 for finely adjusting the positions of the screw-in wheels 130 and the forward wheels 140. Fine-tuning components 167 are provided between the upper base 161 and the screw-in wheels 130 and between the upper base 161 and the forward wheels 140. The fine-tuning component 167 enables the screw-in wheels 130 and the forward wheels 140 to autonomously fine-tune when encountering small protrusions or obstacles on the inner wall of the pipeline, without the need for motor-driven expansion and contraction, reducing energy consumption.

[0043] As Figure 7 、 Figure 8As shown, both the precession wheel 130 and the forward wheel 140 include a wheel body 131 and a wheel frame 132. The wheel body 131 is connected to the upper base 161 through the wheel frame 132. In this embodiment, the fine-tuning component 167 is the second elastic member 168 disposed between the wheel frame 132 and the upper base 161, and the elastic modulus of the second elastic member 168 is less than that of the first elastic member 164. By the expansion and contraction of the second elastic member 168, the distance between the upper base 161 and the wheel frame 132 is changed to achieve a slight change in the wheel diameter, facilitating crossing of minor obstacles inside the pipe, and being able to automatically reset after crossing the obstacle without motor drive control. The fine-tuning component 167 can also be selected as a set of mutually repulsive magnets, respectively disposed on the wheel frame 132 and the upper base 161. When passing through a minor obstacle, the wheel frame 132 and the upper base 161 are squeezed, and the two approach each other to cross the obstacle; after crossing the obstacle, they reset due to mutual repulsion.

[0044] As Figure 2 , Figure 3 shown, a wheel shaft 133 is provided inside the wheel body 131. The angle between the direction of the wheel shaft 133 of the precession wheel 130 and the axis direction of the middle pipe 120 is 20 - 45°. The angle between the wheel shaft 133 and the axis of the middle pipe 120 affects the movement speed and stability of the robot. If the angle is too large, it is easy to cause a reduction in the forward driving force along the pipeline direction; if the angle is too small, the movement stability will be reduced. To effectively balance the propulsion efficiency and stability of the device, the angle between the wheel shaft 133 and the axis of the middle pipe 120 is maintained between 20 - 45°, and it can be adjusted according to the actual situation of the pipeline diameter and the inner surface to improve the adaptability of the robot to different pipelines.

[0045] Embodiment Three

[0046] This embodiment is the third embodiment of the actively variable-diameter precession pipeline robot. This embodiment is similar to Embodiment One, the difference being that the multifunctional module 200 includes a second motion module 210 and a cleaning module 220 for collecting dirt inside the pipe. A universal joint 211 for connecting to the first motion module 100 is provided on the second motion module 210. The cleaning module 220 is detachably connected to the first motion module 100, and an aggregate port communicating with the cleaning module 220 is provided on the middle pipe. The second motion module 210 in this embodiment is similar in structure to the first motion module 100, only differing in the structure of the end of the middle pipe 120. The middle pipe 120 on the first motion module 100 is used to collect sediment, so the end of the middle pipe 120 communicates with the cleaning module 220. As Figure 1As shown in the figure, in the forward direction, the first motion module 100, which is connected to the cleaning module 220 and located on the right side of the picture, is connected to the second motion module 210 located on the left side of the picture through a universal joint 211. The flexible connection between the first motion module 100 and the second motion module 210 is achieved through the universal joint 211, which increases the motion stability of the robot. The cleaning component collects the dirt in the pipeline and guides it to the aggregate port on the middle pipe, realizing the centralized collection and temporary storage of the sediment in the pipe, achieving an efficient cleaning effect and solving the problem that the robot's forward movement is affected by the sediment in the pipe. In this embodiment, only the first motion module and the second motion module are shown. In actual use, multiple interconnected motion modules can be included, making the overall structure of the pipeline robot snake-shaped. The multiple motion modules can be connected not only through the universal joint 211, but also a hose can be arranged between the motion modules to increase the connection strength and the motion flexibility of the robot. Setting the hose can also connect the middle pipes 120 of each motion module to increase the storage space for sediment. The multifunctional module 200 in this embodiment can also include relevant additional components to meet the working requirements, such as corrosion detection components, corrosion cleaning components, anti-corrosion protection components, etc.

