Pipeline maintenance robot capable of reversing in situ and use method of pipeline maintenance robot

Abstract

The invention discloses a pipeline maintenance robot capable of reversing in situ and a using method thereof, and belongs to the field of mechanical design and manufacturing and automation thereof. The design based on a mechanical metamaterial shell structure is adopted, and the supernormal mechanical behavior of a negative Poisson's ratio metamaterial is utilized, so that the in-situ reversing function of the robot in a pipeline is achieved. The robot is composed of two mechanical metamaterial shells, and each shell has specific mechanical response characteristics and comprises a first expansion and contraction component and a second expansion and contraction component. By controlling the deformation state of each shell, the overall shape and stress distribution of the shell of the pipeline maintenance robot are changed, driving force in different directions is generated, and movement of the robot in a pipeline is achieved. The problem that an existing pipeline robot is insufficient in steering flexibility, obstacle crossing ability and construction complexity can be solved, the robot has the advantages of in-situ reversing, simple construction and the like, the flexibility and reliability in a narrow or complex pipeline are remarkably improved, and the pipeline robot is expected to be promoted to develop in the more flexible, more intelligent and more reliable direction.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical design, manufacturing and automation, and relates to a pipeline inspection robot capable of in-situ reversal and a method of using the same, and more particularly to a pipeline inspection robot capable of in-situ reversal based on a mechanical metamaterial shell structure design and a method of using the same. Background Art

[0002] As an important infrastructure in modern society, pipelines are widely used in the fields of oil, natural gas, chemical industry, municipal administration, etc. However, pipelines will inevitably develop defects such as corrosion, cracks, and blockages during long-term operation, and they need to be inspected and maintained regularly. Traditional pipeline inspection and maintenance methods mainly rely on manual labor or large equipment, which have disadvantages such as low efficiency, high cost, and high risk. Especially for complex pipeline networks and small-diameter pipelines, traditional methods are even more difficult to cope with. In recent years, pipeline robot technology has developed rapidly, providing new solutions for pipeline inspection and maintenance. Pipeline robots can move autonomously inside the pipeline, carry various sensors and operating tools, and complete tasks such as pipeline defect detection, cleaning, and repair. They have the advantages of high efficiency, safety, and low cost. However, most of the existing pipeline robots use wheeled or crawler mobile mechanisms, which have the following limitations:

[0003] (1) Insufficient steering flexibility: Traditional mobile mechanisms (Liu Xu, Wang Guoqing, Gui Jiaqing, Chen Weizhen, Qin Yongquan, A new type of serpentine bionic wheel-legged pipeline maintenance robot, Design Computation, 2017, 497: 80-84) require a large turning radius and are difficult to flexibly turn in narrow or complex pipelines, which limits the robot's operating range.

[0004] (2) Complex structure: Traditional mobile mechanisms are usually composed of complex driving mechanisms and moving components, resulting in complex equipment and high failure rates.

[0005] In summary, there is an urgent need to develop a pipeline maintenance machine that can be reversible on the spot to solve the shortcomings of existing pipeline robots in steering flexibility, obstacle crossing ability and structural complexity. Summary of the Invention

[0006] In response to the problems existing in the prior art, the present invention proposes a pipeline inspection robot capable of in-situ reversal based on a mechanical metamaterial shell structure. Mechanical metamaterials are artificial structural materials with unique mechanical properties whose mechanical behavior can be controlled through structural design, thereby achieving excellent properties that are difficult to achieve with traditional materials, such as negative Poisson's ratio, negative stiffness, and negative thermal expansion. The present invention provides a pipeline inspection robot device with simple composition, high reliability, flexible control, strong environmental adaptability, outstanding programmability, and a wide range of design possibilities. This device enables the robot to reverse in-situ within the pipeline, resolving issues with existing pipeline robots in terms of steering flexibility, obstacle-crossing capability, and structural complexity, thereby meeting the complex demands for pipeline inspection in actual engineering projects.

[0007] In order to achieve the above object, the technical solution of the present invention is:

[0008] A pipeline inspection robot that can be reversed in situ is designed based on a mechanical metamaterial shell structure. The negative Poisson's ratio metamaterial shell structure is applied to the pipeline robot design, and its unique mechanical non-reciprocal behavior is used to realize the robot's in-situ reversal function in the pipeline. Specifically, the robot consists of two mechanical metamaterial shells, and each shell has specific mechanical response characteristics. By controlling the deformation state of each shell, the overall shape and force distribution of the pipeline inspection robot shell are changed, thereby generating driving forces in different directions, and realizing the robot's forward, backward, reversing and other movements in the pipeline. The pipeline inspection robot includes a first expansion and contraction component 1, a second expansion and contraction component 2 and a driver 3. During the use of the pipeline inspection robot, the first expansion and contraction component 1 and the second expansion and contraction component 2 are connected by the driver 3. Specifically:

