Pipe gallery climbing robot, working method and working system thereof and storage medium

Abstract

The invention provides a pipe gallery climbing robot, a working method and system thereof and a storage medium, and belongs to the technical field of robots. The pipe gallery climbing robot comprises a connecting frame, a first moving assembly and a clamping arm. The two clamping arms and the two first moving assemblies are arranged, the two ends of the clamping arms are hinged to the end of the connecting frame and the first moving assemblies correspondingly, and the two clamping arms are used for rotating relative to the connecting frame so as to get close to each other to enable the two first moving assemblies to be attached to the outer wall of the pipe gallery and cooperatively clamp the pipe gallery. The first moving assembly is used for rotating relative to the connecting frame so as to move along a first plane or a second plane, and the first plane and the second plane are perpendicular and are both parallel to the axial direction of the pipe gallery. Through cooperation and relative rotation of the first moving assembly and the clamping arm, the pipe gallery climbing robot can rapidly move on the ground and the pipe gallery, cross-regional operation is facilitated, and the convenience of the pipe gallery climbing robot during transferring is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a pipe gallery climbing robot, its working method, working system and storage medium. Background Art

[0002] With the progress of automatic control technology and remote control technology, robots are being applied in various working fields where human operation is difficult or dangerous in various forms. As an industrial robot, a pipe gallery climbing robot can run on columnar objects such as power pipe galleries, and at the same time inspect the power pipe galleries, which can effectively replace manual labor to complete the inspection operation.

[0003] However, the traveling structure of the pipe gallery climbing robot is usually designed based on columnar objects. In scenarios where there are many power pipe galleries to be inspected and the pipe gallery climbing robot needs to be transferred, manual handling is still required, which is not conducive to cross-regional mobile operations, greatly increasing the time required for the entire inspection process and resulting in low efficiency of the pipe gallery climbing inspection operation. Summary of the Invention

[0004] The technical problem to be solved by the present invention is how to improve the convenience of the pipe gallery climbing robot during transfer to improve the efficiency of the pipe gallery climbing inspection operation. In view of the deficiencies of the prior art, a pipe gallery climbing robot is provided.

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

[0006] In a first aspect, the present invention provides a pipe gallery climbing robot, including a connecting frame, a first moving component and a clamping arm; there are two of both the clamping arm and the first moving component. The two ends of the clamping arm are respectively hinged to the end of the connecting frame and the first moving component. Both clamping arms are used to rotate relative to the connecting frame to approach each other so that both first moving components are attached to the outer wall of the pipe gallery and cooperate to clamp the pipe gallery. The first moving component is used to rotate relative to the connecting frame to move along a first plane or a second plane, the first plane is perpendicular to the second plane, and both are parallel to the axial direction of the pipe gallery.

[0007] Compared with the prior art, the beneficial effects of the utility tunnel climbing robot of the present invention include: a connection frame, a first moving component and a clamping arm are provided to form a utility tunnel crawling robot. Among them, there are two clamping arms and two first moving components. The two ends of the clamping arm are respectively hinged to the end of the connection frame and the first moving component. One end of the two clamping arms can rotate relative to the connection frame. In this way, the other ends of the two clamping arms can approach or move away from each other, so that the two first moving components hinged thereto can approach or move away from each other, enabling the two first moving components to be attached to the outer wall of the utility tunnel and cooperate to clamp the utility tunnel, ensuring the stability of the utility tunnel climbing robot on the utility tunnel, or detaching from the utility tunnel, facilitating the detachment of the utility tunnel climbing robot from the utility tunnel; on this basis, when the first moving component is attached to the outer wall of the utility tunnel, the first moving component can move along a first plane, and the first plane is parallel to the utility tunnel, so that the entire utility tunnel climbing robot can move along the axial direction of the utility tunnel to realize the inspection of the utility tunnel. At the same time, after the first moving component is separated from the utility tunnel, the first moving component can also rotate relative to the connection frame, so that the first moving component can move along a second plane. The first plane is perpendicular to the second plane and parallel to the axial direction of the utility tunnel, that is, the second plane is parallel to the horizontal plane. The two first moving components can cooperate to move on the horizontal plane, thereby realizing the rapid movement of the utility tunnel crawling robot on the ground for cross-regional operation, effectively improving the convenience of the utility tunnel climbing robot during transfer.