[0047] When the pipeline robot in this embodiment passes through a bent pipe, the wheel diameter control mechanism 160 will make the advancing wheels 140 and the swivel wheels 130 closer to the inner diameter side of the bent pipe move further away from the central axis of the robot, that is, dynamically increase the diameter of the wheel system; make the distance between the swivel wheels 130, the advancing wheels 140 closer to the outer diameter side of the bent pipe and the middle pipe 120 shorter, that is, dynamically decrease the diameter of the wheel system, so that the overall posture of the robot is closer to the outer diameter side of the bent pipe, and improve the bending pipe passing performance of the pipeline robot through real-time dynamic active diameter change.

[0048] As Figure 9As shown in the figure, the cleaning module 220 includes a chassis 222, a spring tie rod 223, and multiple groups of support trusses 224. The fixing part 221 is arranged on the chassis 222. The surfaces of the multiple groups of support trusses 224 are covered with elastic membranes. The multiple groups of support trusses 224 are all movably connected to the fixing part 221 and inclined towards the fixing part 221 in a funnel shape. The spring tie rod 223 is connected between the support truss 224 and the chassis 222. During the cleaning process, the spring tie rod 223 remains in a stretched state. Under the action of the tensile force, the top end of the support truss 224 contacts the pipe wall and is restricted by the pipe wall. The support truss 224 always remains in an open state, forming a stable funnel shape. The multiple groups of support trusses 224 are covered with elastic membranes. In this embodiment, the support truss 224 has a T-shaped structure, and the top of the T-shaped structure is arc-shaped, so as to cooperate with the elastic membrane to form a complete funnel structure, and at the same time can realize the self-adaptive change of the aperture, and finally guide the deposits in the pipe to the fixing part 221 on the chassis 222, realizing the all-round cleaning of the inside of the pipeline. In this embodiment, the cleaning module 220 and the second motion module 210 are directly connected by a hot plugging method. There are several groups of clamping grooves on the top of the second motion module 210, and multiple groups of clamping blocks matching the clamping grooves are arranged on the chassis 222 of the cleaning module 220. By rotating the chassis 222, the clamping blocks can be screwed into the clamping grooves to achieve a fast and stable connection.

[0049] Embodiment 4

[0050] This embodiment is the fourth embodiment of the actively variable-diameter and screw-in type pipeline robot. This embodiment is similar to Embodiment 1. The difference is that an installation bracket 114 for installing the multifunctional module 200 and a signal transmitting component are provided on the first motion module 100. The multifunctional module 200 further includes a camera component 230, a lidar component 240, and an infrared thermal imaging component 250. The camera component 230, the lidar component 240, and the infrared thermal imaging component 250 are all signal-connected to the signal transmitting component. As Figure 1 , Figure 2As shown, the installation bracket 114 allows users to install multiple multifunctional modules 200 on the first motion module 100. The camera assembly 230 is responsible for detecting stains on the front pipeline wall, identifying cracks, and assisting in navigation path planning. LiDars are symmetrically deployed on both sides of the fuselage. By triangulating and fusing data, a three-dimensional point cloud of the pipeline is generated in real time. Combining visual data to identify obstacles, even if one side is blocked, the environment can still be reconstructed through the data on the other side. The redundant design with symmetrical distribution on both sides can improve the motion reliability of the robot and is suitable for pipeline bending scenarios. The infrared thermal imaging assembly 250 preliminarily detects abnormal temperature conditions inside the pipeline, such as leakage points and local corrosion heating. The camera assembly 230, LiDAR assembly 240, and infrared thermal imaging assembly 250 all transmit the collected data to the signal transmission assembly, and relevant information is transmitted to the console outside the pipeline through the signal transmission assembly, facilitating users to understand the specific situation inside the pipeline in real time. During actual use, users can select any number of the above multifunctional modules 200 for installation according to different pipeline operation requirements to form a multi-functional module with customized functions.

[0051] The camera assembly 230, LiDAR assembly 240, etc. can also be added to the second motion module 210 according to the actual situation. If the pipeline environment is complex, they can be added to each motion module to ensure the running stability of the robot.

[0052] In the specific content of the above specific implementation manner, each technical feature can be combined arbitrarily without contradiction. For the sake of concise description, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features does not exist in contradiction, it should be considered as the scope described in this specification.

