Pipeline detection robot based on lead screw nut-supporting arm linkage

Abstract

The invention provides a pipeline detection robot based on lead screw nut-supporting arm linkage, which is composed of five parts, namely a digging device, a camera module system, a turning and sample storage device, a dumping device and a variable-diameter driving device. A one-way rotary digging device is arranged at the front end of the robot, is driven by an axial servo motor and is matched with a spiral dumping system to clear obstacles; the middle section is a three-degree-of-freedom hollow steering cabin, and the opening angle can be adjusted to realize soil discharge or sample storage; a camera module is embedded in a shell at the front end, a miniature camera is integrated, low-light identification and image return are supported, and the tail part is of a variable-diameter crawler belt structure and is self-adaptive to a pipeline with the pipe diameter of 70-90 mm through a variable-diameter motor and a lead screw nut system. The robot can achieve the functions of efficient tunneling, omni-directional steering, multi-pipe-diameter self-adaption and the like, and the pipeline detection efficiency and safety are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline detection equipment, in particular to a variable-diameter tracked drive pipeline detection robot, which is suitable for internal detection, soil excavation, sample collection and other operation scenarios of pipelines with different diameters. BACKGROUND

[0002] In the fields of municipal pipeline maintenance and underground pipeline detection, pipeline diameters are various and internal environments are complex, and the traditional pipeline detection equipment has the following problems: first, it is difficult to adapt to the passing needs of pipelines with different diameters, and has poor versatility; second, it has single function, and can only realize the detection function, and cannot simultaneously complete the tasks of soil excavation, soil removal, sample storage and the like; third, the structure design of some equipment is unreasonable, and the running stability is insufficient in complex pipeline environments.

[0003] In view of the above problems, the present application provides a tracked drive pipeline detection robot which integrates multiple functions and has variable-diameter capability, so as to improve the efficiency and adaptability of pipeline detection operation. SUMMARY

[0004] The present application aims to provide a variable-diameter tracked drive pipeline detection robot, which realizes efficient detection and operation of pipelines with different diameters by integrating the functions of soil excavation, camera shooting, soil removal, turning, sample storage and variable-diameter driving. The turning and sample storage device can switch the functions of soil removal and sample storage by adjusting the angle of the turning joint slot, thereby solving the problem of single function of the traditional equipment.

[0005] A variable-diameter tracked drive pipeline detection robot, comprising a soil excavation device (1), a camera shooting module system (2), a soil removal device (3), a turning and sample storage device (4), and a variable-diameter driving device (5), which cooperate with each other to complete various operations in the pipeline.

[0006] The soil excavation device (1) is composed of a soil excavation drill bit (6), an excavator cover (8), a cover rear cover (9), an outer motor fixing bracket (10), an inner motor fixing bracket (11), an excavation and soil removal motor (12), and a cover rotating motor (13). The excavation and soil removal motor (12) is a double-shaft TT motor fixed on the outer motor fixing bracket (10) by screw connection, and the output shafts thereof are concentric with the outer motor fixing bracket (10). The front end output shaft drives the soil excavation drill bit (6), and the rear end output shaft drives a spiral soil remover (15), so as to realize power linkage of soil excavation and soil removal.

[0007] The inner motor fixing bracket (11) is concentrically nested in the outer motor fixing bracket (10) and fixed by screw connection, and is used for installing the cover rotating motor (13).

[0008] The machine cover rotating motor (13) is installed on the inner motor fixing support (11) by interference fit, and provides driving force for the rotation of the tunneling machine cover (8).

[0009] The tunneling machine cover (8) and the machine cover rear cover (9) are connected by bolts to form an integral whole, are assembled concentrically with the outer motor fixing support (10), and are nested in the positioning plates at both ends of the outer motor fixing support (10) to form a protective structure; the tunneling machine cover (8) is a double-layer hollow structure, the outer layer is provided with a camera module (7) fixing screw hole, two symmetrical camera mounting hole positions and a transparent glass protective cover, the camera module (7) is fixed to the outer layer by screws, and the camera is mounted in the mounting hole position; the inner layer is provided with an external gear structure, which is a straight gear with a module of 1 and a tooth number of 60, connected with the machine cover rotating motor (13) through gear meshing, to realize the rotating action of the tunneling machine cover (8).

[0010] The earth boring drill bit (6) is concentrically assembled with the tunneling machine cover (8), passes through the tunneling machine cover (8) and is connected with the front end output shaft of the tunneling and soil removal motor (12), and performs the earth boring operation under the driving of the motor.