[0009] The first expansion and contraction component 1 is composed of a first metamaterial barrel shell 1-1, a first inner end cap 1-2, a first outer end cap 1-3, a first connecting rod 1-4, and a first motor 1-5. The first inner end cap 1-2 and the first outer end cap 1-3 are respectively fixed to the two ends of the first metamaterial barrel shell 1-1. The first connecting rod 1-4 passes through the first inner end cap 1-2 and the first outer end cap 1-3. The first connecting rod 1-4 is provided with multiple slides and slots. The first inner end cap 1-2 and the first outer end cap 1-3 are each provided with latches that engage with the slides or slots. The first motor 1-5 is mounted on the first inner end cap 1-2. The first motor 1-5 rotates the output shaft to connect to the first connecting rod 1-4.

[0010] Furthermore, the first metamaterial barrel shell 1-1 and the second metamaterial barrel shell 2-1 are made of rubber and have the same structure. For illustration, the structure of the first metamaterial barrel shell 1-1 is described as follows: the first metamaterial barrel shell 1-1 consists of a central shell body and disc structures at both ends. The disc structures at the ends have holes in their centers, and the hole diameter is smaller than the inner diameter of the shell ends. The shell body is a hollow cylindrical structure, with the size gradually decreasing from the middle to the ends, presenting a barrel shape. The shell body has multiple holes, each of which is elliptical in shape. The holes are arranged in a periodic staggered pattern, with one of the two adjacent holes having its major axis horizontal and the other vertical, and are evenly distributed along the circumferential and axial directions. The first metamaterial barrel shell 1-1 and the second metamaterial barrel shell 2-1 undergo uniform contraction deformation when subjected to pressure and uniform expansion deformation when subjected to tension.

[0011] Furthermore, the first inner end cap 1-2 has the same structure as the first outer end cap 1-3 and is symmetrically mounted at both ends of the first metamaterial barrel shell 1-1. The structure of the first inner end cap 1-2 is described as follows: the first inner end cap 1-2 is a hollow structure, consisting of upper and lower disc structures and a central cylindrical structure. The outer diameter of one disc is equal to the inner diameter of the end of the first metamaterial barrel shell 1-1, the outer diameter of the other disc is equal to the outer diameter of the end of the first metamaterial barrel shell 1-1, the outer diameter of the central cylinder is equal to the diameter of the center hole of the disc structure at the end of the first metamaterial barrel shell 1-1, and the height of the central cylinder is equal to the thickness of the disc structure of the first metamaterial barrel shell 1-1. In this way, the first inner end cap 1-2 can be inserted into one end of the first metamaterial barrel shell 1-1, and the disc structure at the end of the first metamaterial barrel shell 1-1 is clamped between the upper and lower disc structures of the first inner end cap 1-2, forming a fixed support for the first metamaterial barrel shell 1-1. A through hole is opened in the center of the first inner end cap 1-2, and a protruding tooth is machined on the through hole.

[0012] Furthermore, the specific structure of the first connecting rod 1-4 is as follows: the first connecting rod 1-4 is a rod-shaped structure, one end of which is connected to the driver 3, and the other end is connected to the rotating output shaft of the first motor 1-5. During installation, the first connecting rod 1-4 is first inserted into the first metamaterial barrel shell 1-1, and the first inner end cover 1-2 and the first outer end cover 1-3 are respectively passed through the first connecting rod 1-4 and fixed to the disc structures at both ends of the first metamaterial barrel shell 1-1. The rod body is processed with a first card slot 1-4-1, a second card slot 1-4-2, a first slide groove 1-4-3, and a second slide groove 1-4-4; the first card slot 1-4-1 is opened within a 190-degree circumferential range along the first connecting rod 1-4, and its height is the same as that of the first inner end cover 1-2. The starting position of the first card slot 1-4-1 is connected with the starting position of the first slide groove 1-4-3. The first slide groove 1-4-3 is opened along the length direction of the first connecting rod 1-4. The first card slot 1-4-1 and the first slide groove 1-4-3 are located at one end of the first connecting rod 1-4. The opening method of the second card slot 1-4-2 and the second slide groove 1-4-4 is the same as the opening method of the first card slot 1-4-1 and the first slide groove 1-4-3. The second card slot 1-4-2 and the second slide groove 1-4-4 are opened at the other end of the first connecting rod 1-4.

