Spiral and leg type dual-drive pipeline detection robot

Abstract

The invention relates to the technical field of pipeline detection, and provides a spiral and leg type dual-drive pipeline detection robot which comprises driving joints, a cabin body, a three-axis differential mechanism and a controller. The driving joint comprises a telescopic leg mechanism, a spiral driving mechanism and a wheel type support; the three-shaft differential mechanism is arranged in an inner cavity of the spiral driving mechanism body and can change the direction of the wheel type support in a self-adaptive mode so as to adapt to the change of the trend of a pipe wall, and the controller is used for monitoring the motion state of the robot, calculating the differential speed between wheels and adjusting the rotation angle of gears of the differential mechanism. Therefore, the robot can stably change the direction during pipe bending. According to the robot, two driving modes of spiral driving and leg type driving are combined, the risk of motion interference and robot damage can be reduced through a spiral driving three-axis differential mechanism structure in a curve, when the robot encounters an obstacle, leg type driving is switched, the robot crosses the obstacle, self-adaptive adjustment of the robot on the pipeline environment is achieved through intelligent control, and the robot is more intelligent. And the operation efficiency and the safety are improved.

Description

Technical Field

[0001] This application relates to the field of pipeline inspection, and particularly to a spiral and leg dual-drive pipeline inspection robot. Background Art

[0002] In modern industry, pipeline inspection and maintenance have become increasingly important. Especially in the oil and gas fields, the complexity and diversity of pipelines pose huge challenges to the application of robotics. Pipeline transportation is the currently common method for oil and gas transportation. During long-term use, pipelines are subject to corrosion by internal and external media, resulting in failure and affecting the normal supply of oil and gas. Manual maintenance is not only difficult but also costly, while pipeline robots are applied to pipeline maintenance due to their small size, flexible operation, and powerful functions. Therefore, pipeline robots are of great significance for oil and gas production.

[0003] Existing pipeline robots mostly adopt a single drive mode such as wheeled or tracked. In complex terrains, they lack sufficient adaptability. Also, the sensor adaptation range is limited, and the obstacle avoidance ability in complex environments is limited. In the prior art, when the robot passes through an elbow, there will be a problem of motion interference, and there is no adaptability to the bending radius. At the tee position, it cannot adapt to the internal structure of the pipe, and the drive mode is single, with poor obstacle avoidance ability and low flexibility.

[0004] At the elbow in the pipeline, the robot often encounters a motion interference problem. When the robot attempts to pass through the elbow, due to structural and motion mode limitations, the robot cannot pass smoothly. In this case, not only the working efficiency of the robot is reduced, but equipment damage may also occur. For irregular geometric shapes, the diameters usually vary, and these factors make the robot operate unstably in irregular pipelines. Summary of the Invention

[0005] To solve the problems that existing pipeline robots mostly adopt a single drive mode such as wheeled or tracked, with limited obstacle avoidance ability in complex environments and no adaptability to the bending radius.

[0006] This application provides a spiral and leg dual-drive pipeline inspection robot, including: a drive section, a cabin, a three-axis differential, and a controller; The drive section is arranged at one end of the cabin and is rotationally connected to the cabin through a coupling; The drive section includes: a spiral drive section and a leg drive section; The leg drive section includes: a telescopic leg mechanism, and the spiral drive section includes: a spiral drive mechanism and a wheeled support; The main body of the screw drive mechanism is cylindrical. One end of the screw drive mechanism is rigidly connected to the cabin body, and the telescopic leg mechanism is arranged at the end of the cabin body far from the screw drive mechanism. There are three wheeled supports, which are circumferentially and equally spaced in the middle of the main body of the screw drive mechanism, and the wheeled supports extend beyond the surface of the screw drive mechanism. The three-axis differential is arranged in the inner cavity of the main body of the screw drive mechanism, and the three-axis differential is connected to the wheeled support. The three-axis differential is configured to: when the pipeline inspection robot passes through the elbow area, adaptively change the angle of the wheeled support to adapt to the elbow area. The controller is electrically connected to both the telescopic leg mechanism and the drive motor of the three-axis differential. The controller is used to control the running state of the pipeline inspection robot in the pipeline. The controller is configured to: Switch the running state of the pipeline inspection robot in the pipeline. The running states include: screw drive and leg drive. When there is no obstacle in the detected pipeline, the running state of the pipeline inspection robot is the screw drive. When there is an obstacle in the detected pipeline, switch the running state of the pipeline inspection robot to the leg drive. After crossing the obstacle, switch back to the screw drive and continue running.

[0007] In a feasible implementation, there are two groups of telescopic leg mechanisms, which are respectively arranged at the end of the screw drive mechanism far from the cabin body and the end of the cabin body far from the screw drive mechanism. The telescopic leg mechanism includes: telescopic legs, an adjustment bevel gear set, and a first drive motor. A rotating disk is arranged between the adjustment bevel gear set and the first drive motor. The input shaft of the adjustment bevel gear set passes through the rotating disk. The first drive motor is fixed on the side of the rotating disk facing away from the adjustment bevel gear set, and the input shaft of the adjustment bevel gear set is connected to the output shaft of the first drive motor. The telescopic leg includes: an I-shaped parallel slider and a telescopic rod. One end of the telescopic rod is fixed to the I-shaped parallel slider, and the other end is fixed to the output shaft of the adjustment bevel gear set. The controller is electrically connected to the first drive motor. A pressure sensor is arranged on the surface of the I-shaped parallel slider facing the inner wall of the pipeline. The pressure sensor is electrically connected to the controller, and the pressure sensor is used to obtain the contact information between the I-shaped parallel slider and the pipe wall. The controller is further configured to: Control the first drive motor according to the contact information to drive the adjustment bevel gear set to output torque, drive the telescopic rod to expand and contract, so that the I-shaped parallel slider moves up and down.