[0011] The soil removal device (3) comprises a spiral soil removal device (15) and a threaded clamp (14).

[0012] The spiral soil removal device (15) is concentrically arranged with the inner motor fixing support (11) and connected with the rear end output shaft of the tunneling and soil removal motor (12), and removes the soil dug out by the tunneling device (1) from the robot body under the driving of the motor.

[0013] The threaded clamp (14) is adapted to the positioning plates of the inner motor fixing support (11) and the first steering knuckle (16) of the steering and sample storage device (4) through the annular structure, and the two parts are connected and fixed by clamping the clamp tightly through the bolt group, to realize the stable connection of the inner motor fixing support (11) and the steering and sample storage device (4).

[0014] The steering and sample storage device (4) is composed of a first steering knuckle (16), a steering spur gear (17), a steering motor (18), a second steering knuckle (19), a third steering knuckle (20), a steering and driving device connection upper cover (21), a steering and driving device connection lower cover (22) and a steering motor cover (23), and through the cooperation of multiple parts, the omnidirectional steering function of the robot in the pipeline is realized.

[0015] The first knuckle (16), the second knuckle (19) and the third knuckle (20) are all profiled tube structures, and an integrated processing technology is adopted to form a matched rotating fit structure to meet the multi-joint steering requirement: the first knuckle (16) is an outer ring structure, and an outer ring working surface matched with the inner ring of the bearing is directly processed in the inner cavity (instead of the traditional independent bearing outer ring); the working surface is processed by precision grinding, and the H7 / g6 clearance fit precision is adopted to ensure that the coaxial error of the knuckle rotation is ≤0.1mm, so that the rotating fit pair can be directly formed with the inner ring of the bearing, which not only reduces the assembly link, but also ensures the rotation stability. The front end of the second knuckle (19) is a journal structure, and the size tolerance of the journal is matched with the inner ring of the bearing (using interference fit), and the inner ring of the bearing is pressed and assembled on the journal in assembly, and the outer circle of the inner ring of the bearing is in contact with the outer ring working surface of the first knuckle (16), so that the relative rotation of the first knuckle (16) and the second knuckle (19) is realized. The rear end of the second knuckle (19) is also directly processed with the outer ring working surface matched with the inner ring of the bearing, and the front end of the third knuckle (20) is a journal structure, and the matching mode of the journal and the inner ring of the bearing at the rear end of the second knuckle (19) is the same as the matching logic of the first knuckle (16) and the second knuckle (19) above, so that the relative rotation of the second knuckle (19) and the third knuckle (20) is realized. In this way, the first knuckle (16), the second knuckle (19) and the third knuckle (20) are connected in sequence to form a multi-joint steering structure, which provides a basis for omnidirectional steering.

[0016] The steering and sample storage device (4) is in power transmission and steering coordination, the first steering joint (16) and the second steering joint (19) are provided with internal gear structures (modulus 1, 80 straight tooth gears) at the rear ends, power transmission can be realized through gear engagement with the steering motor (18) installed in the second steering joint (19) or the third steering joint (20). The third steering joint (20) is provided with a positioning plate at the rear end, and M2 threaded holes are opened on the positioning plate. The connection between the steering and driving device connecting upper cover (21) and the steering motor (18) can be realized by using bolts. There are five steering motors (18) in the steering and sample storage device (4), and the second steering joint (19) and the third steering joint (20) are symmetrically provided with motor fixing structures. Two steering motors (18) are installed on each steering joint through threaded connection. The multiple steering motors (18) cooperate with the rotation pairs between the multiple steering joints, so that the robot has the ability to adjust the direction and attitude in the pipeline in all directions (horizontal, vertical, spatial torsion, etc.). In terms of installation adaptability, the steering and driving device connecting upper cover (21) and the lower cover (22) are connected by bolts to form a closed structure, the left end is fixedly connected with the third steering joint (20) through threads, and the right end is connected with the variable diameter driving device (5) by using a thrust bearing and a variable diameter driving device (5); the steering motor (18) mounting structure is provided on the steering and driving device connecting upper cover (21), the steering motor (18) can be fixed by threaded connection, and M1.6 threaded holes are further provided thereon, the steering motor cover (23) can be fixed by using bolts, and the installation stability of each component is ensured.