[0013] According to the connection between the first connecting rod 1-4 and the first inner end cover 1-2 and the first outer end cover 1-3, the first expansion and contraction component 1 has three states, which are described as follows:

[0014] Initial state: When the latching teeth of the first inner end cover 1-2 are engaged in the first latching groove 1-4-1 of the first connecting rod 1-4, and at the same time the latching teeth of the first outer end cover 1-3 are engaged in the second latching groove 1-4-2 of the first connecting rod 1-4, the first inner end cover 1-2 and the first outer end cover 1-3 cannot slide along the length direction of the first connecting rod 1-4. This state is the initial state of the first expansion and contraction component 1.

[0015] State a: When the first motor 1-5 drives the first connecting rod 1-4 to rotate 90° clockwise, the latching teeth of the first inner end cover 1-2 are engaged in the latching groove 1-4-1 of the first connecting rod 1-4, and the latching teeth of the first outer end cover 1-3 are engaged in the sliding groove 1-4-4 of the first connecting rod 1-4, so that the first connecting rod 1-4 and the first inner end cover 1-2 are fixed together and cannot slide relative to each other, while the first outer end cover 1-3 can slide freely relative to the first connecting rod 1-4.

[0016] State b: When the first motor 1-5 drives the first connecting rod 1-4 to rotate counterclockwise 90 degrees, the teeth of the first outer end cover 1-3 engage with the grooves 1-4-2 of the first connecting rod 1-4, and the teeth of the first inner end cover 1-2 engage with the grooves 1-4-3 of the first connecting rod 1-4. This fixes the first connecting rod 1-4 and the first outer end cover 1-3 together and prevents relative movement, while the first inner end cover 1-2 can slide freely relative to the first connecting rod 1-4.

[0017] The second expansion and contraction component 2 is composed of a second metamaterial barrel shell 2-1, a second inner end cover 2-2, a second outer end cover 2-3, a second connecting rod 2-4 and a second motor 2-5. The structure and function of each component are the same as those of the first expansion and contraction component 1.

[0018] Furthermore, the first connecting rod 1-4, the second connecting rod 2-4, the first outer end cover 1-3, and the second outer end cover 2-3 are made of hard materials and can be manufactured by 3D printing or machining.

[0019] A method for using a pipeline inspection robot capable of in-situ reversal comprises the following steps:

[0020] The outer diameters of the first and second metamaterial shells 1-1 and 2-1 are larger than the inner diameter of the pipe, allowing them to naturally fit within the pipe. When the first connecting rod 1-4 is in state a with the first inner end cap 1-2 and the first outer end cap 1-3, and the second connecting rod 2-4 is also in state a with the second inner end cap 2-2 and the second outer end cap 2-3, the actuator 3 is controlled to extend, causing a thrust to act on the first connecting rod 1-4. Since, in state a, the first connecting rod 1-4 is fixed to the first inner end cap 1-2 and slides relative to the first outer end cap 1-3, the first connecting rod 1-4 transmits the thrust to the first inner end cap 1-2, which in turn causes the first metamaterial shell 1-1 to tensilely deform. This causes the first metamaterial shell 1-1 to expand evenly, increasing friction between the shell and the pipe. At the same time, when the second connecting rod 2-4 is subjected to the thrust, since in state a, the second connecting rod 2-4 is fixed to the second inner end cap 2-2 and slides relative to the second outer end cap 2-3, the second connecting rod 2-4 transmits the thrust to the second inner end cap 2-2, which in turn compresses and deforms the second metamaterial barrel 2-1. This uniformly compresses the second metamaterial barrel 2-1, reducing the friction between the second metamaterial barrel 2-1 and the pipe. As the friction between the first metamaterial barrel 1-1 and the pipe increases, the friction between the second metamaterial barrel 2-1 and the pipe decreases, causing the second metamaterial barrel 2-1 to move forward. Then, the driver 3 is controlled to contract, and the first inner end cover 1-2 will drive the first metamaterial barrel shell 1-1 to undergo compression deformation, and the second inner end cover 2-2 will drive the second metamaterial barrel shell 2-1 to undergo tension deformation. The friction between the first metamaterial barrel shell 1-1 and the pipeline is reduced, and the friction between the second metamaterial barrel shell 2-1 and the pipeline is increased. The first metamaterial barrel shell 1-1 will then move forward. At this point, the robot as a whole completes one forward movement. By repeating the above control, the robot can move forward continuously.

[0021] When the robot needs to change direction in place, the first motor 1-5 and the second motor 2-5 respectively drive the first connecting rod 1-4 and the connecting rod 2-3 to rotate 90° clockwise, so that the first expanding and contracting component 1 and the second expanding and contracting component 2 enter state b. When the control drive is extended and contracted, the robot can move backward continuously.