[0008] Optionally, the first moving component includes a first Mecanum wheel, a first rotation driving member and a support frame. The support frame is hinged to the end of the clamping arm. The first rotation driving member and the first Mecanum wheel are both installed on the support frame. The first rotation driving member is drivingly connected to the first hub of the first Mecanum wheel to drive the first hub to rotate around a first direction. The first direction is parallel to the first plane and perpendicular to the second plane. The arrangement directions of the first rollers arranged around the first hub on the first Mecanum wheels of the two first moving components are opposite.

[0009] Optionally, the utility tunnel climbing robot further includes a second moving component. The second moving component is installed on the connection frame and is located between the two first moving components. The second moving component is used to be attached to the outer wall of the utility tunnel and move along the second plane.

[0010] Optionally, the second moving component includes two second Mecanum wheels and two second rotary driving members. The second rotary driving members and the second Mecanum wheels are both mounted on the connecting frame. The two second Mecanum wheels are arranged at intervals along the axial direction of the pipe gallery. The second rotary driving member is drivingly connected to the second hub of the second Mecanum wheel to drive the second hub to rotate around a second direction, which is perpendicular to the first plane. The arrangement directions of the second rollers arranged around the second hub on the two second Mecanum wheels are opposite.

[0011] Optionally, the pipe gallery climbing robot further includes a telescopic component. One connecting frame, two first moving components and two clamping arms form a working mechanism. The two ends of the telescopic component are respectively hinged to the connecting frames of the two working mechanisms around a direction perpendicular to the axial direction of the pipe gallery, and are used for telescoping to make the two working mechanisms approach or move away from each other.

[0012] Optionally, the telescopic component includes a telescopic driving member and a flexible structure. The two ends of the telescopic driving member are respectively hinged to the connecting frames of the two working mechanisms. The flexible structure wraps the telescopic driving member, and the two ends of the flexible structure are respectively hinged to the connecting frames of the two working mechanisms.

[0013] Optionally, the flexible structure includes a plurality of connecting rods. The plurality of connecting rods are arranged in a crosswise manner to form multiple pairs of parallel connecting rod structures. The multiple pairs of parallel connecting rod structures are symmetrically arranged on both sides of the telescopic driving member perpendicular to the telescopic direction.

[0014] In a second aspect, the present invention further provides a working method for a pipe gallery climbing robot. Based on the pipe gallery climbing robot as described above, the working method of the pipe gallery climbing robot includes:

[0015] S1. When it is necessary to climb the pipe gallery, drive the two clamping arms on the pipe gallery climbing robot that are far away from each other to rotate relative to the connecting frame of the pipe gallery climbing robot, so as to approach each other to make the two first moving components of the pipe gallery climbing robot cooperate to clamp the pipe gallery, and drive the first moving components to move along the second plane;

[0016] S2. When the pipe gallery climbing robot needs to be transferred after the climbing is completed, drive the two clamping arms that are close to each other to rotate relative to the connecting frame, so as to move away from each other to separate both first moving components from the pipe gallery, and drive the first moving components to rotate relative to the clamping arms to move along the first plane.

[0017] Compared with the prior art, the beneficial effects of the working method of the pipe gallery climbing robot of the present invention are the same as those of the pipe gallery climbing robot as described above, and will not be elaborated here.

[0018] In a third aspect, the present invention further provides a working system for a pipe gallery climbing robot, including a power supply module, a display module, and a sensing module. The power supply module is used to supply power to the pipe gallery climbing robot; the display terminal is communicatively connected to the pipe gallery climbing robot and includes at least one of a handheld terminal and a fixed terminal. The display module is used to transmit control instructions to the pipe gallery climbing robot; the sensing module is communicatively connected to the display module and is installed on the pipe gallery climbing robot. The sensing module is used to obtain data parameters of the pipe gallery and operation state data of the pipe gallery climbing robot and transmit them to the display module.

