Pipeline robot

Abstract

The invention relates to the technical field of robots, in particular to a pipeline robot. The pipeline robot comprises a first connecting device, a second connecting device, a transmission device and a third rotating mechanism, the first connecting device comprises a first rotating mechanism, the first rotating mechanism at least has freedom degrees in two directions perpendicular to each other, the second connecting device is hinged to the first connecting device, and the second connecting device comprises a second rotating mechanism; the second rotating mechanism at least has freedom degrees in two directions perpendicular to each other, the transmission device is connected between the first rotating mechanism and the second rotating mechanism so that the first rotating mechanism and the second rotating mechanism can rotate synchronously, and the third rotating mechanism is arranged at the non-connecting position of the first connecting device and the second connecting device. The third rotating mechanism comprises a spherical wheel, and the spherical wheel at least has freedom degrees in two directions which are perpendicular to each other. The pipeline robot has high movement performance and flexibility in the pipeline.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a pipeline robot. Background Art

[0002] A pipeline robot is an operating machine that can automatically walk along the inside or outside of a pipeline and carry one or more sensors. It can run pre-programmed programs or perform a series of pipeline operations under the remote control of staff and computer automatic control. The main task of the pipeline robot is to assist or replace manual work in pipeline detection, maintenance, etc., and has high flexibility and intelligence.

[0003] However, current pipeline robots have defects such as low motion performance and poor flexibility when facing pipelines with small diameters and complex configurations, such as curved pipelines, irregular pipelines, or pipelines with low friction coefficients, resulting in poor passability of the pipeline robot inside the pipeline. Summary of the Invention

[0004] The main object of the present invention is to propose a pipeline robot, aiming to solve the technical problems of low motion performance and poor flexibility of current pipeline robots when facing pipelines with small diameters and complex configurations.

[0005] To achieve the above object, the present invention proposes a pipeline robot, comprising:

[0006] A first connecting device, the first connecting device includes a first rotating mechanism, the first rotating mechanism includes a first rotating shaft and a first rotating wheel, the first rotating wheel is arranged at both ends of the first rotating shaft, the first rotating wheel includes a first hub and a first roller, the first roller is axially connected to the outer periphery of the first hub in the circumferential direction, and the first hub and the first roller have at least two mutually perpendicular degrees of freedom;

[0007] A second connecting device, the second connecting device is hinged to the first connecting device, the second connecting device includes a second rotating mechanism, the second rotating mechanism includes a second rotating shaft and a second rotating wheel, the second rotating wheel is arranged at both ends of the second rotating shaft, the second rotating wheel includes a second hub and a second roller, the second roller is axially connected to the outer periphery of the second hub in the circumferential direction, and the second hub and the second roller have at least two mutually perpendicular degrees of freedom;

[0008] A transmission device, the transmission device is connected between the first rotating mechanism and the second rotating mechanism to enable the first rotating mechanism and the second rotating mechanism to rotate synchronously;

[0009] The third rotating mechanism is disposed at a non-connection portion of the first connecting device and the second connecting device. The third rotating mechanism includes a spherical wheel that has at least two degrees of freedom in directions perpendicular to each other.

[0010] In some embodiments, the pipeline robot includes a first driving device connected to the first connecting device. The first driving device has a first driving shaft, and a first gear is disposed at an end of the first driving shaft. A second gear is disposed on the first rotating shaft, and the second gear and the first gear mesh with each other so that the first driving shaft drives the first rotating shaft to rotate.

[0011] Alternatively, the first driving device is connected to the second connecting device. The first driving device has a first driving shaft, and a first gear is disposed at an end of the first driving shaft. A second gear is disposed on the second rotating shaft, and the second gear and the first gear mesh with each other so that the first driving shaft drives the second rotating shaft to rotate.

[0012] In some embodiments, the first connecting device or the second connecting device is provided with a mounting seat that has an inclined mounting wall surface, and a through hole is provided on the mounting wall surface.

[0013] The pipeline robot includes a second driving device vertically connected to the mounting wall surface. The second driving device has a second driving shaft that passes through the through hole. The third rotating mechanism includes a third rotating shaft. One end of the third rotating shaft is connected to the spherical wheel, and the other end of the third rotating shaft is connected to the second driving shaft through a coupling so that the second driving shaft drives the third rotating shaft to rotate.

[0014] In some embodiments, a first belt pulley is disposed on the first rotating shaft, and a second belt pulley is disposed on the second rotating shaft. A third belt pulley is disposed at the hinge joint of the first connecting device and the second connecting device. A first conveyor belt is disposed between the first belt pulley and the third belt pulley so that the first belt pulley and the third belt pulley rotate synchronously. A second conveyor belt is disposed between the second belt pulley and the third belt pulley so that the second belt pulley and the third belt pulley rotate synchronously.

[0015] In some embodiments, a first tension pulley is disposed on the first connecting device and is used to press the first conveyor belt. A second tension pulley is disposed on the second connecting device and is used to press the second conveyor belt.