[0022] Compared with the existing technology, the robot of the present invention has advantages such as in-situ reversing and simple structure, which significantly improves the flexibility and reliability in narrow or complex pipelines. Its beneficial effects are as follows:

[0023] (1) In-situ reversal: Based on the non-reciprocal behavior of the mechanical metamaterial shell structure, the robot can achieve in-situ reversal without the help of external auxiliary mechanisms, greatly improving its flexibility and maneuverability in narrow or complex pipes.

[0024] (1) Simple structure: The designed robot consists of only two shell structures and a few auxiliary parts. The device design is extremely simple, easy to operate and highly reliable.

[0025] In summary, the present invention provides a new technical route for pipeline maintenance robots, which has important theoretical significance and application value. It is expected to promote the development of pipeline robots in a more flexible, intelligent and reliable direction, and provide strong guarantees for the safe operation of pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a cross-sectional view of the pipeline inspection robot.

[0027] Figure 2 Schematic diagram of the structure of the first metamaterial barrel shell 1-1.

[0028] Figure 3 It is a structural schematic diagram of the first inner end cover 1-2.

[0029] Figure 4 Schematic diagram of the structure of the first connecting rod 1-4.

[0030] Figure 5 This is state a of the first expansion and contraction component 1.

[0031] Figure 6 This is state b of the first expansion and contraction component 1.

[0032] Figure 7 This is the initial state of the pipeline maintenance robot;

[0033] Figure 8 The pipeline maintenance robot driver is in the extended state;

[0034] Figure 9 The pipeline maintenance robot drives the contraction state.

[0035] In the figure: 1 first expansion and contraction component; 2 second expansion and contraction component; 3 driver;

[0036] 1-1 first metamaterial barrel shell, 1-2 first inner end cover, 1-3 first outer end cover, 1-4 first connecting rod, 1-5 first motor;

[0037] 2-1 second metamaterial barrel shell, 2-2 second inner end cover, 2-3 second outer end cover, 2-4 second connecting rod, 2-5 second motor;

[0038] 1-4-1 first card slot, 1-4-2 second card slot, 1-4-3 first slide slot, 1-4-4 second slide slot. DETAILED DESCRIPTION

[0039] The present invention is further described below with reference to specific implementation cases.

[0040] A pipeline maintenance robot that can be reversible in situ (such as Figure 1 As shown), the pipeline inspection robot includes a first expansion and contraction component 1, a second expansion and contraction component 2 and a driver 3. During use of the pipeline inspection robot, the first expansion and contraction component 1 and the second expansion and contraction component 2 are connected by the driver 3. First, the hole type and arrangement of the first metamaterial barrel shell 1-1 are designed, and a hard model is made by 3D printing. With the hard model as the main body, a mold is formed by silicone casting; then, rubber raw materials are configured, and the rubber raw materials are poured into the prepared silicone mold. After curing, the first metamaterial barrel shell 1-1 can be obtained; finally, the first inner end cover 1-2, the first outer end cover 1-3, and the first connecting rod 1-4 are made by 3D printing or mechanical processing, and the first inner end cover 1-2 and the first outer end cover 1-3 are fixed to the first metamaterial barrel shell 1-1, and the first connecting rod 1-4 passes through the first inner end cover 1-2 and the end cover 1-4 respectively, and is connected to the first motor 1-5. The first expansion and contraction component 1 is now implemented. Specifically:

[0041] The first expansion and contraction component 1 is composed of a first metamaterial barrel shell 1-1 (such as Figure 2 As shown), the first inner end cover 1-2 (as Figure 3 As shown), the first outer end cover 1-3, the first connecting rod 1-4 (as shown Figure 4 The first metamaterial barrel shell 1-1 is composed of a first inner end cap 1-2 and a first outer end cap 1-3, respectively fixed to the ends of the first metamaterial barrel shell 1-1. A first connecting rod 1-4 passes through the first inner end cap 1-2 and the first outer end cap 1-3. The first connecting rod 1-4 is provided with multiple chute grooves and latching grooves. The first inner end cap 1-2 and the first outer end cap 1-3 are each provided with latching teeth that engage with the chute grooves or latching grooves. The first motor 1-5 is mounted on the first inner end cap 1-2. The first motor 1-5 rotates the output shaft to connect with the first connecting rod 1-4.

[0042] Furthermore, the first metamaterial barrel shell 1-1 and the second metamaterial barrel shell 2-1 are made of rubber and have the same structure. For illustration, the structure of the first metamaterial barrel shell 1-1 is described as follows: the first metamaterial barrel shell 1-1 consists of a central shell body and disc structures at both ends. The disc structures at the ends have holes in their centers, and the hole diameter is smaller than the inner diameter of the shell ends. The shell body is a hollow cylindrical structure, with the size gradually decreasing from the middle to the ends, presenting a barrel shape. The shell body has multiple holes, each of which is elliptical in shape. The holes are arranged in a periodic staggered pattern, with one of the two adjacent holes having its major axis horizontal and the other vertical, and are evenly distributed along the circumferential and axial directions. The first metamaterial barrel shell 1-1 and the second metamaterial barrel shell 2-1 undergo uniform contraction deformation when subjected to pressure and uniform expansion deformation when subjected to tension.