[0008] In a feasible implementation, there are three telescopic legs, which are circumferentially distributed at 120° around the adjustment bevel gear set.

[0009] In a feasible implementation, the adjustment bevel gear set includes: an input bevel gear and a first output bevel gear; The input bevel gear is key-connected to the output shaft of the first drive motor; The axis of the first output bevel gear is perpendicular to and intersects the axis of the input bevel gear, and the first output bevel gear meshes with the input bevel gear; The input bevel gear is connected to the output shaft of the first drive motor to drive the first output bevel gear to change the transmission direction; Two guide holes are provided on one side of the I-shaped parallel slider close to the adjustment bevel gear set. One end of the telescopic rod passes through and is fixed in one of the guide holes, and the other end is connected to the gear output shaft of the adjustment bevel gear set; A guide rod is fixed in the other guide hole, and the I-shaped parallel slider moves along a fixed direction through the guide rod.

[0010] In a feasible implementation, there are two sets of wheeled supports, which are respectively arranged on the screw drive mechanism and on the telescopic leg mechanism at one end of the cabin; The wheeled support includes: a spiral wheel, a spring vertical rotating shaft and a pressure detection ring; The spiral wheel is installed at the end of the spring vertical rotating shaft, and the outer surface of the spiral wheel is covered with a rubber tire; The pressure detection ring is embedded on the outer circumferential surface of the spiral wheel and is electrically connected to the controller.

[0011] In a feasible implementation, three mounting seats are evenly distributed along the circumferential direction at 120° on the cylindrical outer surface of the screw drive mechanism body; Each mounting seat is connected to the wheeled support thereon through a spring vertical rotating shaft. The axis of the spring vertical rotating shaft forms an adjustable angle of 15° - 45° with the axis of the screw drive mechanism. The surface of the spiral wheel of the wheeled support is provided with spiral raised rubber textures.

[0012] In a feasible implementation, the three-axis differential includes: a first planetary gear train, a second planetary gear train, a planetary gear carrier, an output spur gear and a second output bevel gear; The first planetary gear train includes three first planet gears evenly distributed circumferentially at 120°. The interaction of the first planet gears with their corresponding first sun gear and ring gear forms the three-axis differential speed regulation mechanism; The second planetary gear train includes a second planet gear and a second sun gear. The second planet gear meshes with the second sun gear, and the second sun gear is respectively connected to the spring vertical shafts of the three wheeled supports through the output spur gear and the second output bevel gear; The planet carrier of the second planetary gear train is fixed on the inner cavity wall of the screw drive mechanism. The first planet carrier of the first planetary gear train is rigidly connected to the second ring gear of the second planetary gear train through a linkage shaft; The planet gear carrier meshes with the first sun gear of the first planetary gear train. The planet gear carrier is connected to the output shaft of the second drive motor, and the second drive motor is electrically connected to the controller; The controller is further configured to: Detect the internal environment of the pipeline. When it is detected that the pipeline is a curved section, control the rotation speed of the second drive motor so that the angle formed by the inner wheeled support and the axis of the screw drive mechanism becomes smaller, while the angle formed by the outer wheeled support and the axis of the screw drive mechanism becomes larger, and drive the second output bevel gear to deflect periodically through the linkage shaft, so that the wheeled support adapts to the bending change of the pipe wall.

[0013] In a feasible implementation, the cabin body is a rectangular frame structure. A gear rack assembly is arranged inside the cabin. The gear rack assembly is internally provided with a third drive motor, and the controller is electrically connected to the third drive motor; The gear rack assembly includes: a double-sided rack and a driving gear; The double-sided rack is slidably arranged along the length direction of the cabin. The driving gear meshes with the double-sided rack and is connected to the third drive motor through a speed reducer; The controller is connected with a camera sensor. The camera sensor is fixed on the I-shaped parallel slider and is used to detect whether there are obstacles in the pipeline; The controller is configured to: When the camera sensor detects an obstacle in the pipeline, control the third drive motor to rotate forward, so that the driving gear meshes outward along the double-sided rack to extend the cabin outward; When the camera sensor detects that the obstacle has been crossed, control the third drive motor to rotate in reverse, so that the driving gear meshes inward along the double-sided rack to contract the cabin inward.

[0014] In a feasible implementation, a rotating flange is provided at one end of the telescopic leg mechanism connected to the spiral drive mechanism; Six connecting screw holes are evenly distributed along the circumferential direction of the end face of the rotating flange, and the end of the telescopic leg mechanism is rigidly connected to the rotating flange through a rotating disk.

[0015] In a feasible implementation, the controller is further configured to: When the camera sensor of the I-shaped parallel slider detects an obstacle inside the pipe, control the spiral drive mechanism to stop rotating, and start the third drive motor of the gear rack assembly for telescopic movement; When the telescopic stroke of the cabin reaches the preset length, the controller switches back to the spiral drive mode, and adjusts the rotation angle of the wheeled support through the three-axis differential to continue moving forward.

[0016] This application provides a spiral and leg dual-drive pipeline inspection robot that combines two drive methods, namely spiral drive and leg drive, enabling the robot to adapt to complex pipeline environments, including pipes with different diameters, elbows, and obstacles. Through the cooperation of the cabin and the gear rack assembly, the stability of the robot in the pipeline is maintained, reducing the risk of motion interference and robot damage. By adjusting the rotation angle and speed of the wheeled support through the three-axis differential, the robot can smoothly pass through elbows, improving the operation efficiency. Further, through the intelligent control of the controller, the robot can achieve self-adaptive adjustment to the pipeline environment, improving the operation efficiency and safety. Description of the Drawings

[0017] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments that conform to the implementation of the present invention, and are used together with the specification to explain the principles of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the implementation of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic structural diagram of a spiral and leg dual-drive pipeline inspection robot exemplarily shown in an embodiment of this application; Figure 2 It is a schematic structural diagram of the telescopic leg mechanism exemplarily shown in an embodiment of this application; Figure 3 It is a schematic structural diagram of the spiral drive mechanism exemplarily shown in an embodiment of this application; Figure 4 It is a schematic structural diagram of the three-axis differential exemplarily shown in an embodiment of this application.