[0053] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A progressive pipeline robot with actively variable diameter, characterized in that, It includes a first motion module (100) and a multi-functional module (200). The multi-functional module (200) is detachably connected to the first motion module (100). The first motion module (100) includes a housing (110), a middle tube (120), a precession wheel (130), a forward wheel (140), a first motor (150), and a wheel diameter control mechanism (160). The middle tube (120) is sleeved inside the housing (110) and rotatably connected to the housing (110). The forward wheel (140) is connected to the middle tube (120). The precession wheel (130) is connected to the housing (110), and the friction direction between the precession wheel (130) and the pipeline forms an angle with the pipeline axis. The first motor (150) drives the housing (110) to rotate relative to the middle tube (120). The wheel diameter control mechanism (160) includes an adjustment component and a detection component (169) for detecting the inner diameter of the pipeline. The detection component (169) is arranged on the housing (110) and is signal-connected to the adjustment component. The adjustment components are provided between the precession wheel (130) and the housing (110), and between the forward wheel (140) and the middle tube (120). The adjustment component includes an upper base (161), a lower base (162), a middle rod (163), a first elastic member (164), a telescopic component (165), and a flexible cable (166). The upper base (161) and the lower base (162) are respectively sleeved at both ends of the middle rod (163) and are slidably connected to the middle rod (163). The first elastic member (164) is sleeved on the outer periphery of the middle rod (163), and both ends of the first elastic member (164) are respectively fixed to the upper base (161) and the lower base (162). Both ends of the flexible cable (166) are respectively connected to the upper base (161) and the telescopic component (165). The forward wheel (140) and the precession wheel (130) are both connected to the upper base (161). A rotating connection part (111) is arranged inside the housing (110). A rolling bearing (121) is provided between the middle tube (120) and the rotating connection part (111). A motor bracket (122) for fixing the first motor (150) is provided on the middle tube (120). A first gear (123) connected to the first motor (150) is provided on the motor bracket (122). An internal gear (112) meshing with the first gear (123) is provided inside the housing (110).The multi-functional module (200) includes a cleaning module (220) for collecting dirt in the pipe. The cleaning module (220) includes a chassis (222), a spring pull rod (223), and multiple groups of support trusses (224). A fixing portion (221) is provided on the chassis (222). The surfaces of the multiple groups of support trusses (224) are covered with an elastic film. The multiple groups of support trusses (224) are all movably connected to the fixing portion (221) and are inclined in a funnel shape towards the fixing portion (221). The spring pull rod (223) is connected between the support truss (224) and the chassis (222).; 2. The actively variable-diameter progressive pipeline robot according to claim 1, wherein, The wheel diameter control mechanism (160) further includes a fine-tuning component (167) for finely adjusting the positions of the precession wheel (130) and the forward wheel (140). The fine-tuning component (167) is connected between the upper base (161) and the precession wheel (130), and / or the fine-tuning component (167) is connected between the upper base (161) and the forward wheel (140).

3. The progressive pipe robot with actively variable diameter according to claim 2, characterized in that, Both the precession wheel (130) and the forward wheel (140) include a wheel body (131) and a wheel frame (132). The wheel body (131) is connected to the upper base (161) through the wheel frame (132). The fine-tuning component (167) is a second elastic member (168) disposed between the wheel frame (132) and the upper base (161), and the elastic modulus of the second elastic member (168) is less than the elastic modulus of the first elastic member (164).

4. The progressive pipeline robot with an actively variable diameter according to claim 3, wherein, A wheel shaft (133) is provided inside the wheel body (131). The included angle between the direction of the wheel shaft (133) of the precession wheel (130) and the axis direction of the middle tube (120) is 20 - 45°.

5. The progressive pipeline robot with actively variable diameter according to claim 1, characterized in that, The multifunctional module (200) includes a second motion module (210). A universal joint (211) for connecting to the first motion module (100) is provided on the second motion module (210). The cleaning module (220) is detachably connected to the first motion module (100), and an aggregate port communicating with the cleaning module (220) is provided on the middle tube (120).

6. The actively variable-diameter progressive pipeline robot according to any one of claims 1 to 5, characterized in that, A sealing bracket (113) is provided inside the housing (110). A sealing groove (124) is provided on the middle tube (120). A sealing ring (125) is provided inside the sealing bracket (113), and the sealing ring (125) abuts against the sealing groove (124).

7. The progressive pipeline robot with active variable diameter according to claim 5, characterized in that, An installation bracket (114) for installing the multifunctional module (200) and a signal transmitting component are provided on the first motion module (100) and / or the second motion module (210). The multifunctional module (200) further includes a camera component (230), a lidar component (240), and an infrared thermal imaging component (250). The camera component (230), the lidar component (240), and the infrared thermal imaging component (250) are all signal-connected to the signal transmitting component.

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