[0043] Furthermore, the first inner end cap 1-2 has the same structure as the first outer end cap 1-3 and is symmetrically mounted at both ends of the first metamaterial barrel shell 1-1. The structure of the first inner end cap 1-2 is described as follows: the first inner end cap 1-2 is a hollow structure, consisting of upper and lower disc structures and a central cylindrical structure. The outer diameter of one disc is equal to the inner diameter of the end of the first metamaterial barrel shell 1-1, the outer diameter of the other disc is equal to the outer diameter of the end of the first metamaterial barrel shell 1-1, the outer diameter of the central cylinder is equal to the diameter of the center hole of the disc structure at the end of the first metamaterial barrel shell 1-1, and the height of the central cylinder is equal to the thickness of the disc structure of the first metamaterial barrel shell 1-1. In this way, the first inner end cap 1-2 can be inserted into one end of the first metamaterial barrel shell 1-1, and the disc structure at the end of the first metamaterial barrel shell 1-1 is clamped between the upper and lower disc structures of the first inner end cap 1-2, forming a fixed support for the first metamaterial barrel shell 1-1. A through hole is opened in the center of the first inner end cap 1-2, and a protruding tooth is machined on the through hole.

[0044] Furthermore, the specific structure of the first connecting rod 1-4 is as follows: the first connecting rod 1-4 is a rod-shaped structure, one end of which is connected to the driver 3, and the other end is connected to the rotating output shaft of the first motor 1-5. During installation, the first connecting rod 1-4 is first inserted into the first metamaterial barrel shell 1-1, and the first inner end cover 1-2 and the first outer end cover 1-3 are respectively passed through the first connecting rod 1-4 and fixed to the disc structures at both ends of the first metamaterial barrel shell 1-1. The rod body is processed with a first card slot 1-4-1, a second card slot 1-4-2, a first slide groove 1-4-3, and a second slide groove 1-4-4; the first card slot 1-4-1 is opened within a 190-degree circumferential range along the first connecting rod 1-4, and its height is the same as that of the first inner end cover 1-2. The starting position of the first card slot 1-4-1 is connected with the starting position of the first slide groove 1-4-3. The first slide groove 1-4-3 is opened along the length direction of the first connecting rod 1-4. The first card slot 1-4-1 and the first slide groove 1-4-3 are located at one end of the first connecting rod 1-4. The opening method of the second card slot 1-4-2 and the second slide groove 1-4-4 is the same as the opening method of the first card slot 1-4-1 and the first slide groove 1-4-3. The second card slot 1-4-2 and the second slide groove 1-4-4 are opened at the other end of the first connecting rod 1-4.

[0045] According to the connection between the first connecting rod 1-4 and the first inner end cover 1-2 and the first outer end cover 1-3, the first expansion and contraction component 1 has three states, which are described as follows:

[0046] Initial state: When the latching teeth of the first inner end cover 1-2 are engaged in the first latching groove 1-4-1 of the first connecting rod 1-4, and at the same time the latching teeth of the first outer end cover 1-3 are engaged in the second latching groove 1-4-2 of the first connecting rod 1-4, the first inner end cover 1-2 and the first outer end cover 1-3 cannot slide along the length direction of the first connecting rod 1-4. This state is the initial state of the first expansion and contraction component 1.

[0047] State a: When the first motor 1-5 drives the first connecting rod 1-4 to rotate 90° clockwise, the latching teeth of the first inner end cover 1-2 are engaged in the latching groove 1-4-1 of the first connecting rod 1-4, and the latching teeth of the first outer end cover 1-3 are engaged in the sliding groove 1-4-4 of the first connecting rod 1-4, so that the first connecting rod 1-4 and the first inner end cover 1-2 are fixed together and cannot slide relative to each other, while the first outer end cover 1-3 can slide freely relative to the first connecting rod 1-4, as shown in FIG. Figure 5 shown.

[0048] State b: When the first motor 1-5 drives the first connecting rod 1-4 to rotate 90° counterclockwise, the latching teeth of the first outer end cover 1-3 are engaged in the latching groove 1-4-2 of the first connecting rod 1-4, and the latching teeth of the first inner end cover 1-2 are engaged in the sliding groove 1-4-3 of the first connecting rod 1-4, so that the first connecting rod 1-4 and the first outer end cover 1-3 are fixed together and cannot slide relative to each other, while the first inner end cover 1-2 can slide freely relative to the first connecting rod 1-4, as shown in FIG. Figure 6 shown.