[0016] In some embodiments, the first connecting device is provided with a first hinge hole, the second connecting device is provided with a second hinge hole, and a hinge shaft is passed through the first hinge hole and the second hinge hole, so that the first connecting device and the second connecting device are hinged;

[0017] A torsion spring is sleeved on the hinge shaft. The first connecting device is provided with a fixing hole at the position of the torsion spring, and the second connecting device is provided with an installation groove at the position of the torsion spring. One end of the torsion spring is connected to the fixing hole, and the other end of the torsion spring is connected to the installation groove;

[0018] Wherein, the third pulley is arranged at one end of the hinge shaft away from the torsion spring.

[0019] In some embodiments, the first rotating shaft is provided with a first meshing mechanism, the second rotating shaft is provided with a second meshing mechanism, and a third meshing mechanism is arranged at the hinged part of the first connecting device and the second connecting device; a first transmission shaft is arranged between the first meshing mechanism and the third meshing mechanism to enable the first meshing mechanism and the third meshing mechanism to rotate synchronously; a second transmission shaft is arranged between the second meshing mechanism and the third meshing mechanism to enable the second meshing mechanism and the third meshing mechanism to rotate synchronously.

[0020] In some embodiments, along the circumferential direction of the first hub, a plurality of first wheel shafts are arranged at intervals on the first hub, and the first roller is sleeved on the first wheel shaft;

[0021] Along the circumferential direction of the second hub, a plurality of second wheel shafts are arranged at intervals on the second hub, and the second roller is sleeved on the second wheel shaft.

[0022] In some embodiments, the third rotating mechanism includes a support member, two hemispherical wheels and two stop members. The two hemispherical wheels are respectively passed through two ends of the support member, and the two stop members are respectively connected to two ends of the support member to limit the two hemispherical wheels in the support member.

[0023] In some embodiments, the first rotating wheel includes at least two of the first hubs. The two first hubs are stacked together, and both of the first hubs are provided with first connection holes. A first connecting member is passed through the first connection holes, and the first connecting member is used to connect the two first hubs together;

[0024] The second rotating wheel includes at least two of the second hubs. The two second hubs are stacked together, and both of the second hubs are provided with second connection holes. A second connecting member is passed through the second connection holes, and the second connecting member is used to connect the two second hubs together.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] In the technical solution of the present invention, when the pipeline robot moves in a pipeline with a small diameter and a complex configuration, through the coordinated action of the first rotating mechanism, the second rotating mechanism and the spherical wheels, the flexible movement performance of the pipeline robot in the pipeline is realized. Specifically, the first rotating wheels with two-way degrees of freedom at both ends of the first rotating shaft in the first rotating mechanism, plus the second rotating wheels with two-way degrees of freedom at both ends of the second rotating shaft in the second rotating mechanism, enable the pipeline robot to rotate flexibly in multiple directions, while the spherical wheels in the third rotating mechanism provide additional steering capabilities and degrees of freedom for serpentine movement. The transmission device connects and synchronously drives the first rotating mechanism and the second rotating mechanism, ensuring the overall coordinated operation of the pipeline robot, making the pipeline robot more stable and efficient when dynamically adapting to complex pipeline configurations. By using the pipeline robot provided by the present invention, the movement performance and flexibility of the pipeline robot in a complex pipeline environment are significantly improved, providing strong technical support for efficient work under complex pipeline operation conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0028] Figure 1 It is a schematic diagram of the overall structure of the pipeline robot provided by an embodiment of the present invention from the first perspective;

[0029] Figure 2 It is a schematic diagram of the overall structure of the pipeline robot provided by an embodiment of the present invention from the second perspective;

[0030] Figure 3 It is a schematic diagram of the overall structure of the pipeline robot provided by an embodiment of the present invention from the third perspective; wherein, Figure 3 part of the wheel structure is removed;

[0031] Figure 4 It is a schematic diagram of the overall structure of the pipeline robot provided by an embodiment of the present invention from the fourth perspective;

[0032] Figure 5 It is a schematic diagram of the connection structure of the transmission device in the pipeline robot provided by an embodiment of the present invention;

[0033] Figure 6Schematic diagram of the first rotating wheel (or the second rotating wheel) in the pipeline robot provided by an embodiment of the present invention;

[0034] Figure 7 Schematic diagram of the third rotating mechanism in the pipeline robot provided by an embodiment of the present invention.