[0019] Explanation of the Reference Numerals in the Drawings: 100 - Driving section; 200 - Cabin; 300 - Three - axis differential; 110 - Telescopic leg mechanism; 120 - Screw drive mechanism; 130 - Wheel support; 210 - Rack and pinion assembly; 310 - First planetary gear train; 320 - Second planetary gear train; 330 - Planetary gear carrier; 340 - Output spur gear; 350 - Second output bevel gear; 360 - Linkage shaft; 111 - Telescopic leg; 112 - Adjusting bevel gear set; 113 - First driving motor; 114 - Rotary disk; 115 - Guide rod; 116 - Guide hole; 117 - I - shaped parallel slider; 118 - Telescopic rod; 121 - Coupling; 122 - Rotary flange; 123 - Mounting seat; 131 - Screw wheel; 132 - Spring vertical rotating shaft. Detailed implementation mode

[0020] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present invention.

[0021] Existing pipeline robots mostly adopt a single driving method such as wheel - type or caterpillar - type. In complex terrains, they lack sufficient adaptability. Also, the sensor adaptation range is limited, and the obstacle avoidance ability in complex environments is limited. In the prior art, when the robot passes through an elbow, there will be a problem of motion interference, and it has no adaptability to the bending radius. At the tee position, it cannot adapt to the internal structure of the pipe, and the driving method is single, with poor obstacle avoidance ability and low flexibility. Specifically, at the elbow in the pipeline, the robot often encounters motion interference problems. When the robot tries to pass through the elbow, due to structural and motion limitations, the robot cannot pass smoothly. In this case, not only the working efficiency of the robot is reduced, but also equipment damage may occur. For irregular geometric shapes, the diameters usually vary, and these factors make the robot operate unstably in irregular pipelines.

[0022] To solve the above problems, referring to Figure 1 as shown, an embodiment of the present application provides a screw - and - leg dual - drive pipeline inspection robot, including: a driving section 100, a cabin 200, a three - axis differential 300, and a controller.

[0023] The drive section 100 is provided at one end of the cabin body 200 and is rotationally connected to the cabin body 200 through a coupling 121; the drive section 100 includes: a screw drive section and a leg drive section; the leg drive section includes: a telescopic leg mechanism 110, and the screw drive section includes: a screw drive mechanism 120 and a wheeled support 130. Among them, the main body of the screw drive mechanism 120 is cylindrical, one end of which is rigidly connected to the cabin body 200, and the telescopic leg mechanism 110 is arranged at the end of the cabin body 200 away from the screw drive mechanism 120. There are three wheeled supports 130, which are evenly distributed in a circle at the middle part of the main body of the screw drive mechanism 120 and extend beyond the surface of the screw drive mechanism 120.

[0024] The three-axis differential 300 is arranged in the inner cavity of the main body of the screw drive mechanism 120 and is connected to the wheeled support 130. Among them, the drive section 100, as a moving part of the robot, provides two driving modes of screw drive and leg drive to adapt to different pipeline environments and improve the bending passing ability and obstacle crossing ability. The three-axis differential 300 adjusts the rotation angle and speed of the wheeled support 130 to adapt to the curved section of the pipeline and improve the movement efficiency of the robot.

[0025] The controller is electrically connected to the driving motors of the telescopic leg mechanism 110 and the three-axis differential 300, and the controller is used to control the running state of the pipeline inspection robot in the pipeline. Specifically, the controller is configured to: switch the running state of the pipeline inspection robot in the pipeline, and the running states include: screw drive and leg drive; when there is no obstacle detected in the pipeline, the running state of the pipeline inspection robot is screw drive, when an obstacle is detected in the pipeline, switch the running state of the pipeline inspection robot to leg drive, and after crossing the obstacle, switch to screw drive again and continue to run.

[0026] When the pipeline inspection robot of this embodiment enters the pipeline, the controller selects the driving mode according to the pipeline environment. In a straight pipeline, the screw drive mechanism 120 pushes the robot forward by rotating, and the wheeled support 130 ensures the contact force with the pipe wall. When encountering an elbow, the controller adjusts the rotation angle and speed of the wheeled support 130 through the three-axis differential 300 so that the robot can smoothly pass through the elbow. At the same time, the cabin body 200 adjusts its length through the gear-rack assembly 210 to maintain the stability of the robot. When encountering an obstacle, the controller activates the telescopic leg mechanism 110 and crosses the obstacle by adjusting the length of the telescopic leg 111.

[0027] This embodiment is based on the principles of a dual-drive system and an adaptive motion mechanism. The dual-drive system combines the advantages of screw drive and leg drive, improving the adaptability and flexibility of the robot. The adaptive motion mechanism enables the robot to adjust its motion state in real time according to the pipeline environment, maintaining stability and efficiency. By combining the screw drive and leg drive, the adaptability of the robot in complex pipeline environments is improved. The screw drive mechanism 120 provides an efficient forward motion mode, while the telescopic leg mechanism 110 enables the robot to have good flexibility and obstacle-crossing ability. At the same time, the rotation angle and speed of the wheeled support 130 are adjusted through the three-axis differential 300, enabling the robot to adapt to the curved section of the pipeline and reducing motion interference. The cabin 200 adjusts its length through the gear-rack assembly 210, maintaining the stability of the robot and improving the operation efficiency.