[0019] Compared with the prior art, the beneficial effects of the working system of the pipe gallery climbing robot of the present invention are the same as those of the pipe gallery climbing robot described above, and will not be elaborated here.

[0020] In a fourth aspect, the present invention further provides a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the working method of the pipe gallery climbing robot described above is implemented.

[0021] Compared with the prior art, the beneficial effects of the computer storage medium of the present invention are the same as those of the pipe gallery climbing robot described above, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described in detail below with reference to the accompanying drawings.

[0023] Figure 1 : Structural schematic diagram of a pipe gallery climbing robot from one perspective in an embodiment of the present invention;

[0024] Figure 2 : Structural schematic diagram of a pipe gallery climbing robot from another perspective in an embodiment of the present invention;

[0025] Figure 3 : Schematic diagram of the motion state of a pipe gallery climbing robot in an embodiment of the present invention;

[0026] Figure 4 : Structural schematic diagram of a pipe gallery climbing robot in another embodiment of the present invention;

[0027] Figure 5 : First motion state schematic diagram of a pipe gallery climbing robot in another embodiment of the present invention;

[0028] Figure 6 : Flowchart of the working method of the pipe gallery climbing robot in an embodiment of the present invention.

[0029] Among them, 1 - connecting frame, 2 - first moving component, 21 - first Mecanum wheel, 211 - first wheel hub, 212 - first roller, 22 - first rotary driving member, 23 - support frame, 3 - clamping arm, 4 - pipe gallery, 5 - second moving component, 51 - second Mecanum wheel, 511 - second wheel hub, 512 - second roller, 52 - second rotary driving member, 6 - telescopic component, 61 - telescopic driving member, 62 - flexible structure, 621 - connecting rod. Detailed implementation manners

[0030] To better understand the present invention, the content of the present invention will be further clearly described below in conjunction with embodiments. However, the protected content of the present invention is not limited to the following embodiments only. In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details.

[0031] It should be noted that the Z - axis in the drawings represents the vertical direction, that is, the up - and - down position, and the positive direction of the Z - axis represents the upper side, and the negative direction of the Z - axis represents the lower side; the Y - axis in the drawings represents the horizontal direction and is designated as the front - and - back position, and the positive direction of the Y - axis represents the front side, and the negative direction of the Y - axis represents the back side; the X - axis in the drawings represents the left - and - right position, and the positive direction of the X - axis represents the right side, and the negative direction of the X - axis represents the left side. At the same time, it should be noted that the above - mentioned meanings represented by the Z - axis, Y - axis and X - axis are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention.

[0032] The term "comprising" and its variations used herein are open - ended, that is, "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence relationship of the functions performed by these devices, modules or units.

[0033] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise clearly specified in the context, it should be understood as "one or more".

[0034] In a first aspect, an embodiment of the present invention provides a utility tunnel climbing robot, including a connecting frame 1, a first moving component 2, and a clamping arm 3; there are two clamping arms 3 and two first moving components 2 respectively. The two ends of the clamping arm 3 are hinged to the end of the connecting frame 1 and the first moving component 2 respectively. Both clamping arms 3 are used to rotate relative to the connecting frame 1 to approach each other so that both first moving components 2 are attached to the outer wall of the utility tunnel 4 and cooperate to clamp the utility tunnel 4. The first moving component 2 is used to rotate relative to the connecting frame 1 to move along a first plane or a second plane. The first plane is perpendicular to the second plane and both are parallel to the axis of the utility tunnel 4.

[0035] Specifically, as Figure 1 shown, the first plane is the YZ plane and the second plane is the XY plane.