[0049] The second expansion and contraction component 2 is composed of a second metamaterial barrel shell 2-1, a second inner end cover 2-2, a second outer end cover 2-3, a second connecting rod 2-4 and a second motor 2-5. The structure and function of each component are the same as those of the first expansion and contraction component 1.

[0050] Furthermore, the first connecting rod 1-4, the second connecting rod 2-4, the first outer end cover 1-3, and the second outer end cover 2-3 are made of hard materials and can be manufactured by 3D printing or machining.

[0051] A method for using a pipeline maintenance robot capable of in-situ reversal, Figures 7 to 9 The motion principle of the pipeline maintenance robot includes the following steps:

[0052] The outer diameters of the first and second metamaterial shells 1-1 and 2-1 are larger than the inner diameter of the pipe, allowing them to naturally fit within the pipe. When the first connecting rod 1-4 is in state a with the first inner end cap 1-2 and the first outer end cap 1-3, and the second connecting rod 2-4 is also in state a with the second inner end cap 2-2 and the second outer end cap 2-3, the actuator 3 is controlled to extend, causing a thrust to act on the first connecting rod 1-4. Since, in state a, the first connecting rod 1-4 is fixed to the first inner end cap 1-2 and slides relative to the first outer end cap 1-3, the first connecting rod 1-4 transmits the thrust to the first inner end cap 1-2, which in turn causes the first metamaterial shell 1-1 to tensilely deform. This causes the first metamaterial shell 1-1 to expand evenly, increasing friction between the shell and the pipe. At the same time, when the second connecting rod 2-4 is subjected to the thrust, since in state a, the second connecting rod 2-4 is fixed to the second inner end cap 2-2 and slides relative to the second outer end cap 2-3, the second connecting rod 2-4 transmits the thrust to the second inner end cap 2-2, which in turn compresses and deforms the second metamaterial barrel 2-1. This uniformly compresses the second metamaterial barrel 2-1, reducing the friction between the second metamaterial barrel 2-1 and the pipe. As the friction between the first metamaterial barrel 1-1 and the pipe increases, the friction between the second metamaterial barrel 2-1 and the pipe decreases, causing the second metamaterial barrel 2-1 to move forward. Then, the driver 3 is controlled to contract, and the first inner end cover 1-2 will drive the first metamaterial barrel shell 1-1 to undergo compression deformation, and the second inner end cover 2-2 will drive the second metamaterial barrel shell 2-1 to undergo tension deformation. The friction between the first metamaterial barrel shell 1-1 and the pipeline is reduced, and the friction between the second metamaterial barrel shell 2-1 and the pipeline is increased. The first metamaterial barrel shell 1-1 will then move forward. At this point, the robot as a whole completes one forward movement. By repeating the above control, the robot can move forward continuously.

[0053] When the robot needs to change direction in place, the first motor 1-5 and the second motor 2-5 respectively drive the first connecting rod 1-4 and the connecting rod 2-3 to rotate 90° clockwise, so that the first expanding and contracting component 1 and the second expanding and contracting component 2 enter state b. When the control drive is extended and contracted, the robot can move backward continuously.

[0054] The above-described embodiments merely express the implementation methods of the present invention, but should not be understood as limiting the scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, which all fall within the scope of protection of the present invention.

Claims

1. A pipeline maintenance robot capable of in-situ reversal, characterized in that: The pipeline inspection robot is designed based on a mechanical metamaterial shell structure, and the negative Poisson's ratio metamaterial shell structure is applied to the pipeline robot design to realize the robot's in-situ reversing function in the pipeline; the pipeline inspection robot is composed of two mechanical metamaterial shells, each shell having a specific mechanical response characteristic; by controlling the deformation state of each shell, the overall shape and force distribution of the pipeline inspection robot shell are changed, and driving forces in different directions are generated to realize various movements of the robot in the pipeline; the pipeline inspection robot includes a first expansion and contraction component (1), a second expansion and contraction component (2) and a driver (3); during use of the pipeline inspection robot, the first expansion and contraction component (1) and the second expansion and contraction component (2) are connected by the driver (3); specifically: The first expansion and contraction component (1) comprises a first metamaterial barrel shell (1-1), a first inner end cover (1-2), a first outer end cover (1-3), a first connecting rod (1-4) and a first motor (1-5); the first inner end cover (1-2) and the first outer end cover (1-3) are respectively fixed at two ends of the first metamaterial barrel shell (1-1); the first connecting rod (1-4) passes through the first inner end cover (1-2) and the first outer end cover (1-3); a plurality of slide grooves and clamping grooves are provided on the first connecting rod (1-4); the first inner end cover (1-2) and the first outer end cover (1-3) are respectively provided with clamping teeth, and the clamping teeth cooperate with the slide grooves or the clamping grooves; the first motor (1-5) is installed on the first inner end cover (1-2); the first motor (1-5) rotates the output shaft to connect with the first connecting rod (1-4); The second expansion and contraction component (2) is composed of a second metamaterial barrel shell (2-1), a second inner end cover (2-2), a second outer end cover (2-3), a second connecting rod (2-4) and a second motor (2-5), and the structure and function of each component are the same as those of the corresponding components of the first expansion and contraction component (1).