[0028] In some embodiments of the present application, with reference to Figure 2 As shown, there are two sets of telescopic leg mechanisms 110, which are respectively arranged at one end of the screw drive mechanism 120 away from the cabin 200 and at one end of the cabin 200 away from the screw drive mechanism 120; the telescopic leg mechanism 110 includes a telescopic leg 111, an adjustment bevel gear set 112, and a first drive motor 113.

[0029] A rotating disk 114 is provided between the adjustment bevel gear set 112 and the first drive motor 113. The input shaft of the adjustment bevel gear set 112 passes through the rotating disk 114. The first drive motor 113 is fixed on the side of the rotating disk 114 facing away from the adjustment bevel gear set 112. The input shaft of the adjustment bevel gear set 112 is connected to the output shaft of the first drive motor 113. When encountering an obstacle, the I-shaped parallel sliding block 117 can be driven by the rotating disk 114 to change the direction, so as to effectively avoid the obstacle.

[0030] The telescopic leg 111 includes an I-shaped parallel sliding block 117 and a telescopic rod 118. One end of the telescopic rod 118 is fixed to the I-shaped parallel sliding block 117, and the other end is fixed to the output shaft of the adjustment bevel gear set 112. The controller is electrically connected to the first drive motor 113. A pressure sensor is provided on the side of the I-shaped parallel sliding block 117 facing the inner wall of the pipeline, and the pressure sensor is electrically connected to the controller.

[0031] Specifically, the telescopic leg 111 adjusts its length through the telescopic movement of the telescopic rod 118 to adapt to pipelines with different diameters and cross obstacles. The adjustment bevel gear set 112 can change the transmission direction, converting the rotational motion of the first drive motor 113 into the linear motion of the telescopic rod 118. The first drive motor 113 is used to provide power to drive the adjustment bevel gear set 112 and the telescopic rod 118 to work. The pressure sensor is used to monitor the contact force between the I-shaped parallel sliding block 117 and the pipe wall, providing a feedback signal to the controller.

[0032] When the robot encounters an obstacle or needs to adapt to pipes of different diameters, the controller controls the operation of the first driving motor 113 according to the feedback signal of the pressure sensor. The first driving motor 113 drives the telescopic rod 118 to expand and contract by adjusting the bevel gear set 112, thereby adjusting the length of the telescopic leg 111. The I-shaped parallel slider 117 moves up and down driven by the telescopic rod 118, making contact with or separating from the pipe wall, so as to realize the function of obstacle crossing or adapting to pipes of different diameters.

[0033] In this embodiment, the transmission direction is changed by adjusting the bevel gear set 112, converting the rotational motion of the first driving motor 113 into the linear motion of the telescopic rod 118. At the same time, the contact force between the I-shaped parallel slider 117 and the pipe wall is monitored by the pressure sensor, providing a feedback signal for the controller to achieve precise control. Further, the obstacle crossing and adapting to pipes of different diameters functions of the robot are realized through the telescopic leg mechanism 110. When encountering an obstacle, the telescopic leg 111 adjusts its length by expanding and contracting to cross the obstacle. When the pipe diameter changes, the telescopic leg 111 adjusts its length by expanding and contracting, enabling the robot to adapt to pipes of different diameters, maintaining stability, improving the obstacle crossing ability and adaptability of the robot, and maintaining the stability of the robot in pipes of different diameters, achieving precise control and improving the operation efficiency.

[0034] In some embodiments of the present application, there are three telescopic legs 111, which are distributed circumferentially at 120° around the adjusting bevel gear set 112. The three telescopic legs 111 are distributed circumferentially to provide stable supporting force, enabling the robot to adapt to pipes of different diameters and cross obstacles. The first driving motor 113 drives the three telescopic legs 111 to work by engaging and adjusting the bevel gear set 112 to provide sufficient power.

[0035] In some embodiments of the present application, the adjusting bevel gear set 112 includes an input bevel gear and a first output bevel gear. The input bevel gear is key-connected to the output shaft of the first driving motor 113. The axis of the first output bevel gear is perpendicular to and intersects the axis of the input bevel gear, and meshes with the input bevel gear.

[0036] Two guiding holes 116 are provided on one side of the I-shaped parallel slider 117 close to the adjusting bevel gear set 112. One end of the telescopic rod 118 passes through and is fixed in one of the guiding holes 116, and the other end is connected to the gear output shaft of the adjusting bevel gear set 112. A guiding rod 115 is fixed in the other guiding hole 116, and the I-shaped parallel slider 117 moves along a fixed direction through the guiding rod 115.

[0037] The input bevel gear is key-connected to the output shaft of the first driving motor 113 to transmit power to the first output bevel gear. The first output bevel gear meshes with the input bevel gear to further change the transmission direction. Then, the I-shaped parallel slider 117 is guided to move along a fixed direction through the guiding holes 116 and the guiding rod 115 to maintain stability.

[0038] When the first drive motor 113 operates, the input bevel gear transmits power to the first output bevel gear, changing the transmission direction. The first output bevel gear drives the telescopic rod 118 to expand and contract, adjusting the length of the telescopic leg 111. The I-shaped parallel slider 117 moves along the direction of the guide rod 115 driven by the telescopic rod 118 to maintain stability.

[0039] In this embodiment, the transmission direction is changed by adjusting the bevel gear set 112 to achieve the expansion and contraction of the telescopic rod 118. At the same time, the I-shaped parallel slider 117 is guided to move in a fixed direction through the guide hole 116 and the guide rod 115 to maintain stability. The accurate expansion and contraction and stability of the telescopic leg 111 are achieved. Adjusting the bevel gear set 112 changes the transmission direction, enabling the telescopic rod 118 to expand and contract in a fixed direction. The guide hole 116 and the guide rod 115 guide the I-shaped parallel slider 117 to move in a fixed direction, maintaining stability and improving the adaptability and operation efficiency of the robot.