[0036] In this embodiment, as Figure 1 shown, the connecting frame 1, the first moving component 2, and the clamping arm 3 are provided to form a utility tunnel crawling robot. Among them, there are two clamping arms 3 and two first moving components 2 respectively. The two ends of the clamping arm 3 are hinged to the end of the connecting frame 1 and the first moving component 2 respectively. One end of both clamping arms 3 can rotate relative to the connecting frame 1. In this way, the other ends of the two clamping arms 3 can approach or move away from each other, so that the two first moving components 2 hinged thereon approach or move away from each other, enabling both first moving components 2 to be attached to the outer wall of the utility tunnel 4 and cooperate to clamp the utility tunnel 4, ensuring the stability of the utility tunnel climbing robot on the utility tunnel 4, or detaching from the utility tunnel 4, facilitating the detachment of the utility tunnel climbing robot from the utility tunnel 4; on this basis, when the first moving component 2 is attached to the outer wall of the utility tunnel 4, the first moving component 2 can move along the first plane, and the first plane is parallel to the utility tunnel 4, so that the entire utility tunnel climbing robot can move along the axis of the utility tunnel 4 to realize the inspection of the utility tunnel 4. At the same time, after the first moving component 2 is separated from the utility tunnel 4, the first moving component 2 can also rotate relative to the connecting frame 1, so that the first moving component 2 can move along the second plane. The first plane is perpendicular to the second plane and parallel to the axis of the utility tunnel 4, that is, the second plane is parallel to the horizontal plane. The two first moving components 2 can cooperate to move on the horizontal plane, so as to realize the rapid movement of the utility tunnel crawling robot on the ground for cross-regional operation, effectively improving the convenience of the utility tunnel climbing robot during transfer.

[0037] Optionally, the first moving component 2 includes a first Mecanum wheel 21, a first rotation driving member 22, and a support frame 23. The support frame 23 is hinged to the end of the clamping arm 3. The first rotation driving member 22 and the first Mecanum wheel 21 are both mounted on the support frame 23. The first rotation driving member 22 is drivingly connected to the first hub 211 of the first Mecanum wheel 21 to drive the first hub 211 to rotate around a first direction. The first direction is parallel to the first plane and perpendicular to the second plane. The arrangement directions of the first rollers 212 arranged around the first hub 211 on the first Mecanum wheels 21 of the two first moving components 2 are opposite.

[0038] Specifically, as Figure 1 , Figure 2 and Figure 4 shown, the first Mecanum wheel 21 is composed of a first hub 211 and a plurality of first rollers 212 arranged around the first hub 211. The first rollers 212 are attached to the surface of the first hub 211 of the wheel at a certain angle. When the first Mecanum wheel 21 rotates, a force vector can be generated in the inclined direction, and forward and reverse rotations can be independently controlled and driven. The first Mecanum wheels 21 with the arrangement directions of the two first rollers 212 being opposite cooperate to enable movement in various directions such as forward, backward, turning, diagonal movement, and vertical movement, which can be achieved by combining various vectors according to the driving of each first Mecanum wheel 21; the first rotation driving member 22 can be a rotary motor or a servo motor. As Figure 2 shown, it can also be a combination of a rotary motor or a servo motor and two bevel gears. Through the mutual cooperation of the bevel gears, not only can the driving stability be improved, but also the space occupied by the first rotation driving member 22 can be effectively reduced, which is beneficial to the miniaturized design of the first moving component 2; as Figure 1 shown, the first direction is the Z-axis direction.

[0039] In this alternative embodiment, as Figure 1 , Figure 2 and Figure 4As shown in the figure, a first Mecanum wheel 21, a first rotation driving member 22, and a support frame 23 are provided to form a first moving assembly 2. Among them, the support frame 23 is hinged to the end of the clamping arm 3, and the first rotation driving member 22 and the first Mecanum wheel 21 are both installed on the support frame 23, thus ensuring the structural stability of the first moving assembly 2. On this basis, the first rotation driving member 22 is drivingly connected to the first hub 211 of the first Mecanum wheel 21, so that the first hub 211 can be driven by the first rotation driving member 22 to rotate around the first direction. The first direction is parallel to the first plane and perpendicular to the second plane, so that the first Mecanum wheel 21 can move along the first plane, and then move on the surface of the pipe gallery 4, driving the pipe gallery climbing robot to move on the pipe gallery 4. At the same time, using the structural characteristics of the first Mecanum wheel 21, the arrangement directions of the first rollers 212 arranged around the first hub 211 on the first Mecanum wheels 21 of the two first moving assemblies 2 are set to be opposite. Such a setting, as Figure 3 shown, the two first Mecanum wheels 21 can cooperate to move, driving the pipe gallery climbing robot to move forward, backward, turn or rotate along the pipe gallery 4, effectively improving the movement flexibility of the pipe gallery climbing robot.