[0017] The variable diameter driving device (5) is composed of a driving device gear cover (24), a variable diameter driving motor (25), a driving device motor base (26), a planetary gear (27), a sun gear (28), a lead screw front support frame (29), a lead screw (30), a lead screw nut mechanism (31), a lead screw rear support frame (32), a walking device main body (33), a track front support arm lower arm (34), a track front support arm upper arm (35), a track middle support arm (36), a track rear support arm (37), a track (38), and a track driving motor (39). Through the cooperation of multiple components, the track support height variable diameter and walking functions are realized.

[0018] Six connecting ear plates are provided on the walking device main body (33), and threaded holes are provided on the left and right sides of the connecting ear plates. At the same time, bolt mounting hole positions are reserved for the driving device motor base (26), the lead screw front support frame (29), and the lead screw rear support frame (32). The threaded holes of the driving device motor base (26) and the lead screw front support frame (29) adopt concentric design, the threaded holes of the lead screw rear support frame (32) correspond to the above-mentioned hole positions and are adaptively matched, and the three are fixed to the walking device main body (33) by bolts, thereby forming rigid support for the variable diameter driving components and the lead screw (30), and ensuring the stability of power transmission and the coaxial accuracy during lead screw rotation.

[0019] The variable-diameter driving device (5) is composed of a variable-diameter driving motor (25), a variable-diameter driving planetary gear system, a lead screw (30) and a lead screw nut mechanism (31), and realizes power transmission and variable-diameter action conversion.

[0020] The variable-diameter driving motor (25) is connected with the driving device motor base (26) through threads, and provides power for the variable-diameter action. The variable-diameter driving planetary gear system is composed of a sun gear (28) installed on the driving device motor base (26) (connected with the output shaft of the variable-diameter driving motor (25) to receive motor power) and three planetary gears (27) installed on the lead screw (30) and distributed at an interval of 120° around the sun gear (28). The sun gear (28) and the planetary gear (27) have a module of 1, the sun gear (28) has 40 teeth, and the planetary gear (27) has 19 teeth, and power splitting and speed reduction and torque increase are realized through gear meshing. The driving device gear cover (24) is connected with the driving device motor base (26) through bolts, and the variable-diameter driving planetary gear system is enclosed inside, the inside is filled with gear lubricating liquid, the gear wear is effectively reduced, the transmission efficiency is improved, and dustproof and protective effects are achieved.

[0021] The lead screw front support frame (29) and the lead screw rear support frame (32) are fixed to the walking device main body (33) at an interval of 70 mm, and provide axial support for the lead screw (30). The three lead screws (30) are distributed one-to-one corresponding to the planetary gears, have a length of 104 mm, are processed with M7 threads at the middle part of 71 mm, and have smooth shafts at both ends; the square driving head at the front end is connected with the planetary gear through key matching to input power, and the smooth shaft at the rear end passes through the lead screw rear support frame (32) to ensure the axial stability during rotation.

[0022] The lead screw nut mechanism (31) is assembled with three M7 nut sleeves, is threadedly connected with the three lead screws (30), converts rotary motion into axial linear motion through the rotation of the lead screw (30), and the reserved bolt fixing structure thereon is used for connecting the track front support arm lower arm (34), so that the variable-diameter action transmission is realized.

[0023] The track support arm is composed of a track front support arm lower arm (34), a track front support arm upper arm (35), a track middle support arm (36) and a track rear support arm (37), cooperates with the lead screw nut mechanism (31) to form a "lead screw nut-support arm linkage variable-diameter mechanism", and realizes the variable-diameter action of the track (38).

[0024] The track front support arm lower arm (34) is coaxially installed with the track front support arm upper arm (35), a spring is installed between the two, and the two are connected through a pin; the spring can play a buffering and resetting role in the variable-diameter process. The track front support arm lower arm (34) is fixed with the screw rod nut mechanism (31) through bolts and nuts, and moves axially with the screw rod nut mechanism (31); the track front support arm upper arm (35) is fixed on the track (38) through a bolt set, and transmits the variable-diameter action to the track (38).

[0025] The lower end of the track middle support arm (36) and the track rear support arm (37) are connected with the walking device main body (33) through a bolt, and a fixed hinge point is formed; the upper end is fixed on the track (38) through a bolt set. When the screw rod nut mechanism (31) moves axially, the track middle support arm (36) and the track rear support arm (37) swing around the lower end hinge point, so that the height of the track (38) support arm changes, and different pipe diameters are adapted.