[0040] In some embodiments of the present application, referring to Figure 1 and Figure 3 as shown, there are two sets of wheeled supports 130, which are respectively arranged on the screw drive mechanism 120 and the retractable leg mechanism 110 at one end of the cabin body 200; the wheeled support 130 includes a screw wheel 131, a spring vertical rotating shaft 132 and a pressure detection ring. The screw wheel 131 is installed at the end of the spring vertical rotating shaft 132. The screw wheel 131 is used to support the rubber tire, transmit power, connect the screw wheel 131 and the mounting seat 123, so that the wheeled support 130 can rotate around the spring vertical rotating shaft 132. The outer surface of the screw wheel 131 is covered with a rubber tire, and the rubber tire can increase the friction between the wheeled support 130 and the pipe wall and improve the grip. The pressure detection ring is embedded on the outer circumferential surface of the screw wheel 131 and is electrically connected to the controller, and can monitor the contact force between the wheeled support 130 and the pipe wall and provide a feedback signal to the controller.

[0041] When the wheeled support 130 contacts the pipe wall, the rubber tire increases the friction and improves the grip. The pressure detection ring monitors the contact force between the wheeled support 130 and the pipe wall and transmits the signal to the controller. The controller adjusts the rotation angle and speed of the wheeled support 130 according to the feedback signal to adapt to the pipeline environment. At the same time, the screw wheel 131 can be connected to the spring vertical rotating shaft 132 through a tapered roller bearing, and the tapered roller bearing enables the screw wheel 131 to rotate around the spring vertical rotating shaft 132 while maintaining stability.

[0042] The cooperation between the wheeled support 130 and the pressure detection ring enables the robot to adaptively adjust to the pipeline environment. The wheeled support 130 provides auxiliary support force and jointly pushes the robot forward with the spiral drive mechanism 120. The pressure detection ring monitors the contact force between the wheeled support 130 and the pipe wall, provides a feedback signal to the controller, enabling the controller to adjust the rotation angle and speed of the wheeled support 130 according to the pipeline environment, achieving precise control.

[0043] In some embodiments of the present application, continue to refer to Figure 3 As shown, three mounting seats 123 are evenly distributed along the circumferential direction of the cylindrical outer surface of the main body of the spiral drive mechanism 120 at 120°. Each mounting seat 123 is connected to the wheeled support 130 thereon through a spring vertical rotating shaft 132. The axis of the spring vertical rotating shaft 132 forms an adjustable angle of 15° - 45° with the axis of the spiral drive mechanism 120. The surface of the spiral wheel 131 of the wheeled support 130 is provided with spiral raised rubber textures.

[0044] It can be understood that the mounting seat 123 is used to mount the wheeled support 130 and provide a support point. The rotating shaft 132 connects the mounting seat 123 and the wheeled support 130, enabling the wheeled support 130 to rotate around the rotating shaft 132. The wheeled support 130 is used to provide auxiliary support force and jointly push the robot forward with the spiral drive mechanism 120. And when the spiral drive mechanism 120 drives the wheeled support 130 thereon, it can drive the wheeled support 130 at the rear end to operate together. The spiral raised rubber textures can increase the friction between the wheeled support 130 and the pipe wall and improve the grip.

[0045] When the spiral drive mechanism 120 rotates, the wheeled support 130 is connected to the mounting seat 123 through the rotating shaft 132 and rotates around the rotating shaft 132. At the same time, the axis of the rotating shaft 132 forms an adjustable angle with the axis of the spiral drive mechanism 120, enabling the wheeled support 130 to adapt to pipes with different diameters.

[0046] In this embodiment, through the cooperation between the wheeled support 130 and the spiral raised rubber textures, the grip and stability of the robot are improved. The wheeled support 130 provides auxiliary support force and jointly pushes the robot forward with the spiral drive mechanism 120. The spiral raised part increases the friction between the wheeled support 130 and the pipe wall and improves the grip, enabling the robot to move forward stably. At the same time, the axis of the rotating shaft 132 forms an adjustable angle with the axis of the spiral drive mechanism 120, enabling the wheeled support 130 to adapt to pipes with different diameters and improving the adaptability of the robot.

[0047] In some embodiments of the present application, refer to Figure 4 As shown, the three-axis differential 300 includes a first planetary gear train 310, a second planetary gear train 320, a planetary gear carrier 330, an output spur gear 340, and a second output bevel gear 350.

[0048] The first planetary gear train 310 includes three first planet gears evenly distributed circumferentially at 120°. The interaction of the first planet gears with their corresponding first sun gear and ring gear forms a three-axis differential speed regulation mechanism. The second planetary gear train 320 includes a second planet gear and a second sun gear. The second planet gear meshes with the second sun gear, and the second sun gear is respectively connected to the spring vertical shafts 132 of the three wheeled supports 130 through an output spur gear 340 and a second output bevel gear 350 to adjust the rotational speed of the wheeled supports 130.

[0049] The planet carrier of the second planetary gear train 320 is fixed to the inner cavity wall of the screw drive mechanism 120. The first planet carrier of the first planetary gear train 310 is rigidly connected to the second ring gear of the second planetary gear train 320 through a linkage shaft 360. The planet gear carrier 330 meshes with the first sun gear of the first planetary gear train 310. The planet gear carrier 330 is connected to the output shaft of the motor, and the motor is electrically connected to the controller. The linkage shaft 360 is used to connect the first planetary gear train 310 and the second planetary gear train 320 to achieve power transmission and coordinated control.

[0050] Specifically, when the motor operates, the planet gear carrier 330 transmits power to the first sun gear of the first planetary gear train 310. The first planet gears mesh with both the first sun gear and the first ring gear simultaneously, transmitting power to the first planet carrier. The first planet carrier is rigidly connected to the second ring gear of the second planetary gear train 320 through the linkage shaft 360, transmitting power to the second planetary gear train 320. The second planet gear meshes with the second sun gear, and the second sun gear is respectively connected to the spring vertical shafts 132 of the three wheeled supports 130 through the output spur gear 340 to adjust the rotational speed of the wheeled supports 130.