[0040] Optionally, the pipe gallery climbing robot further includes a second moving assembly 5. The second moving assembly 5 is installed on the connecting frame 1 and is located between the two first moving assemblies 2. The second moving assembly 5 is used to adhere to the outer wall of the pipe gallery 4 and move along the second plane.

[0041] In this alternative embodiment, in order to ensure the movement stability of the pipe gallery climbing robot on the pipe gallery 4, as Figure 1 and Figure 2 shown, a second moving assembly 5 is further provided. Among them, the second moving assembly 5 is installed on the connecting frame 1 to ensure the stability of the second moving assembly 5 on the pipe gallery climbing robot. At the same time, the second moving assembly 5 is located between the two first moving assemblies 2, so as to avoid interference between the first moving assembly 2 and the second moving assembly 5 and ensure the operation stability. On this basis, the second moving assembly 5 can adhere to the outer wall of the pipe gallery 4 and can move along the second plane. Since the second moving assembly 5 is located between the two first moving assemblies 2 and adheres to the pipe gallery 4, the second moving assembly 5 moves at the upper top end of the pipe gallery 4, and the two first moving assemblies 2 are located on the left and right wall surfaces of the pipe gallery 4. The second moving assembly 5 and the first moving assembly 2 can cooperate to clamp the pipe gallery 4, thus ensuring the movement stability of the pipe gallery climbing robot on the pipe gallery 4.

[0042] Optionally, the second moving component 5 includes two second Mecanum wheels 51 and two second rotation driving members 52. The second rotation driving members 52 and the second Mecanum wheels 51 are both installed on the connecting frame 1. The two second Mecanum wheels 51 are arranged at intervals along the axial direction of the pipe gallery 4. The second rotation driving member 52 is drivingly connected to the second hub 511 of the second Mecanum wheel 51 to drive the second hub 511 to rotate around a second direction, which is perpendicular to the first plane. The arrangement directions of the second rollers 512 arranged around the second hub 511 on the two second Mecanum wheels 51 are opposite.

[0043] Specifically, as Figure 1 , Figure 2 and Figure 4 shown, the structure of the second Mecanum wheel 51 is similar to that of the first Mecanum wheel 21, and will not be elaborated here; as Figure 1 shown, the second direction is the X-axis direction.

[0044] In this alternative embodiment, as Figure 1 , Figure 2 and Figure 4 shown, two second Mecanum wheels 51 and two second rotation driving members 52 are provided to form the second moving component 5. Among them, the second rotation driving members 52 and the second Mecanum wheels 51 are both installed on the connecting frame 1, so as to ensure the structural stability of the second moving component 5. On this basis, the two second Mecanum wheels 51 are arranged at intervals along the axial direction of the pipe gallery 4, and the second rotation driving member 52 is drivingly connected to the second hub 511 of the second Mecanum wheel 51, so that the second hub 511 can be driven by the second rotation driving member 52 to rotate around the second direction, and the second direction is perpendicular to the first plane, so that the second Mecanum wheel 51 can move along the second plane, and then move on the upper surface of the pipe gallery 4, driving the pipe gallery climbing robot to move on the pipe gallery 4. At the same time, using the structural characteristics of the second Mecanum wheel 51, the arrangement directions of the second rollers 512 arranged around the second hub 511 on the two second Mecanum wheels 51 are set to be opposite. With this setting, as Figure 3 shown, the two second Mecanum wheels 51 can cooperate to move, driving the pipe gallery climbing robot to move forward, backward, turn or rotate along the pipe gallery 4, effectively improving the movement flexibility of the pipe gallery climbing robot.