[0026] The track drive motor (39) is a horizontal stepping motor, which is used as a power source for the track (38) to walk. The track (38) is designed with a mounting groove corresponding to the shape of the motor, and a radial limiting groove is arranged in the groove. After the motor is embedded in the groove, the motor is positioned in the circumferential direction through the limiting groove, and is connected with the track (38) transmission part through interference fit or adhesive reinforcement. A output shaft mounting hole is arranged at the bottom of the groove, and the output shaft of the motor passes through the hole and is connected with the track (38) transmission part, so as to provide power for the track (38) to walk and ensure the movement and detection operation of the robot in the pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings needed in the embodiment description. Obviously, the following drawings only show some embodiments of the present application, and those skilled in the art can obtain other related drawings according to these drawings without any creative effort.

[0028] The drawings constituting the present application are used to further understand the technical solutions, and the illustrative embodiments of the present application and their descriptions are only used to explain the application, and do not constitute an improper limitation on the present application. In the drawings:

[0029] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0030] Figure 2 It is a sectional view of Figure 1

[0031] Figure 3 It is a front view and a side view of the earth boring drill bit of the present application;

[0032] Figure 4 It is a front view and a side view of the heading machine cover of the present application; ​

[0033] Figure 5 Front view and side view of the screw excavator of the present application;

[0034] Figure 6 Assembly schematic view of the soil excavating device, camera module system and screw excavator of the present application;

[0035] Figure 7 Schematic view of the screw clamp fixed inner motor support and the first steering knuckle of the present application;

[0036] Figure 8 Front view and side view of the steering and sample storage device of the present application;

[0037] Figure 9 Schematic view of the steering and sample storage device of the present application;

[0038] Figure 10 Schematic view of the connection of the steering and sample storage device and the variable diameter driving device of the present application;

[0039] Figure 11 Schematic view of the driving device gear cover and the variable diameter driving planetary gear system of the present application;

[0040] Figure 12 Assembly schematic view of the driving device gear cover, driving device motor base, variable diameter driving motor and variable diameter driving planetary gear of the present application;

[0041] Figure 13 Schematic view of the structure of the variable diameter driving device of the present application;

[0042] Figure 14 Schematic view of the principle of the variable diameter driving device of the present application;

[0043] Figure 15 Front view and side view of the screw nut mechanism of the present application;

[0044] Figure 16 Schematic view of the closed state of the track of the variable diameter driving device of the present application;

[0045] Figure 17 Schematic view of the unfolded state of the track of the variable diameter driving device of the present application;

[0046] Label explanation: 1-trenching device, 2-camera module system, 3-dumping device, 4-steering and sample storage device, 5-variable diameter driving device, 6-trenching drill bit, 7-camera module, 8-tunneling machine cover, 9-machine cover rear cover, 10-outer motor fixing support, 11-inner motor fixing support, 12-tunneling and dumping motor, 13-machine cover rotary motor, 14-thread clamp, 15-spiral soil ejector, 16-first steering knuckle, 17-steering straight tooth gear, 18-steering motor, 19-second steering knuckle, 20-third steering knuckle, 21-steering and driving device connection upper cover, 22-steering and driving device connection lower cover, 23-steering motor cover, 24-driving device gear cover, 25-variable diameter driving motor, 26-driving device motor base, 27-planetary wheel, 28-sun gear, 29-screw rod front support frame, 30-screw rod, 31-screw rod nut mechanism, 32-screw rod rear support frame, 33-traveling device main body, 34-track front support arm lower arm, 35-track front support arm upper arm, 36-track middle support arm, 37-track rear support arm, 38-track, 39-track driving motor. DETAILED DESCRIPTION

[0047] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0048] It should be noted that, in the present application, the relationship terms such as “first” and “second” are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms “include”, “contain” or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement “including a…” does not exclude the presence of another identical element in the process, method, article or device including the element.

[0049] The embodiments of the present application will be further described below with reference to the drawings.

[0050] Embodiment 1, as Figures 1-2As shown, the variable-diameter tracked drive pipeline exploration robot disclosed by the present application mainly consists of a digging device 1, a camera module system 2, a soil removal device 3, a steering and sample storage device 4, and a variable-diameter driving device 5. Each device works cooperatively through mechanical connection and is suitable for pipeline exploration operation of 70-90mm pipe diameter.