[0051] Meanwhile, when the controller detects that the pipeline is a curved section, it controls the rotational speed of the second drive motor so that the angle formed between the inner wheeled support 130 and the axis of the screw drive mechanism 120 becomes smaller, and at the same time, the angle formed between the outer wheeled support 130 and the axis of the screw drive mechanism 120 becomes larger, and drives the second output bevel gear 350 to deflect periodically through the linkage shaft 360. Through this control method, the wheeled supports 130 can adapt to the bending change of the pipe wall.

[0052] When the robot passes through an elbow, the controller adjusts the angles formed between the screw drive mechanism 120 axis and the inner and outer wheeled supports 130 through the three-axis differential 300, enabling the robot to pass through the elbow smoothly. Meanwhile, the first planetary gear train 310 and the second planetary gear train 320 are connected through the linkage shaft 360 to achieve power transmission and coordinated control. Through differential control, the inner and outer wheeled supports 130 have different rotational speeds to adapt to the curved section of the pipeline, improving the robot's ability to pass through the elbow and reducing motion interference.

[0053] In some embodiments of the present application, the main body of the cabin 200 is a rectangular frame structure. A gear-rack assembly 210 is provided inside the cabin 200. The gear-rack assembly 210 is internally provided with a third drive motor, and the controller is electrically connected to the third drive motor. The gear-rack assembly 210 includes a double-sided rack and a drive gear. The double-sided rack is slidably arranged along the length direction of the cabin 200. The drive gear meshes with the double-sided rack and is connected to the third drive motor through a reduction gearbox. The reduction gearbox is used to reduce the rotational speed of the third drive motor and increase the torque.

[0054] Specifically, the controller is connected to a camera sensor. The camera sensor is fixed on the I-shaped parallel slider 117 and is used to detect whether there are obstacles in the pipeline. The controller is configured to: when the camera sensor detects an obstacle in the pipeline, control the third drive motor to rotate forward. The third drive motor drives the drive gear to rotate forward through the reduction gearbox, so that the drive gear meshes outward along the double-sided rack, and the double-sided rack slides outward to extend the cabin 200 outward; when the camera sensor detects that the obstacle has been crossed, control the third drive motor to rotate backward. The third drive motor drives the drive gear to rotate backward through the reduction gearbox, so that the drive gear meshes inward along the double-sided rack, and the double-sided rack slides inward to contract the cabin 200 inward.

[0055] In this embodiment, the precise adjustment of the length of the cabin 200 is realized through the gear-rack assembly 210. When the robot passes through an elbow or encounters an obstacle, the cabin 200 may be under pressure. At this time, the controller extends the cabin 200 through the gear-rack assembly 210 to reduce the risk of movement interference and robot damage. When the pressure is released, the controller contracts the cabin 200 through the gear-rack assembly 210 to maintain the stability of the robot and realize the obstacle avoidance function.

[0056] In some embodiments of the present application, a rotary flange 122 is provided at one end of the screw drive mechanism 120 connected to the telescopic leg mechanism 110; six connecting screw holes are evenly distributed along the circumference of the end face of the rotary flange 122, and the end of the telescopic leg mechanism 110 is rigidly connected to the rotary flange 122 through a rotary disk 114.

[0057] When connecting the screw drive mechanism 120 and the telescopic leg mechanism 110, first dock the rotary disk 114 at the end of the screw drive mechanism 120 with the rotary flange 122 at one end of the telescopic leg mechanism 110. Then, use bolts to pass through the connecting screw holes on the end face of the rotary flange 122 and the screw holes of the rotary disk 114 to rigidly connect the two together. This connection method improves the structural strength and stability of the robot, enabling the robot to adapt to complex pipeline environments. At the same time, the bolt connection method is convenient for disassembly and installation, and is convenient for maintenance and upgrading.

[0058] In some embodiments of the present application, the controller is further configured to: when the camera sensor of the I-shaped parallel slider 117 detects an obstacle inside the pipe, the controller controls the spiral drive mechanism 120 to stop rotating, and starts the third drive motor of the gear-rack assembly 210 to perform a telescopic movement. The gear-rack assembly 210 adjusts the length of the cabin 200 so that the robot can adapt to the pipeline environment. When the telescopic stroke of the cabin 200 reaches the preset length, the controller switches back to the spiral drive mode and adjusts the rotation angle of the wheeled support 130 through the three-axis differential 300 to continue moving forward.

[0059] Through the intelligent control of the controller in this embodiment, the robot realizes the adaptive adjustment to the pipeline environment. When encountering an obstacle, the controller controls the spiral drive mechanism 120 to stop rotating according to the feedback signal of the camera sensor, and starts the gear-rack assembly 210 to adjust the length of the cabin 200. This intelligent control method improves the adaptability and operation efficiency of the robot.

[0060] From the content of the above embodiments, it can be seen that when the robot enters the pipeline, the controller selects the driving mode according to the pipeline environment. In a straight pipeline, the spiral drive mechanism pushes the robot forward by rotation, and the wheeled support provides auxiliary support. When the camera sensor of the I-shaped parallel slider detects that the contact force with the pipe wall exceeds the threshold, the controller controls the spiral drive mechanism to stop rotating, and starts the third drive motor of the gear-rack assembly to perform a telescopic movement. When the telescopic stroke of the cabin reaches the preset length, the controller switches back to the spiral drive mode and adjusts the rotation angle of the wheeled support through the three-axis differential to continue moving forward.