2. The pipeline maintenance robot capable of in-situ reversal according to claim 1, characterized in that: The first metamaterial barrel shell (1-1) and the second metamaterial barrel shell (2-1) have the same structure, and the structure of the first metamaterial barrel shell (1-1) is used for explanation: the first metamaterial barrel shell (1-1) is composed of a middle shell body and disc structures at both ends, the disc structure at the end has a hole in the center, and the hole diameter is smaller than the inner diameter of the shell body end; the shell body is a hollow cylindrical structure, and the size gradually decreases from the middle to the two ends, presenting a barrel shape; the shell body has multiple holes, the shape of the holes is elliptical, and the multiple holes are periodically staggered. The long axis of one of the two adjacent holes is horizontally placed, and the long axis of the other hole is vertically placed, and they are evenly distributed along the circumferential and axial directions. The first metamaterial barrel shell (1-1) and the second metamaterial barrel shell (2-1) undergo uniform contraction deformation when subjected to pressure, and undergo uniform expansion deformation when subjected to tension.

3. The pipeline maintenance robot capable of in-situ reversal according to claim 1, characterized in that: The first inner end cover (1-2) has the same structure as the first outer end cover (1-3), and is symmetrically mounted at both ends of the first metamaterial barrel shell (1-1). The structure of the first inner end cover (1-2) is described as follows: the first inner end cover (1-2) is a hollow structure, consisting of an upper and lower disc structure and an intermediate cylindrical structure, wherein the outer diameter of one disc is equal to the inner diameter of the end of the first metamaterial barrel shell (1-1), the outer diameter of the other disc is equal to the outer diameter of the end of the first metamaterial barrel shell (1-1), and the outer diameter of the intermediate cylinder is equal to the outer diameter of the first metamaterial barrel shell. The diameter of the center hole of the disk structure at the end of (1-1) and the height of the middle cylinder are equal to the thickness of the disk structure of the first metamaterial barrel shell (1-1), so that the first inner end cover (1-2) can be inserted into one end of the first metamaterial barrel shell (1-1), and the disk structure at the end of the first metamaterial barrel shell (1-1) is clamped into the middle of the upper and lower disk structures of the first inner end cover (1-2), forming a fixed support for the first metamaterial barrel shell (1-1); a through hole is opened in the center of the first inner end cover (1-2), and a protruding latch tooth is processed on the through hole.

4. The pipeline maintenance robot capable of in-situ reversal according to claim 1, characterized in that: The specific structure of the first connecting rod (1-4) is as follows: the first connecting rod (1-4) is a rod-shaped structure, one end of which is connected to the driver (3), and the other end is connected to the rotation output shaft of the first motor (1-5); when installing, the first connecting rod (1-4) is first inserted into the first metamaterial barrel shell (1-1), and the first inner end cover (1-2) and the first outer end cover (1-3) are respectively passed through the first connecting rod (1-4) and fixed to the disc structures at both ends of the first metamaterial barrel shell (1-1); a first card groove (1-4-1), a second card groove (1-4-2), a first slide groove (1-4-3), and a second slide groove (1-4-4) are processed on the rod body; the first card groove (1-4-1) is connected to the first connecting rod (1-1) and the second slide groove (1-4-3) is connected to the first connecting rod (1-1); the first card groove (1-4-1) is connected to the first connecting rod (1-1) and the second slide groove (1-4 ... first connecting rod ( -4) is opened within a 190-degree circumferential range, and its height is the same as that of the first inner end cover (1-2); the starting position of the first slot (1-4-1) is connected to the starting position of the first slide groove (1-4-3); the first slide groove (1-4-3) is opened along the length direction of the first connecting rod (1-4); the first slot (1-4-1) and the first slide groove (1-4-3) are located at one end of the first connecting rod (1-4); the second slot (1-4-2) and the second slide groove (1-4-4) are opened in the same manner as the first slot (1-4-1) and the first slide groove (1-4-3); the second slot (1-4-2) and the second slide groove (1-4-4) are opened at the other end of the first connecting rod (1-4).