[0045] Based on the above embodiment, the pipe gallery climbing robot provided by another embodiment of the present invention further includes a telescopic component 6. One connecting frame 1, two first moving components 2 and two clamping arms 3 form a working mechanism. The two ends of the telescopic component 6 are respectively hinged to the connecting frames 1 of the two working mechanisms around a direction perpendicular to the axial direction of the pipe gallery 4, and are used for telescoping to make the two working mechanisms approach or move away from each other.

[0046] In this embodiment, as Figure 4As shown in the figure, a connecting frame 1, two first moving components 2, and two clamping arms 3 form a working mechanism. This working mechanism can cooperate to clamp a pipe gallery 4 and can move flexibly on a pipe gallery 4. Two such working mechanisms are provided, and a telescopic component 6 is also provided. The two ends of the telescopic component 6 are respectively hinged to the connecting frames 1 of the two working mechanisms around the direction perpendicular to the axial direction of the pipe gallery 4. With this setting, through the telescoping of the telescopic component 6, the two working mechanisms can be moved closer to or farther away from each other, and the telescopic component 6 can also rotate relative to the working mechanism. Thus, as Figure 5 shown, when there is an obstacle at the connection between two pipe galleries 4 in the same direction of the pipe gallery climbing robot or at the elbow formed by two pipe galleries 4 in different directions, one working mechanism can be lifted by the relative rotation and telescoping of the telescopic component 6, and the other working mechanism can be moved so that the lifted working mechanism can cross the obstacle or move above another pipe gallery 4. Then, by the relative rotation and telescoping of the telescopic component 6, the lifted working mechanism is lowered and attached to the pipe gallery 4. At this time, when the other working mechanism is moved, the other working mechanism can cross the obstacle or the elbow bend through the same steps, ensuring the mobility and working efficiency of the pipe gallery climbing robot.

[0047] Optionally, the telescopic component 6 includes a telescopic driving member 61 and a flexible structure 62. The two ends of the telescopic driving member 61 are respectively hinged to the connecting frames 1 of the two working mechanisms, and the flexible structure 62 wraps the telescopic driving member 61. The two ends of the flexible structure 62 are respectively hinged to the connecting frames 1 of the two working mechanisms.

[0048] Specifically, as Figure 5 shown, the telescopic driving member 61 can be a telescopic electric cylinder, a telescopic oil cylinder, a linear actuator, a gear-rack transmission structure, or a ball screw, etc.

[0049] In this alternative embodiment, as Figure 5 shown, the telescopic driving member 61 and the flexible structure 62 are provided to form the telescopic component 6. Among them, the two ends of the telescopic driving member 61 are respectively hinged to the connecting frames 1 of the two working mechanisms, so that the position of the working mechanism can be flexibly adjusted through the telescoping and relative rotation of the telescopic driving member 61. On this basis, the flexible structure 62 wraps the telescopic driving member 61, and the two ends of the flexible structure 62 are respectively hinged to the connecting frames 1 of the two working mechanisms, so that the impact force received by the telescopic driving member 61 during telescoping and relative rotation can be absorbed by the flexible structure 62, effectively improving the working stability of the telescopic component 6.

[0050] Optionally, the flexible structure 62 includes a plurality of connecting rods 621. The plurality of connecting rods 621 are arranged crosswise to form multiple pairs of parallel connecting rod structures, and the multiple pairs of parallel connecting rod structures are symmetrically arranged on both sides of the telescopic driving member 61 perpendicular to the telescopic direction.