[0035] Explanation of the reference numerals in the drawings:

[0036] 10. Pipeline robot;

[0037] 100. First connecting device;

[0038] 110. First rotating mechanism; 120. Fixed hole;

[0039] 111. First rotating shaft; 112. First rotating wheel;

[0040] 1111. Second gear;

[0041] 1121. First hub; 1122. First roller;

[0042] 11211. First wheel shaft; 11212. First connecting hole;

[0043] 200. Second connecting device;

[0044] 210. Second rotating mechanism; 220. Installation groove;

[0045] 211. Second rotating shaft; 212. Second rotating wheel;

[0046] 2121. Second hub; 2122. Second roller;

[0047] 21211. Second wheel shaft; 21212. Second connecting hole;

[0048] 300. Transmission device;

[0049] 310. First pulley; 320. Second pulley; 330. Third pulley; 340. First conveyor belt; 350. Second conveyor belt; 360. First tensioning wheel; 370. Second tensioning wheel;

[0050] 400. Third rotating mechanism;

[0051] 410. Spherical wheel; 420. Third rotating shaft; 430. Coupling; 440. Support member; 450. Stopper;

[0052] 411. Hemispherical wheel;

[0053] 500. First driving device;

[0054] 510. First drive shaft; 520. First gear;

[0055] 600. Second drive device;

[0056] 610. Second drive shaft;

[0057] 700. Mounting base;

[0058] 710. Mounting wall surface;

[0059] 800. Hinge shaft;

[0060] 810. Torsion spring.

[0061] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0062] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0063] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0064] In addition, if there are descriptions such as "first", "second", etc. involved in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or", "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution where A and B are satisfied simultaneously. In addition, the technical solutions between the embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0065] A pipeline robot is an operating machine that can automatically walk along the inside or outside of a pipeline and carry one or more sensors. It can run pre-programmed programs or perform a series of pipeline operations under the remote control of staff and computer automatic control. The main task of the pipeline robot is to assist or replace manual labor in pipeline inspection, maintenance, etc., and it has high flexibility and intelligence.

[0066] However, current pipeline robots have defects such as low motion performance and poor flexibility when facing pipelines with small diameters and complex configurations, such as curved pipelines, irregular pipelines, or pipelines with low friction coefficients, etc., resulting in poor passability of the pipeline robot inside the pipeline.

[0067] Based on this, in order to solve the technical problems of the current pipeline robot 10 having low motion performance and poor flexibility when facing pipelines with small diameters and complex configurations, referring to Figures 1 to 7 , an embodiment of the present invention provides a pipeline robot 10, which is suitable for moving inside a pipeline with a small diameter and a complex configuration. The pipeline robot 10 includes a first connection device 100, a second connection device 200, a transmission device 300, and a third rotation mechanism 400. The first connection device 100 includes a first rotation mechanism 110. For example, the first rotation mechanism 110 can be arranged at the end of the first connection device 100 away from the second connection device 200. The first rotation mechanism 110 includes a first rotation shaft 111 and (at least two) first rotation wheels 112. The (at least two) first rotation wheels 112 are arranged at both ends of the first rotation shaft 111. The first rotation wheel 112 includes a first hub 1121 and a first roller 1122. The first roller 1122 is axially connected to the outer circumference of the first hub 1121 along the circumferential direction. The first hub 1121 and the first roller 1122 have at least two degrees of freedom in mutually perpendicular directions. For example, the first hub 1121 can provide the degree of freedom of the pipeline robot 10 in the front-back movement direction, and the first roller 1122 can provide the degree of freedom of the pipeline robot 10 in the circumferential rotation direction. The first connection device 100 can be provided with a plurality of mounting holes or mounting grooves 220, and the plurality of mounting holes or mounting grooves 220 can be used to mount components such as the first rotation mechanism 110.

[0068] The second connecting device 200 is hinged to the first connecting device 100. The second connecting device 200 includes a second rotating mechanism 210. For example, the second rotating mechanism 210 can be arranged at one end of the second connecting device 200 away from the first connecting device 100. The second rotating mechanism 210 includes a second rotating shaft 211 and (at least two) second rotating wheels 212. The (at least two) second rotating wheels 212 are arranged at both ends of the second rotating shaft 211. The second rotating wheel 212 includes a second hub 2121 and a second roller 2122. The second roller 2122 is axially connected to the outer periphery of the second hub 2121 in the circumferential direction. The second hub 2121 and the second roller 2122 have at least two degrees of freedom in mutually perpendicular directions. For example, the second hub 2121 can provide the degree of freedom of the pipeline robot 10 in the front-back movement direction, and the second roller 2122 can provide the degree of freedom of the pipeline robot 10 in the circumferential rotation direction. The second connecting device 200 can be provided with a plurality of mounting holes or mounting grooves 220, and the plurality of mounting holes or mounting grooves 220 can be used to mount components such as the second rotating mechanism 210.

[0069] The transmission device 300 is connected between the first rotating mechanism 110 and the second rotating mechanism 210 to enable the first rotating mechanism 110 and the second rotating mechanism 210 to rotate synchronously. For example, the transmission device 300 can be a transmission belt, or the transmission device 300 can also be a transmission gear. By using the transmission device 300, through a single driving structure (such as a driving motor), the coordinated movement between the first rotating mechanism 110 and the second rotating mechanism 210 can be achieved, which is beneficial to simplifying the overall structure of the pipeline robot 10, reducing the overall weight of the pipeline robot 10, and improving the overall movement flexibility of the pipeline robot 10 in the pipeline.