[0061] When the robot detects an obstacle ahead, the legs extend through the bevel gear mechanism to increase the contact area with the pipe wall, thereby forming a stable support. At this time, the drive section stops rotating and transforms into a peristaltic movement mode. The movement mode is similar to the peristalsis and crawling of organisms. Its gear-rack group is a device for changing the telescopic of the body. When the front telescopic leg supports against the pipe wall, the rear telescopic leg loosens. At this time, the gear-rack group adjusts the length of the body to make the rear telescopic leg move forward. When the obstacle is passed, the rear telescopic leg provides support, while the front telescopic leg is loosened and the length of the body is changed. Thus, the movement is achieved. This structure adjusts the telescopic of the parallel slider by rotating the bevel gear through the drive motor, thereby realizing the support and disconnection from the pipe wall. The rotating flange drives the parallel slider, which can change the direction of the slider, so as to effectively avoid obstacles.

[0062] When encountering an elbow, the controller adjusts the rotation angle and speed of the wheeled support through a three-axis differential, enabling the robot to smoothly pass through the elbow. By setting an appropriate rotation angle, the robot can effectively avoid motion interference and roller slippage during turning. Specifically, when the robot enters a bend, the rotational speed of the inner wheels will relatively decrease, while the rotational speed of the outer wheels will increase, thus achieving smooth steering. At the same time, due to the rotation of the robot itself, when the wheels passively adapt to the bending and variation of the pipe diameter, it will show a periodic change, and the wheels will make periodic changes on both sides of a constant angle. To achieve the effect of smooth operation.

[0063] In summary, a spiral and leg-type dual-drive pipeline inspection robot provided by the present application combines two drive modes, namely spiral drive and leg drive, enabling the robot to adapt to complex pipeline environments, including pipelines of different diameters, elbows, and obstacles, etc. Through the cooperation of the cabin body and the rack and pinion assembly, the stability of the robot in the pipeline is maintained, reducing the risks of motion interference and robot damage. By adjusting the rotation angle and speed of the wheeled support through a three-axis differential, the robot can smoothly pass through the elbow, improving the operation efficiency. Further, through the intelligent control of the controller, the robot can achieve adaptive adjustment to the pipeline environment, improving the operation efficiency and safety.

[0064] After considering the specification and the disclosure of the embodiments, those skilled in the art will readily conceive of other embodiments of the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include well-known common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure.

Claims

1. A spiral and leg type dual-drive pipeline inspection robot, characterized in that, Comprising: A drive section (100), a cabin body (200), a three-axis differential (300) and a controller; The drive section (100) is arranged at one end of the cabin body (200) and is rotationally connected to the cabin body (200) through a coupling (121); The drive section (100) includes: a spiral drive section and a leg drive section; The leg drive section includes: a telescopic leg mechanism (110), and the spiral drive section includes: a spiral drive mechanism (120) and a wheeled support (130); The main body of the spiral drive mechanism (120) is cylindrical. One end of the spiral drive mechanism (120) is rigidly connected to the cabin body (200), and the telescopic leg mechanism (110) is arranged at the end of the cabin body (200) far from the spiral drive mechanism (120); There are three wheeled supports (130), which are evenly distributed in a circumferential manner in the middle of the main body of the spiral drive mechanism (120), and the wheeled supports (130) extend beyond the surface of the spiral drive mechanism (120); The three-axis differential (300) is arranged in the inner cavity of the main body of the spiral drive mechanism (120), and the three-axis differential (300) is connected to the wheeled support (130); The three-axis differential (300) is configured to: when the pipeline inspection robot passes through a bent pipe area, adaptively change the angle of the wheeled support (130) to adapt to the bent pipe area; The controller is electrically connected to the drive motors of the telescopic leg mechanism (110) and the three-axis differential (300), and the controller is used to control the running state of the pipeline inspection robot in the pipeline; The controller is configured to: Switch the running state of the pipeline inspection robot in the pipeline, and the running state includes: spiral drive and leg drive; When there is no obstacle in the detected pipeline, the running state of the pipeline inspection robot is the spiral drive; When an obstacle is detected in the pipeline, switch the running state of the pipeline inspection robot to the leg drive. After crossing the obstacle, switch to the spiral drive again and continue to run.

2. The spiral and leg type dual-drive pipeline inspection robot according to claim 1, wherein, There are two groups of telescopic leg mechanisms (110), which are respectively arranged at the end of the spiral drive mechanism (120) far from the cabin body (200) and the end of the cabin body (200) far from the spiral drive mechanism (120); The telescopic leg mechanism (110) includes: a telescopic leg (111), an adjustment bevel gear set (112) and a first drive motor (113); A rotating disk (114) is arranged between the adjustment bevel gear set (112) and the first drive motor (113). The input shaft of the adjustment bevel gear set (112) passes through the rotating disk (114). The first drive motor (113) is fixed on the side of the rotating disk (114) facing away from the adjustment bevel gear set (112), and the input shaft of the adjustment bevel gear set (112) is connected to the output shaft of the first drive motor (113); The telescopic leg (111) includes: an I-shaped parallel slider (117) and a telescopic rod (118). One end of the telescopic rod (118) is fixed to the I-shaped parallel slider (117), and the other end is fixed to the output shaft of the adjustment bevel gear set (112). The controller is electrically connected to the first drive motor (113). On one side of the I-shaped parallel slider (117) facing the inner wall of the pipeline, a pressure sensor is provided. The pressure sensor is electrically connected to the controller, and the pressure sensor is used to obtain the contact information between the I-shaped parallel slider (117) and the pipe wall. The controller is further configured to: Control the first drive motor (113) according to the contact information to drive the adjustment bevel gear set (112) to output torque, drive the telescopic rod (118) to expand and contract, so that the I-shaped parallel slider (117) moves up and down.

3. The spiral and leg type dual-drive pipeline inspection robot according to claim 2, characterized in that, There are three telescopic legs (111), which are circumferentially distributed at 120° around the adjustment bevel gear set (112).