[0051] In this alternative embodiment, as Figure 5As shown, a plurality of linkages 621 are provided to form a flexible structure 62. Among them, the plurality of linkages 621 are arranged crosswise to form multiple pairs of parallel linkage structures, and the multiple pairs of parallel linkage structures are symmetrically arranged on both sides of the telescopic driving member 61 perpendicular to the telescopic direction. With such an arrangement, the telescopic driving member 61 can be wrapped by the parallel linkage structures. At the same time, when the telescopic driving member 61 expands and contracts or rotates relatively, the parallel linkage structures can achieve expansion and contraction and rotation. This can not only effectively absorb the impact force received by the telescopic driving member 61 during expansion and contraction and relative rotation, but also utilize the characteristic that the linkages 621 are arranged parallel to each other to effectively improve the stability during rotation and expansion and contraction, further enhancing the working stability of the entire pipe gallery climbing robot.

[0052] In a second aspect, an embodiment of the present invention provides a working method for a pipe gallery climbing robot. Based on the above-mentioned pipe gallery climbing robot, the working method of the pipe gallery climbing robot includes: S1. When it is necessary to climb the pipe gallery 4, drive two clamping arms 3 on the pipe gallery climbing robot that are far away from each other to rotate relative to the connecting frame 1 of the pipe gallery climbing robot, so as to approach each other to make the two first moving components 2 of the pipe gallery climbing robot cooperate to clamp the pipe gallery 4, and drive the first moving components 2 to move along the second plane; S2. When the pipe gallery climbing robot needs to be transferred after climbing is completed, drive the two clamping arms 3 that are close to each other to rotate relative to the connecting frame 1, so as to move away from each other to separate both first moving components 2 from the pipe gallery 4, and drive the first moving components 2 to rotate relative to the clamping arms 3 to move along the first plane.

[0053] As Figure 6 shown, the technical effects of the working method of the pipe gallery climbing robot in this embodiment are similar to those of the above-mentioned pipe gallery climbing robot, and will not be elaborated here.

[0054] In a third aspect, an embodiment of the present invention provides a working system for a pipe gallery climbing robot, including a power supply module, a display module, and a sensing module. The power supply module is used to supply power to the pipe gallery climbing robot; the display terminal is communicatively connected to the pipe gallery climbing robot and includes at least one of a handheld terminal and a fixed terminal. The display module is used to transmit control instructions to the pipe gallery climbing robot; the sensing module is communicatively connected to the display module and is installed on the pipe gallery climbing robot. The sensing module is used to obtain the data parameters of the pipe gallery 4 and the operating state data of the pipe gallery climbing robot and transmit them to the display module.

[0055] The technical effects of the working system of the pipe gallery climbing robot in this embodiment are similar to those of the above-mentioned pipe gallery climbing robot, and will not be elaborated here.

[0056] In a fourth aspect, an embodiment of the present invention provides a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the working method of the above-mentioned pipe gallery climbing robot is implemented.

[0057] The technical effects of the computer storage medium in this embodiment are similar to those of the above-mentioned utility tunnel climbing robot, and will not be elaborated here.

[0058] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A pipe gallery climbing robot, characterized in that: It comprises a connecting frame (1), a first movable component (2) and a clamping arm (3); the clamping arm (3) and the first movable component (2) are both in number, and the two ends of the clamping arm (3) are respectively hinged to the end of the connecting frame (1) and the first movable component (2); the two clamping arms (3) are both used to rotate relative to the connecting frame (1) so as to approach each other so that the two first movable components (2) are attached to the outer wall of the pipe gallery (4) and cooperate to clamp the pipe gallery (4); the first movable component (2) is used to rotate relative to the connecting frame (1) so as to move along a first plane or a second plane, and the first plane is perpendicular to the second plane and is parallel to the axial direction of the pipe gallery (4).

2. The pipe gallery climbing robot according to claim 1, characterized in that: The first moving assembly (2) comprises a first Mecanum wheel (21), a first rotating drive member (22) and a support frame (23), wherein the support frame (23) is hinged to an end of the clamping arm (3), the first rotating drive member (22) and the first Mecanum wheel (21) are both mounted on the support frame (23), the first rotating drive member (22) is drivingly connected to a first hub (211) of the first Mecanum wheel (21) to drive the first hub (211) to rotate around a first direction, the first direction being parallel to the first plane and perpendicular to the second plane, and the first rollers (212) arranged around the first hub (211) on the first Mecanum wheels (21) of the two first moving assemblies (2) are arranged in opposite directions.