[0051] As shown, Figures 1-6 The digging device 1 comprises a digging drill bit 6, a digging machine cover 8, a machine cover rear cover 9, an outer motor fixing support 10, an inner motor fixing support 11, a digging and soil removal motor 12, and a machine cover rotating motor 13. The digging and soil removal motor 12 is a double-shaft TT motor fixed on the outer motor fixing support 10 through threaded connection, with the output shaft concentric with the support, the front end connected to the digging drill bit 6, and the rear end connected to the spiral soil remover 15 of the soil removal device 3, thereby providing power for digging and soil removal. The inner motor fixing support 11 is concentrically nested in the outer motor fixing support 10 and fixed through threads, and the machine cover rotating motor 13 is installed in the inner motor fixing support 11 through interference fit, thereby providing rotary driving force for the digging machine cover 8.

[0052] As shown, Figures 1-6 The digging machine cover 8 is a double-layer hollow aluminum alloy structure, with camera mounting holes symmetrically formed in the outer layer, a built-in transparent glass protective cover, and the camera module 7 fixed to the holes through screws. The inner layer of the digging machine cover 8 is processed with an external gear (modulus 1, number of teeth 60) connected to the machine cover rotating motor 13 through gear meshing. The machine cover rotating motor 13 is installed in the inner motor fixing support 11 through interference fit, thereby providing rotary driving force for the digging machine cover 8 and enabling the camera module 7 to rotate synchronously with the digging machine cover 8 to achieve 360° detection.

[0053] As shown, Figures 5-7 The soil removal device 3 consists of the spiral soil remover 15 and the threaded clamp 14. The spiral soil remover 15 is concentrically arranged with the inner motor fixing support 11 and fixed on the rear output shaft of the digging and soil removal motor 12, thereby conveying the soil backward under the driving of the digging and soil removal motor 12.

[0054] As shown, Figure 7 The threaded clamp 14 is a stainless steel ring structure, which clamps the inner motor fixing support 11 and the first steering knuckle 16 through bolts to ensure the connection strength.

[0055] As shown, Figure 8 The steering and sample storage device 4 consists of the first steering knuckle 16, the second steering knuckle 19, the third steering knuckle 20, five steering motors 18, a steering and driving device connection upper cover 21, a steering and driving device connection lower cover 22, and a steering motor cover 23. Each steering knuckle is an irregular pipe structure, which is sequentially connected in series to form a multi-joint system, with the connection end processed as a bearing outer ring and a journal structure, thereby realizing relative rotation through bearing cooperation.

[0056] AsFigures 8-9 As shown, the first steering knuckle 16 is provided with a side soil slot, and the steering motor 18 drives its rotation: the slot discharges the slag when it is downward, and it is closed to store the sample when it is upward; the steering motor 18 is symmetrically installed on the second steering knuckle 19, the third steering knuckle 20 and the connecting upper cover 21, the output shaft is engaged with the steering gear through the steering spur gear 17 and the steering gear structure, to drive the relative movement of the steering knuckle, change the shape of the steering and the sample storage device 4, and further realize the omnibearing change of the robot, such as horizontal, vertical and spatial torsion, to provide direction guidance for the robot to change direction in the pipeline.

[0057] As shown in the figure, Figures 10-12 The steering and driving device connecting upper cover 21 and the steering and driving device connecting lower cover 22 are rigidly connected by bolts, the left end is connected with the third steering knuckle 20, and the right end is connected with the flange structure of the driving device gear cover 24 and the driving device motor base 26 of the variable-diameter driving device 5 through the thrust bearing, to realize coaxial positioning and protection. The steering motor mounting seat is processed on the steering and driving device connecting upper cover 21, the steering motor 18 is fixedly connected to the mounting seat through the internal hexagonal screw, the output shaft thereof points to the driving device gear cover 24, and the output shaft is engaged with the outer gear ring of the driving device gear cover 24 through the steering spur gear 17, to ensure the flexible rotation and efficient transmission between the steering motor and the gear cover.

[0058] As shown in the figure, Figure 12 The driving device gear cover 24 is integrated with the outer gear ring, is engaged with the steering motor 18 through the steering spur gear 17, and is connected with the flange of the driving device motor base 26 through the bolts, to close the variable-diameter driving planetary gear system; the variable-diameter driving motor 25 is fixedly connected to the motor mounting surface of the driving device motor base 26 through the countersunk head bolt, the output shaft is concentric with the center hole of the base, and is connected with the sun gear 28; the variable-diameter driving planetary gear system is composed of the sun gear 28 and three planetary gears 27, the planetary gears 27 are distributed at 120° around the sun gear 28, are installed on the front end of the lead screw 30, and realize power splitting and speed reduction and torque increase.