[0070] The third rotating mechanism 400 is disposed at a non-connection part of the first connecting device 100 and the second connecting device 200. For example, the third rotating mechanism 400 can be disposed on the outer surface of the first connecting device 100, or the third rotating mechanism 400 can also be disposed on the outer surface of the second connecting device 200. The third rotating mechanism 400 includes a spherical wheel 410, and the spherical wheel 410 has at least two degrees of freedom in mutually perpendicular directions. For example, the spherical wheel 410 can have the degree of freedom of the pipeline robot 10 in the front-back movement direction, and the spherical wheel 410 can also have the degree of freedom of the pipeline robot 10 in the circumferential rotation direction. Since the spherical wheel 410 is not disposed at the joint of the pipeline robot 10, the spherical wheel 410 can more conveniently complete the roll movement independently, thereby realizing the movement decoupling between the front-back movement and the roll movement of the pipeline robot 10, so that the pipeline robot 10 can form different spiral movements in any form inside the pipeline to adapt to the complex morphological changes of the pipeline, thereby improving the movement performance and movement flexibility of the pipeline robot 10 in the pipeline with a complex configuration, and ensuring the passing performance of the pipeline robot 10 in the pipeline with a complex configuration.

[0071] Specifically, in this embodiment, when the pipeline robot 10 moves in a pipeline with a small diameter and a complex configuration, through the synergistic action of the first rotating mechanism 110, the second rotating mechanism 210 and the spherical wheel 410, the flexible movement performance of the pipeline robot 10 in the pipeline is realized. Specifically, the first rotating wheel 112 with two-way degree of freedom rotation at both ends of the first rotating shaft 111 in the first rotating mechanism 110, plus the second rotating wheel 212 with two-way degree of freedom rotation at both ends of the second rotating shaft 211 in the second rotating mechanism 210, enables the pipeline robot 10 to flexibly rotate in multiple directions, while the spherical wheel 410 in the third rotating mechanism 400 provides additional steering ability and the degree of freedom of serpentine movement. The transmission device 300 connects and synchronously drives the first rotating mechanism 110 and the second rotating mechanism 210, ensuring the overall coordinated operation of the pipeline robot 10, making the pipeline robot 10 more stable and efficient when dynamically adapting to the complex pipeline configuration. By using the pipeline robot 10 provided in this embodiment, the movement performance and flexibility of the pipeline robot 10 in a complex pipeline environment are significantly improved, providing strong technical support for efficient work under complex pipeline operation conditions.

[0072] In some embodiments, referring to Figure 4 and Figure 5, the pipeline robot 10 includes a first driving device 500 (for example, the first driving device 500 can be a driving motor). The first driving device 500 is connected to the first connecting device 100. The first driving device 500 has a first driving shaft 510. A first gear 520 is provided at the end of the first driving shaft 510. A second gear 1111 is provided on the first rotating shaft 111. The second gear 1111 and the first gear 520 mesh with each other so that the first driving shaft 510 drives the first rotating shaft 111 to rotate.

[0073] Specifically, in this embodiment, when the pipeline robot 10 is operating in the pipeline, the first driving device 500 is started. At this time, the first driving shaft 510 will drive the first gear 520 to rotate. Since the second gear 1111 and the first gear 520 mesh with each other, under the reversing action and drive of the second gear 1111, the first rotating shaft 111 will rotate, thereby driving the first rotating wheel 112 to rotate, realizing the movement of the driving wheels of the pipeline robot 10. Driven by the transmission device 300, the second rotating shaft 211 and the first rotating shaft 111 rotate synchronously, thereby driving the second rotating wheel 212 to rotate, realizing the coordinated movement of the driven wheels of the pipeline robot 10.

[0074] Alternatively, in some other embodiments, the first driving device 500 is connected to the second connecting device 200. The first driving device 500 has a first driving shaft 510. A first gear 520 is provided at the end of the first driving shaft 510. A second gear 1111 is provided on the second rotating shaft 211. The second gear 1111 and the first gear 520 mesh with each other so that the first driving shaft 510 drives the second rotating shaft 211 to rotate.

[0075] Specifically, referring to the above embodiment, in this embodiment, when the pipeline robot 10 is operating in the pipeline, the first driving device 500 is started. At this time, the first driving shaft 510 will drive the first gear 520 to rotate. Since the second gear 1111 and the first gear 520 mesh with each other, under the reversing action and drive of the second gear 1111, the second rotating shaft 211 will rotate, thereby driving the second rotating wheel 212 to rotate, realizing the movement of the driving wheels of the pipeline robot 10. Driven by the transmission device 300, the first rotating shaft 111 and the second rotating shaft 211 rotate synchronously, thereby driving the first rotating wheel 112 to rotate, realizing the coordinated movement of the driven wheels of the pipeline robot 10.