3. The pipe gallery climbing robot according to claim 2, characterized in that: It also includes a second movable component (5), which is installed on the connecting frame (1) and is located between the two first movable components (2). The second movable component (5) is used to attach to the outer wall of the pipe gallery (4) and move along the second plane.

4. The pipe gallery climbing robot according to claim 3, characterized in that: The second moving assembly (5) comprises two second Mecanum wheels (51) and two second rotating drive members (52), wherein the second rotating drive members (52) and the second Mecanum wheels (51) are both mounted on the connecting frame (1), the two second Mecanum wheels (51) are arranged at intervals along the axial direction of the pipe gallery (4), the second rotating drive members (52) are drivingly connected to the second hubs (511) of the second Mecanum wheels (51) to drive the second hubs (511) to rotate in a second direction, the second direction being perpendicular to the first plane, and the second rollers (512) arranged around the second hubs (511) on the two second Mecanum wheels (51) are arranged in opposite directions.

5. The pipe gallery climbing robot according to claim 1, characterized in that: It also comprises a telescopic assembly (6), wherein one connecting frame (1), two of the first moving assemblies (2) and two of the clamping arms (3) form a working mechanism, and the two ends of the telescopic assembly (6) are respectively hinged to the connecting frames (1) of the two working mechanisms around a direction perpendicular to the axial direction of the pipe gallery (4), and are used for telescoping to make the two working mechanisms approach or move away from each other.

6. The pipe gallery climbing robot according to claim 5, characterized in that: The telescopic assembly (6) comprises a telescopic driving member (61) and a flexible structure (62), wherein two ends of the telescopic driving member (61) are respectively hinged to the connecting frames (1) of the two working mechanisms, and the flexible structure (62) wraps the telescopic driving member (61), and two ends of the flexible structure (62) are respectively hinged to the connecting frames (1) of the two working mechanisms.

7. The pipe gallery climbing robot according to claim 6, characterized in that: The flexible structure (62) comprises a plurality of connecting rods (621), wherein the plurality of connecting rods (621) are cross-arranged to form a plurality of pairs of parallel connecting rod structures, and the plurality of pairs of parallel connecting rod structures are symmetrically arranged on both sides of the telescopic driving member (61) perpendicular to the telescopic direction.

8. A working method of a pipe gallery climbing robot, characterized in that: Based on the pipe gallery climbing robot according to any one of claims 1 to 7, the working method of the pipe gallery climbing robot includes: S1. When it is necessary to climb a pipe gallery (4), two clamping arms (3) on the pipe gallery climbing robot that are spaced apart from each other are driven to rotate relative to a connecting frame (1) of the pipe gallery climbing robot so as to move closer to each other so that two first moving components (2) of the pipe gallery climbing robot cooperate to clamp the pipe gallery (4), and the first moving components (2) are driven to move along a second plane; S2. When the tunnel climbing robot needs to be transferred after climbing is completed, the two clamping arms (3) that are close to each other are driven to rotate relative to the connecting frame (1) to move away from each other so that the two first moving components (2) are separated from the tunnel (4), and the first moving component (2) is driven to rotate relative to the clamping arms (3) to move along the first plane.

9. A working system of a pipe gallery climbing robot, characterized in that: The invention comprises a power supply module, a display module and a sensing module, wherein the power supply module is used to supply power to the tunnel climbing robot; the display terminal is communicatively connected to the tunnel climbing robot and comprises at least one of a handheld terminal and a fixed terminal, and the display module is used to transmit control instructions to the tunnel climbing robot; the sensing module is communicatively connected to the display module and is installed on the tunnel climbing robot, and the sensing module is used to obtain data parameters of the tunnel (4) and operating status data of the tunnel climbing robot, and transmit them to the display module.

10. A computer storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the working method of the corridor climbing robot as described in claim 8 is implemented.

Images