5. The pipeline maintenance robot capable of in-situ reversal according to claim 4, characterized in that: According to the connection between the first connecting rod (1-4) and the first inner end cover (1-2) and the first outer end cover (1-3), the first expansion and contraction component (1) has three states, which are as follows: Initial state: when the latching teeth of the first inner end cover (1-2) are engaged with the first latching groove (1-4-1) of the first connecting rod (1-4), and simultaneously the latching teeth of the first outer end cover (1-3) are engaged with the second latching groove (1-4-2) of the first connecting rod (1-4), the first inner end cover (1-2) and the first outer end cover (1-3) are unable to slide along the length direction of the first connecting rod (1-4). This state is the initial state of the first expansion and contraction component (1); State a: When the first motor (1-5) drives the first connecting rod (1-4) to rotate 90° clockwise, the latching teeth of the first inner end cover (1-2) are engaged with the first latching groove (1-4-1) of the first connecting rod (1-4), and the latching teeth of the first outer end cover (1-3) are engaged with the second sliding groove (1-4-4) of the first connecting rod (1-4), so that the first connecting rod (1-4) and the first inner end cover (1-2) are fixed together and cannot slide relative to each other, while the first outer end cover (1-3) can slide freely relative to the first connecting rod (1-4), as shown in FIG5 ; State b: When the first motor (1-5) drives the first connecting rod (1-4) to rotate 90° counterclockwise, the latching teeth of the first outer end cover (1-3) are engaged in the second latching groove (1-4-2) of the first connecting rod (1-4), and the latching teeth of the first inner end cover (1-2) are engaged in the first sliding groove (1-4-3) of the first connecting rod (1-4), so that the first connecting rod (1-4) and the first outer end cover (1-3) are fixed together and cannot slide relative to each other, while the first inner end cover (1-2) can slide freely relative to the first connecting rod (1-4).

6. The pipeline maintenance robot capable of in-situ reversal according to claim 1, characterized in that: The first connecting rod (1-4), the second connecting rod (2-4), the first outer end cover (1-3), and the second outer end cover (2-3) are made of hard materials and are manufactured by 3D printing or mechanical processing.

7. The pipeline maintenance robot capable of in-situ reversal according to claim 1, characterized in that: The first metamaterial barrel shell (1-1) and the second metamaterial barrel shell (2-1) are made of rubber material.

8. The pipeline maintenance robot capable of in-situ reversal according to claim 1, characterized in that: The outer diameters of the first metamaterial barrel shell (1-1) and the second metamaterial barrel shell (2-1) are greater than the inner diameter of the pipeline.

9. A method for using the pipeline inspection robot capable of in-situ reversal according to any one of claims 1 to 8, characterized in that: The following steps are involved: The first metamaterial barrel shell (1-1) and the second metamaterial barrel shell (2-1) can be stuck in the pipeline in a natural state; When the connection state of the first connecting rod (1-4) with the first inner end cover (1-2) and the first outer end cover (1-3) is a, and the connection state of the second connecting rod (2-4) with the second inner end cover (2-2) and the second outer end cover (2-3) is also a, the control driver (3) is extended, the first connecting rod (1-4) is subjected to the thrust and transmits it to the first inner end cover (1-2), the first inner end cover (1-2) drives the first metamaterial barrel shell (1-1) to undergo tensile deformation, the first metamaterial barrel shell (1-1) will expand uniformly, and the friction between the first metamaterial barrel shell (1-1) and the pipeline will increase; at the same time, when the second connecting rod (2-4) is subjected to the thrust, it transmits the thrust to the second inner end cover (2-2), the second inner end cover (2-2) drives the second metamaterial barrel shell (2-1) to undergo compression deformation, the second metamaterial barrel shell (2-1) will be uniformly compressed, and the friction between the second metamaterial barrel shell (2-1) will decrease, thereby achieving forward movement of the second metamaterial barrel shell (2-1); Then, the driver (3) is controlled to contract, the first inner end cover (1-2) drives the first metamaterial barrel shell (1-1) to undergo compression deformation, and the second inner end cover (2-2) drives the second metamaterial barrel shell (2-1) to undergo tension deformation, the friction between the first metamaterial barrel shell (1-1) and the pipeline is reduced, and the friction between the second metamaterial barrel shell (2-1) and the pipeline is increased, and the first metamaterial barrel shell (1-1) will then move forward, and the robot as a whole will complete one forward movement. By repeating the above control, the robot can move forward continuously; When the robot needs to perform in-situ reversal, the first motor (1-5) and the second motor (2-5) respectively drive the first connecting rod (1-4) and the second connecting rod (2-4) to rotate 90 degrees clockwise, so that the first expansion and contraction component (1) and the second expansion and contraction component (2) enter state b. When the control drive is extended and contracted, the robot can move backward continuously.

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