[0076] In some embodiments, referring to Figures 1 to 3, the first connecting device 100 or the second connecting device 200 is provided with a mounting seat 700. The mounting seat 700 has an inclined mounting wall surface 710, and the mounting wall surface 710 is provided with a through hole. The pipeline robot 10 includes a second driving device 600 (for example, the second driving device 600 can be a driving motor). The second driving device 600 is vertically connected to the mounting wall surface 710, that is, the second driving device 600 is inclined. Setting the second driving device 600 inclined, on the one hand, is beneficial to making full use of the internal space of the pipeline robot 10 and reducing the overall volume of the pipeline robot 10; on the other hand, it is beneficial to improving the force-bearing characteristics of the second driving device 600, preventing the second driving device 600 from being damaged by the axial force from the spherical wheel 410, and extending the service life of the second driving device 600. The second driving device 600 has a second driving shaft 610, and the second driving shaft 610 passes through the through hole. The third rotating mechanism 400 includes a third rotating shaft 420. One end of the third rotating shaft 420 is connected to the spherical wheel 410, and the other end of the third rotating shaft 420 is connected to the second driving shaft 610 through a coupling 430, so that the second driving shaft 610 drives the third rotating shaft 420 to rotate. Through the coupling 430, the direction of the power output by the second driving shaft 610 can be changed. With the above structure, on the one hand, it is beneficial to improving the installation position of the second driving device 600 and increasing the space utilization rate of the pipeline robot 10; on the other hand, it is beneficial to changing the power input direction of the spherical wheel 410, making the power input shaft of the spherical wheel 410 as parallel as possible to the pipeline axis, and improving the roll motion performance of the pipeline robot 10.

[0077] Specifically, in this embodiment, when the pipeline robot 10 is operating in the pipeline, the second driving device 600 is started. At this time, the second driving shaft 610 drives the third rotating shaft 420 to rotate through the coupling 430, and the third rotating shaft 420 drives the spherical wheel 410 to rotate, realizing the roll motion of the pipeline robot 10 in the pipeline, ensuring that the pipeline robot 10 can form different spiral motions in any form in the pipeline to adapt to the complex morphological changes of the pipeline, improving the operation efficiency and adaptability of the pipeline robot 10 in a narrow space, and enabling the pipeline robot 10 to move flexibly in the pipeline with a complex structure and perform necessary inspection or maintenance tasks.

[0078] In some embodiments, referring to Figure 2 , Figure 3 and Figure 5, The transmission device 300 includes a first pulley 310, a second pulley 320, a third pulley 330, a first conveyor belt 340, and a second conveyor belt 350. The first rotating shaft 111 is provided with the first pulley 310, the second rotating shaft 211 is provided with the second pulley 320, and the third pulley 330 is provided at the hinge joint of the first connecting device 100 and the second connecting device 200. A first conveyor belt 340 is provided between the first pulley 310 and the third pulley 330 to enable the first pulley 310 and the third pulley 330 to rotate synchronously; a second conveyor belt 350 is provided between the second pulley 320 and the third pulley 330 to enable the second pulley 320 and the third pulley 330 to rotate synchronously.

[0079] Specifically, in this embodiment, when the first rotating shaft 111 rotates, the first rotating shaft 111 drives the first rotating wheel 112 to rotate, and the first rotating shaft 111 drives the first pulley 310 to rotate. After the first pulley 310 rotates, the first pulley 310 drives the first conveyor belt 340 to move, thereby causing the third pulley 330 to rotate synchronously. After the third pulley 330 rotates, the third pulley 330 drives the second conveyor belt 350 to move, the second conveyor belt 350 drives the second pulley 320 to rotate, and the second pulley 320 drives the second rotating shaft 211 to rotate, thereby causing the second rotating wheel 212 to rotate. With the above structure, the first rotating wheel 112 serves as the driving wheel, the second rotating wheel 212 serves as the driven wheel, and through the transmission of the first conveyor belt 340 and the second conveyor belt 350, the synchronous and coordinated movement between the first rotating wheel 112 and the second rotating wheel 212 is achieved, thereby improving the movement smoothness of the pipeline robot 10 and realizing the underactuated mode of the pipeline robot 10.

[0080] A belt and chain drive structure is adopted between the first rotating shaft 111 and the second rotating shaft 211. On the one hand, it is beneficial to improve the transmission smoothness between the first rotating shaft 111 and the second rotating shaft 211 and ensure the movement consistency between the first rotating wheel 112 and the second rotating wheel 212; on the other hand, it is beneficial to improve the overload protection function of the pipeline robot 10. When the pipeline robot 10 is overloaded, the conveyor belt will slip between the pulleys, avoiding damage to other structures of the pipeline robot 10.

[0081] In some embodiments, referring to Figure 2 , Figure 3 and Figure 5 , the first connecting device 100 is provided with a first tensioning wheel 360 for pressing the first conveyor belt 340; the second connecting device 200 is provided with a second tensioning wheel 370 for pressing the second conveyor belt 350. The installation positions of the first tensioning wheel 360 and the second tensioning wheel 370 can be of the internal pressure type, thereby increasing the tension and wrap angle of the belt and chain drive.