[0059] As shown in the figure, Figures 12-15 The variable-diameter driving device 5 includes the walking device body 33, the lead screw front / rear support frame 29 / 32, the lead screw 30, the lead screw nut mechanism 31, the track support arms 34-37, the track 38 and the track driving motor 39. The lead screw front / rear support frame 29 / 32 is fixedly connected to the walking device body 33 at an interval of 70 mm, and supports three lead screws 30; the lead screw nut mechanism 31 is threadedly connected with the lead screw 30, and the track front support arm lower arm 34 is installed through the bolt; the lower end of the track middle / rear support arms 36-37 is hinged to the connecting ear plate of the walking device body 33, and the upper end is fixedly connected to the track 38, to form a "lead screw nut-support arm linkage variable-diameter mechanism", which adjusts the height of the track by using the lever principle.

[0060] As shown in the figure, Figures 16-17As shown, the working process of the variable-diameter driving device 5 is as follows: the variable-diameter driving motor 25 is started, power is transmitted to the sun gear 28 through the output shaft, the sun gear 28 drives the three sets of planetary gears 27 to rotate synchronously through gear meshing, and power is branched. The planetary gear 27 drives the lead screw 30 to rotate, and because the lead screw 30 and the lead screw nut mechanism 31 are in screw pair cooperation, the rotation of the lead screw is converted into the axial linear motion of the lead screw nut mechanism 31. When the lead screw nut mechanism 31 moves forward, the front support arm lower arm 34 of the track is pushed, the track middle / later support arms 36-37 are linked and turned outward around the hinge point, and the outer diameter of the track 38 is increased; conversely, when the lead screw nut mechanism 31 moves backward, the track support arms are retracted under the reverse tension, and the outer diameter of the track is reduced. The track driving motor 39 independently drives the track 38 to move, and cooperates with the variable-diameter action to realize stable movement.

[0061] The working process of the present application is: after the robot is placed at the entrance of the target pipeline, the ground terminal sends a start instruction, and the variable-diameter driving device 5 first starts adaptive adjustment: the variable-diameter driving motor 25 drives the sun gear 28 to rotate, the power is branched to the three lead screws 30 through the planetary gears 27, the lead screw nut mechanism 31 moves along the lead screw axis, drives the track front support arm lower arm 34 and upper arm 35 to expand or contract, cooperates with the lever turning of the middle and rear support arms 36-37, and makes the track 38 support the outer diameter to adapt to the current pipeline diameter, and at the same time, the track driving motor 39 is started, and the robot enters the standby state. During operation, the camera module 7 can rotate with the tunneling machine cover 8, and real-time image of the inner wall of the pipeline is returned; if an obstacle is encountered, the tunneling and soil removal motor 12 drives the soil drilling head 6 to rotate and crush the obstacle, and the crushed slag is transported backward through the spiral soil removal device 15 and discharged from the robot body through the slot of the first steering knuckle 16. When the image of the bend returned by the camera module 7 is analyzed by the ground terminal, a steering instruction is sent to the steering motor 18, the steering spur gear 17 and the steering knuckle gear are engaged and driven, the first steering knuckle 16, the second steering knuckle 19 and the third steering knuckle 20 are driven to rotate relatively, and the robot is guided in all directions such as horizontal, vertical or spatial torsion. If soil samples need to be collected, the steering motor 18 can control the first steering knuckle 16 to rotate to make the slot upward, and the soil samples are temporarily stored in the steering knuckle cavity. After the sample collection is completed, the steering motor 18 can be controlled by the ground terminal to drive the first steering knuckle 16 to rotate, so that the slot releases the sample downward; when the pipeline diameter changes, the variable-diameter driving device 5 repeats the above variable-diameter action to adjust the diameter of the track in real time to adapt to the new pipeline diameter. During the whole detection process, the devices cooperate with each other: the soil drilling device 1 is responsible for obstacle removal, the soil removal device 3 ensures the smooth passage, the steering and sample storage device 4 realizes direction adjustment and sample storage, and the variable-diameter driving device 5 ensures that the robot walks stably in different pipeline diameters. After the whole pipeline detection is completed through the ground terminal control, the robot exits the pipeline along the original path.