4. A spiral and leg type dual-drive pipeline inspection robot according to claim 2, characterized in that, The adjustment bevel gear set (112) includes: an input bevel gear and a first output bevel gear; The input bevel gear is key-connected to the output shaft of the first drive motor (113); The axis of the first output bevel gear is perpendicular to and intersects the axis of the input bevel gear, and the first output bevel gear meshes with the input bevel gear; The input bevel gear is connected to the output shaft of the first drive motor (113) to drive the first output bevel gear to change the transmission direction; On one side of the I-shaped parallel slider (117) close to the adjustment bevel gear set (112), two guide holes (116) are provided. One end of the telescopic rod (118) passes through and is fixed in one of the guide holes (116), and the other end is connected to the gear output shaft of the adjustment bevel gear set (112); A guide rod (115) is fixed in the other guide hole (116), and the I-shaped parallel slider (117) moves along a fixed direction through the guide rod (115).

5. The spiral and leg type dual-drive pipeline inspection robot according to claim 2, characterized in that, There are two sets of wheeled supports (130), which are respectively arranged on the screw drive mechanism (120) and on the telescopic leg mechanism (110) at one end of the cabin body (200); The wheeled support (130) includes: a spiral wheel (131), a spring vertical rotating shaft (132) and a pressure detection ring; The spiral wheel (131) is installed at the end of the spring vertical rotating shaft (132), and the outer surface of the spiral wheel (131) is covered with a rubber tire; The pressure detection ring is embedded on the outer circumferential surface of the spiral wheel (131) and is electrically connected to the controller.

6. The spiral and leg type dual-drive pipeline inspection robot according to claim 5, characterized in that, Three mounting seats (123) are evenly distributed along the circumferential direction at 120° on the outer cylindrical surface of the main body of the screw drive mechanism (120); Each mounting seat (123) is connected to the wheeled support (130) thereon through a spring vertical rotating shaft (132). The axis of the spring vertical rotating shaft (132) forms an adjustable angle of 15° - 45° with the axis of the screw drive mechanism (120). The surface of the spiral wheel (131) of the wheeled support (130) is provided with spiral raised rubber textures.

7. The spiral and leg type dual-drive pipeline inspection robot according to claim 6, wherein, The three-axis differential (300) includes: a first planetary gear train (310), a second planetary gear train (320), a planetary gear carrier (330), an output spur gear (340), and a second output bevel gear (350); The first planetary gear train (310) includes three first planet gears evenly distributed circumferentially at 120°. The interaction between the first planet gears and their corresponding first sun gears and ring gears forms the speed regulation mechanism of the three-axis differential; The second planetary gear train (320) includes a second planet gear and a second sun gear. The second planet gear meshes with the second sun gear. The second sun gear is respectively connected to the spring vertical shafts (132) of the three wheeled supports (130) through the output spur gear (340) and the second output bevel gear (350); The planet carrier of the second planetary gear train (320) is fixed on the inner cavity wall of the screw drive mechanism (120). The first planet carrier of the first planetary gear train (310) is rigidly connected to the second ring gear of the second planetary gear train (320) through a linkage shaft (360); The planetary gear carrier (330) meshes with the first sun gear of the first planetary gear train (310). The planetary gear carrier (330) is connected to the output shaft of the second drive motor, and the second drive motor is electrically connected to the controller; The controller is further configured to: Detect the internal environment of the pipeline. When it is detected that the pipeline is a curved section, control the rotational speed of the second drive motor so that the angle formed by the inner wheeled support (130) and the axis of the screw drive mechanism (120) becomes smaller, and at the same time the angle formed by the outer wheeled support (130) and the axis of the screw drive mechanism (120) becomes larger, and drive the second output bevel gear (350) to deflect periodically through the linkage shaft (360), so that the wheeled support (130) adapts to the bending change of the pipe wall.

8. The spiral and leg type dual-drive pipeline inspection robot according to claim 2, characterized in that, The main body of the cabin (200) is a rectangular frame structure. A gear rack assembly (210) is provided inside the cabin (200). The gear rack assembly (210) is internally provided with a third drive motor, and the controller is electrically connected to the third drive motor; The gear rack assembly (210) includes: a double-sided rack and a drive gear; The double-sided rack is slidably arranged along the length direction of the cabin (200). The drive gear meshes with the double-sided rack and is connected to the third drive motor through a speed reducer; The controller is connected to a camera sensor. The camera sensor is fixed on the I-shaped parallel slider (117) and is used to detect whether there are obstacles in the pipeline; The controller is configured to: When the camera sensor detects an obstacle in the pipeline, control the third drive motor to rotate forward, so that the drive gear meshes outward along the double-sided rack to extend the cabin (200) outward; When the camera sensor detects that the obstacle has been crossed, control the third drive motor to reverse, so that the drive gear meshes inward along the double-sided rack to contract the cabin (200) inward.

9. The spiral and leg type dual-drive pipeline inspection robot according to claim 8, wherein, The spiral drive mechanism (120) is connected to one end of the telescopic leg mechanism (110) and is provided with a rotary flange (122). Six connecting screw holes are evenly distributed along the circumferential direction of the end face of the rotary flange (122), and the end of the telescopic leg mechanism (110) is rigidly connected to the rotary flange (122) through the rotary disk (114).

10. The spiral and leg type dual-drive pipeline inspection robot according to claim 9, characterized in that, The controller is further configured as follows: When the camera sensor of the I-shaped parallel slider (117) detects an obstacle in the pipe, the controller controls the spiral drive mechanism (120) to stop rotating and starts the third drive motor of the rack and pinion assembly (210) for telescopic movement. When the telescopic stroke of the cabin (200) reaches the preset length, the controller switches back to the spiral drive mode and adjusts the rotation angle of the wheeled support (130) through the three-axis differential (300) to continue moving forward.

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