[0082] Specifically, in this embodiment, the first tensioning wheel 360 presses against the first conveyor belt 340, and the second tensioning wheel 370 presses against the second conveyor belt 350, so that the first conveyor belt 340 and the second conveyor belt 350 maintain an appropriate tension during operation, preventing the first conveyor belt 340 and the second conveyor belt 350 from slipping due to slack, and ensuring the stability and transmission efficiency of the first conveyor belt 340 and the second conveyor belt 350 during transmission.

[0083] In some embodiments, referring to Figures 1 to 5 , the first connecting device 100 is provided with a first hinge hole, the second connecting device 200 is provided with a second hinge hole, and a hinge shaft 800 is inserted through the first hinge hole and the second hinge hole to enable the first connecting device 100 and the second connecting device 200 to be hinged. A torsion spring 810 is sleeved on the hinge shaft 800. The first connecting device 100 is provided with a fixing hole 120 at the position of the torsion spring 810, and the second connecting device 200 is provided with an installation groove 220 at the position of the torsion spring 810. One end of the torsion spring 810 is connected to the fixing hole 120, and the other end of the torsion spring 810 is connected to the installation groove 220. Among them, the third pulley 330 is arranged at one end of the hinge shaft 800 away from the torsion spring 810. Alternatively, in some other embodiments, an active joint can be used instead of the torsion spring 810, that is, an active joint (for example, the active joint can be a high-torque active motor) is arranged on the hinge shaft 800. Through the active joint, the included angle between the first connecting device 100 and the second connecting device 200 can be actively controlled, ensuring that the pipeline robot 10 can adapt to a larger pipe diameter range, and improving the traction force and elbow passing ability of the pipeline robot 10 in the pipeline.

[0084] Specifically, in this embodiment, the torsion spring 810 is installed between the first connecting device 100 and the second connecting device 200 to form a reset force source, providing a reset force for the first connecting device 100 and the second connecting device 200 during rotation, enabling the first connecting device 100 and the second connecting device 200 to maintain at a specific angle, and improving the service life and stability of the first connecting device 100 and the second connecting device 200. When the first connecting device 100 and the second connecting device 200 rotate relative to each other, the torsion spring 810 is compressed to store energy. When the rotational force disappears, the torsion spring 810 releases energy to drive the first connecting device 100 or the second connecting device 200 to automatically reset. By connecting the first connecting device 100 and the second connecting device 200 with the torsion spring 810, the extrusion force when the pipeline robot 10 contacts the inner side wall of the pipeline is provided. When the shape of the pipeline changes, the output of the torsion spring 810 can be automatically adjusted to ensure that the pipeline robot 10 can adapt to the change of the pipeline shape and improve the passing ability of the pipeline robot 10 in the pipeline.

[0085] In some embodiments, referring to Figure 2, Figure 3 and Figure 5 , in addition to adopting the belt-chain drive structure in the above embodiment, the transmission device 300 may also adopt a gear meshing structure. For example, the transmission device 300 includes a first meshing mechanism, a second meshing mechanism, a third meshing mechanism, a first transmission shaft, and a second transmission shaft. The first rotating shaft 111 is provided with the first meshing mechanism, the second rotating shaft 211 is provided with the second meshing mechanism, and the third meshing mechanism is provided at the hinge joint of the first connecting device 100 and the second connecting device 200. A first transmission shaft is arranged between the first meshing mechanism and the third meshing mechanism to enable the first meshing mechanism and the third meshing mechanism to rotate synchronously; a second transmission shaft is arranged between the second meshing mechanism and the third meshing mechanism to enable the second meshing mechanism and the third meshing mechanism to rotate synchronously. In order to achieve the transmission commutation of the first meshing mechanism, the second meshing mechanism, and the third meshing mechanism, the first meshing mechanism, the second meshing mechanism, and the third meshing mechanism may be a helical gear set or a bevel gear set.

[0086] Specifically, in this embodiment, when the first rotating shaft 111 rotates, the first rotating shaft 111 will drive the first rotating wheel 112 to rotate, and the first rotating shaft 111 will drive the first meshing mechanism to rotate. After the first meshing mechanism rotates, the first meshing mechanism will drive the first transmission shaft to move, thereby causing the third meshing mechanism to rotate synchronously. After the third meshing mechanism rotates, the third meshing mechanism will drive the second transmission shaft to move, the second transmission shaft will drive the second meshing mechanism to rotate, and the second meshing mechanism will drive the second rotating shaft 211 to rotate, thereby causing the second rotating wheel 212 to rotate. With the above structure, the first rotating wheel 112 serves as the driving wheel, the second rotating wheel 212 serves as the driven wheel, and through the transmission of the first transmission shaft and the second transmission shaft, the synchronous and coordinated movement between the first rotating wheel 112 and the second rotating wheel 212 is realized, thereby improving the movement stability of the pipeline robot 10 and realizing the under-actuated mode of the pipeline robot 10.