[0062] The foregoing is considered as illustrative only of the principles of the application. Numerous modifications and changes will readily occur to those skilled in the art, and it is intended to embrace all such modifications and changes that fall within the scope of the application. Accordingly, the application is not to be restricted in scope to the specific embodiments disclosed herein but is to be accorded the full scope that the principles and novel features request appropriately granted.

Claims

1. A pipe inspection robot based on screw-nut-support arm linkage, characterized in that: It includes a soil excavation device (1), a camera module system (2), a soil discharge device (3), a steering and sample storage device (4), and a variable diameter drive device (5).

2. The variable-diameter tracked pipe inspection robot as described in claim 1, characterized in that: The excavation device (1) consists of an excavation drill bit (6), an excavator cover (8), a rear cover (9), an outer motor mounting bracket (10), an inner motor mounting bracket (11), an excavation and soil removal motor (12), and a cover rotary motor (13). The excavation and soil removal motor (12) is a dual-shaft TT motor, fixed to the outer motor mounting bracket (10) via a threaded connection, with its output shaft concentric with the outer motor mounting bracket (10). The inner motor mounting bracket (11) is concentrically nested within the outer motor mounting bracket. The machine is fixed inside the machine mounting bracket (10) by a threaded connection; the machine cover rotary motor (13) is installed in the inner motor mounting bracket (11) by an interference fit; the tunneling machine cover (8) and the machine cover rear cover (9) are both provided with M2 threaded holes and are connected by bolts. Both are concentrically assembled with the outer motor mounting bracket (10) and nested at both ends of its positioning plate; the excavation drill bit (6) is concentrically assembled with the tunneling machine cover (8), passes through the tunneling machine cover (8) and is connected to the front output shaft of the tunneling and soil removal motor (12).

3. The tunneling machine cover (8) as described in claim 2, characterized in that: The tunneling machine cover (8) is a double-layer hollow structure. The outer layer is provided with a fixing screw hole for the camera module (7), and two symmetrical camera mounting holes are provided. It also has a built-in transparent glass protective cover. The camera module (7) is fixed to the outer layer of the tunneling machine cover (8) with screws, and the camera is embedded in the mounting hole. The inner layer of the tunneling machine cover (8) is provided with an external gear structure. The external gear is a spur gear with a module of 1 and 60 teeth. It is connected to the machine cover rotary motor (13) through gear meshing.

4. The variable-diameter tracked pipe inspection robot as described in claim 1, characterized in that: The soil removal device (3) consists of a spiral soil remover (15) and a threaded clamp (14); the spiral soil remover (15) is concentrically set with the inner motor fixing bracket (11) and connected to the rear output shaft of the tunneling and soil removal motor (12); the threaded clamp (14) is adapted to the positioning plate of the inner motor fixing bracket (11) and the first steering knuckle (16) of the steering and sample storage device (4) through a ring structure, and the two are rigidly connected by tightening the threaded clamp (14) with bolts.

5. The variable-diameter tracked pipe inspection robot as described in claim 1, characterized in that: The steering and sample storage device (4) consists of a first steering knuckle (16), a steering spur gear (17), a steering motor (18), a second steering knuckle (19), a third steering knuckle (20), a steering and drive device connecting upper cover (21), a steering and drive device connecting lower cover (22), and a steering motor cover (23). It has an all-around steering function. The specific structure and connection relationship are as follows: The first steering knuckle (16), the second steering knuckle (19), and the third steering knuckle (20) are all irregular tube structures (adapted to the steering requirements of limited space in the pipeline), and are connected in series to form a multi-joint structure. Steering system; the first steering knuckle (16) has a slot on one side (for discharging the soil excavated by the excavation device (1)), and its rear end internal cavity is directly machined into an outer ring working surface that mates with the inner ring of the bearing (replacing the outer ring of the independent bearing). The bearing inner ring and the front journal of the second steering knuckle (19) (interference fit) form a bearing rotating pair, realizing relative rotation between the two; the rear end of the second steering knuckle (19) is machined with an outer ring working surface (replacing the outer ring of the independent bearing), and the bearing inner ring and the front journal of the third steering knuckle (20) (interference fit) form a bearing rotating pair, realizing relative rotation between the two. The rear ends of the first steering knuckle (16) and the second steering knuckle (19) are both equipped with an internal gear structure (spur gear with module 1 and 80 teeth), which transmits the power of the steering motor (18) through meshing with the steering spur gear (17). The steering and sample storage device (4) has a total of 5 steering motors (18). The second and third steering knuckles (19 / 20) are symmetrically equipped with motor fixing structures, each with 2 steering motors (18). Through the cooperation of the multi-steering knuckle rotating joints and the motors, the robot has the ability to adjust its direction and posture in all directions (horizontal, vertical, and spatial torsion) within the pipeline. The rear end of the third steering knuckle (20) is equipped with a positioning plate with an M2 threaded hole, which is bolted to the steering and drive device connection cover (21). The steering and drive device connection cover (21) and the steering and drive device connection lower cover (22) are bolted together. The front end of the steering and drive device connection cover (21) is threaded to the positioning plate of the third steering knuckle (20), and the rear end slot is connected to the variable diameter drive device (5) through a thrust bearing. The steering and drive device connection cover (21) is equipped with a steering motor (18) mounting structure and an M1.6 threaded hole, which are used to fix the steering motor (18) and the steering motor cover (23), respectively.