[0087] The structure form of gear transmission is adopted between the first rotating shaft 111 and the second rotating shaft 211. On the one hand, it is beneficial to improve the transmission accuracy between the first rotating shaft 111 and the second rotating shaft 211, keep the transmission ratio of the first rotating shaft 111 and the second rotating shaft 211 constant, and ensure the balance and stability between the first rotating wheel 112 and the second rotating wheel 212; on the other hand, it is beneficial to realize the complex power transmission of the pipeline robot 10 and provide convenience for realizing complex working mechanisms.

[0088] In some embodiments, referring to Figure 6, along the circumferential direction of the first hub 1121, a plurality of first axle shafts 11211 are spaced apart on the first hub 1121, and the first rollers 1122 are sleeved on the first axle shafts 11211. Along the circumferential direction of the second hub 2121, a plurality of second axle shafts 21211 are spaced apart on the second hub 2121, and the second rollers 2122 are sleeved on the second axle shafts 21211. With the above design, it is beneficial to ensure the structural integrity of the first rotating wheel 112 and the second rotating wheel 212, and improve the rotational stability of the first rotating wheel 112 and the second rotating wheel 212.

[0089] In some embodiments, referring to Figure 7 , the third rotating mechanism 400 includes a support member 440, two hemispherical wheels 411, and two stop members 450. The two hemispherical wheels 411 are respectively inserted through both ends of the support member 440, and the two stop members 450 are respectively connected to both ends of the support member 440 to limit the two hemispherical wheels 411 in the support member 440.

[0090] Specifically, in this embodiment, when assembling the third rotating mechanism 400, first, the two hemispherical wheels 411 are respectively inserted through both ends of the support member 440, and then the two hemispherical wheels 411 are respectively locked at the ends of the support member 440 by using the stop members 450. For example, the stop member 450 can be locked on the support member 440 by bolts, and the stop member 450 can effectively prevent the hemispherical wheel 411 from sliding out laterally from the support member 440. With the above structure, it can prevent the hemispherical wheel 411 from detaching from the support member 440 during high-speed movement, thus ensuring the power performance of the third rotating mechanism 400.

[0091] In some embodiments, referring to Figure 6 , the first rotating wheel 112 includes at least two first hubs 1121. The two first hubs 1121 are stacked together. Both of the two first hubs 1121 are provided with first connection holes 11212, and a first connecting member is inserted through the first connection holes 11212. The first connecting member is used to connect the two first hubs 1121 together. The second rotating wheel 212 includes at least two second hubs 2121. The two second hubs 2121 are stacked together. Both of the two second hubs 2121 are provided with second connection holes 21212, and a second connecting member is inserted through the second connection holes 21212. The second connecting member is used to connect the two second hubs 2121 together. For example, the first connection holes 11212 and the second connection holes 21212 can both be threaded holes, and the first connecting member and the second connecting member can both be bolts.

[0092] Specifically, in this embodiment, the two first hubs 1121 connected by the first connecting member can achieve synchronous rotation. Similarly, the two second hubs 2121 connected by the second connecting member can also achieve synchronous rotation. With the above structure, not only the robustness and stability of the first rotating wheel 112 and the second rotating wheel 212 are improved, but also the assembly and maintenance of the first rotating wheel 112 and the second rotating wheel 212 are facilitated. When one of the hubs of the first rotating wheel 112 and the second rotating wheel 212 is damaged, only the damaged part needs to be replaced instead of the whole, which greatly reduces the maintenance cost of the first rotating wheel 112 and the second rotating wheel 212. At the same time, the design of overlapping multiple hubs increases the balance of the first rotating wheel 112 and the second rotating wheel 212 during rotation, and reduces the noise and vibration generated during the rotation of the first rotating wheel 112 and the second rotating wheel 212.

[0093] It should be noted that in the present invention, all rotating structures are connected with bearings to improve the motion performance of the rotating structures and extend the service life of the rotating structures.

[0094] It should be noted that the pipeline robot provided by the present invention can also be used as a structural unit in other devices and equipment to improve the modular level of other devices and equipment. Moreover, this structural unit is not limited to one or several specific fields. For example, this structural unit can be applied to the transportation field, or this structural unit can also be applied to the cultural and creative entertainment field, etc.

[0095] It should be noted that other contents of the pipeline robot 10 disclosed in the present invention can be referred to the prior art and will not be elaborated here.

[0096] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. All equivalent structural transformations made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. Pipeline robot, characterized in that, Comprising: A first connecting device, the first connecting device includes a first rotating mechanism, the first rotating mechanism includes a first rotating shaft and a first rotating wheel, the first rotating wheel is arranged at both ends of the first rotating shaft, the first rotating wheel includes a first hub and a first roller, the first roller is axially connected to the outer periphery of the first hub along the circumferential direction, and the first hub and the first roller have at least two degrees of freedom in mutually perpendicular directions; A second connecting device, the second connecting device is hinged to the first connecting device, the second connecting device includes a second rotating mechanism, the second rotating mechanism includes a second rotating shaft and a second rotating wheel, the second rotating wheel is arranged at both ends of the second rotating shaft, the second rotating wheel includes a second hub and a second roller, the second roller is axially connected to the outer periphery of the second hub along the circumferential direction, and the second hub and the second roller have at least two degrees of freedom in mutually perpendicular directions; A transmission device, the transmission device is connected between the first rotating mechanism and the second rotating mechanism to enable the first rotating mechanism and the second rotating mechanism to rotate synchronously; A third rotating mechanism, the third rotating mechanism is arranged at the non-connection part of the first connecting device and the second connecting device, the third rotating mechanism includes a spherical wheel, and the spherical wheel has at least two degrees of freedom in mutually perpendicular directions.

2. The pipeline robot according to claim 1, characterized in that, Comprising a first driving device, the first driving device is connected to the first connecting device, the first driving device has a first driving shaft, a first gear is arranged at the end of the first driving shaft, a second gear is arranged on the first rotating shaft, and the second gear and the first gear mesh with each other to enable the first driving shaft to drive the first rotating shaft to rotate; Alternatively, the first driving device is connected to the second connecting device, the first driving device has a first driving shaft, a first gear is arranged at the end of the first driving shaft, a second gear is arranged on the second rotating shaft, and the second gear and the first gear mesh with each other to enable the first driving shaft to drive the second rotating shaft to rotate.

3. The pipeline robot according to claim 1, wherein The first connecting device or the second connecting device is provided with a mounting seat, the mounting seat has an inclined mounting wall surface, and a through hole is arranged on the mounting wall surface; The pipeline robot includes a second driving device, the second driving device is vertically connected to the mounting wall surface, the second driving device has a second driving shaft, and the second driving shaft passes through the through hole; the third rotating mechanism includes a third rotating shaft, one end of the third rotating shaft is connected to the spherical wheel, and the other end of the third rotating shaft is connected to the second driving shaft through a coupling to enable the second driving shaft to drive the third rotating shaft to rotate.

4. The pipeline robot according to claim 1, characterized in that, The first rotating shaft is provided with a first pulley, the second rotating shaft is provided with a second pulley, and a third pulley is provided at the hinge joint of the first connecting device and the second connecting device; a first conveyor belt is provided between the first pulley and the third pulley to enable the first pulley and the third pulley to rotate synchronously; a second conveyor belt is provided between the second pulley and the third pulley to enable the second pulley and the third pulley to rotate synchronously.

5. The pipeline robot according to claim 4, characterized in that, The first connecting device is provided with a first tensioning pulley for pressing the first conveyor belt; the second connecting device is provided with a second tensioning pulley for pressing the second conveyor belt.

6. The pipeline robot according to claim 4, characterized in that, The first connecting device is provided with a first hinge hole, and the second connecting device is provided with a second hinge hole. A hinge shaft is passed through the first hinge hole and the second hinge hole to enable the first connecting device and the second connecting device to be hinged; A torsion spring is sleeved on the hinge shaft. The first connecting device is provided with a fixing hole at the position of the torsion spring, and the second connecting device is provided with an installation groove at the position of the torsion spring. One end of the torsion spring is connected to the fixing hole, and the other end of the torsion spring is connected to the installation groove; Wherein, the third pulley is arranged at one end of the hinge shaft away from the torsion spring.

7. The pipeline robot according to claim 1, wherein, The first rotating shaft is provided with a first meshing mechanism, the second rotating shaft is provided with a second meshing mechanism, and a third meshing mechanism is provided at the hinge joint of the first connecting device and the second connecting device; a first transmission shaft is provided between the first meshing mechanism and the third meshing mechanism to enable the first meshing mechanism and the third meshing mechanism to rotate synchronously; a second transmission shaft is provided between the second meshing mechanism and the third meshing mechanism to enable the second meshing mechanism and the third meshing mechanism to rotate synchronously.

8. The pipeline robot according to claim 1, characterized in that Along the circumferential direction of the first hub, a plurality of first wheel shafts are arranged at intervals on the first hub, and the first roller is sleeved on the first wheel shaft; Along the circumferential direction of the second hub, a plurality of second wheel shafts are arranged at intervals on the second hub, and the second roller is sleeved on the second wheel shaft.

9. The pipeline robot according to claim 1, wherein The third rotating mechanism includes a support member, two hemispherical wheels and two stop members. The two hemispherical wheels are respectively passed through both ends of the support member, and the two stop members are respectively connected to both ends of the support member to limit the two hemispherical wheels in the support member.

10. The pipeline robot according to claim 1, characterized in that, The first rotating wheel includes at least two of the first hubs. The two first hubs are stacked together. Both of the first hubs are provided with first connection holes, and a first connecting member is passed through the first connection holes. The first connecting member is used to connect the two first hubs together; The second rotating wheel includes at least two of the second hubs. The two second hubs are stacked together. Both of the second hubs are provided with second connection holes, and a second connecting member is passed through the second connection holes. The second connecting member is used to connect the two second hubs together.

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