6. The variable-diameter tracked pipe inspection robot as described in claim 1, characterized in that: The variable diameter drive device (5) consists of a drive device gear cover (24), a variable diameter drive motor (25), a drive device motor base (26), planetary gears (27), a sun gear (28), a lead screw front support frame (29), a lead screw (30), a lead screw nut mechanism (31), a lead screw rear support frame (32), a walking device body (33), a track front support arm lower arm (34), a track front support arm upper arm (35), a track middle support arm (36), a track rear support arm (37), a track (38), and a track drive motor (39).

7. The variable diameter drive device (5) as described in claim 6, characterized in that: The main body (33) of the walking device is provided with 6 connecting ear plates, and threaded holes are provided on both the left and right sides of the connecting ear plates; the main body (33) of the walking device has reserved bolt mounting holes for the drive device motor base (26), the front support frame (29) of the lead screw and the rear support frame (32) of the lead screw. The threaded holes of the drive device motor base (26) and the front support frame (29) of the lead screw are concentrically arranged and fixed to the main body (33) of the walking device by bolt group.

8. The variable diameter drive device (5) as described in claim 6, characterized in that: The variable diameter drive motor (25) is bolted to the motor mounting surface of the drive device motor base (26). The motor output shaft is concentrically set with the center hole of the drive device motor base (26) and connected to the sun gear (28). The variable diameter drive planetary gear system consists of a sun gear (28) and three planet gears (27). The sun gear (28) is mounted on the drive device motor base (26), and the three planet gears (27) are respectively mounted on the front end of the lead screw (30) and distributed at 120° intervals around the sun gear (28). The module of the sun gear (28) and the planet gears are both 1. The sun gear (28) has 40 teeth and the planet gears have 19 teeth. The drive device gear cover (24) is bolted to the drive device motor base (26). The flange structure of 6) encloses the variable diameter drive planetary gear system inside, and the inside is filled with gear lubricant to reduce wear; the front support frame (29) and the rear support frame (32) of the lead screw are fixed to the main body of the walking device (33) by bolts at a interval of 70mm, and together support the three lead screws (30); the lead screw (30) corresponds one-to-one with the planetary gears, with a length of 104mm, an M7 thread machined in the middle 71mm section, and optical shafts at both ends. The front square drive head is connected to the planetary gears, and the rear optical shaft passes through the rear support frame (32); the lead screw nut mechanism (31) is equipped with three M7 nut sleeves, which are threaded to the three lead screws (30), and a bolt fixing structure for the lower arm (34) of the front support arm of the track is provided on it.

9. The variable diameter drive device (5) as described in claim 6, characterized in that: The lower arm (34) of the front support arm of the track and the upper arm (35) of the front support arm of the track are coaxially mounted, with a spring installed between them and connected by a pin; the lower arm (34) of the front support arm of the track is fixed to the screw nut mechanism (31) by bolts and nuts, and the upper arm (35) of the front support arm of the track is fixed to the track (38) by bolt group; the lower ends of the middle support arm (36) of the track and the rear support arm (37) of the track are hinged to the connecting lug of the walking device body (33) by bolts, and the upper ends are fixed to the track (38) by bolt group.

10. The variable diameter drive device (5) as described in claim 6, characterized in that: The track drive motor (39) is a horizontal stepper motor. The track (38) is provided with a mounting slot that matches the shape of the motor. The inner wall of the slot is provided with a limiting boss. After the motor is embedded in the slot, it is radially positioned by the limiting boss. With interference fit or adhesive reinforcement, the installation is ensured to be stable.

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