Reducing pipeline robot based on Mecanum wheels

Abstract

The invention provides a reducing pipeline robot based on Mecanum wheels. The reducing pipeline robot comprises a double-shaft steering engine, brushless motors arranged on the two sides of the double-shaft steering engine; the reducing Mecanum wheel comprises an outer hub disc, a guide rail optical axis, a middle hub disc, an inner hub disc, a lead screw and a stepping motor which are coaxially and sequentially connected. The reducing Mecanum wheel further comprises a hub composed of five reducing units of the same structure. The reducing unit is connected with the middle hub disc and the inner hub disc at the same time; the five variable-diameter units are unfolded or contracted to the same size at the same time to form hubs with different diameters, and the variable-diameter pipeline robot can work in pipelines with different diameters. Through the structure innovation and intelligent technology, full-scene efficient maintenance of the pipeline is achieved, and industry transformation and upgrading are promoted.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of pipeline robots, and particularly relates to a variable-diameter pipeline robot based on Mecanum wheels. BACKGROUND

[0002] As a core carrier for energy transportation such as oil and gas, hydrogen energy, water and gas transportation and industrial production, the safe operation of the pipeline system is directly related to the national economy and people's livelihood. At the present stage, pipeline robots have been preliminarily applied to pipeline detection and maintenance in the fields of municipal and energy, and the operation efficiency and safety are improved through automation technology.

[0003] However, the existing pipeline robot body and driving wheel adopt an independent design mode, although the free replacement of the driving wheel is realized, there are the following problems: replacing a certain type of driving wheel can only adapt to a single working environment, resulting in low equipment utilization efficiency.

[0004] Therefore, the existing pipeline robot has three major bottlenecks: ① single pipeline application scenario; ② lack of flexibility in applicable pipe diameter; and ③ unable to avoid the problem of the pipeline robot falling off during walking due to gravity.

[0005] In summary, there is a need to provide an improved technical solution to the above-mentioned deficiencies of the prior art. SUMMARY

[0006] In view of the above problems, it is urgent to develop an intelligent pipeline robot that can adapt to various forms of pipelines and has self-adaptive variable-diameter capability, to realize efficient maintenance of pipelines in all scenarios through structural innovation (such as bionic telescopic joints) and intelligent technology (multi-modal sensor fusion), and to promote the transformation and upgrading of the industry towards "fewer people, zero emissions, and high precision".

[0007] To achieve the above-mentioned purpose, the application provides the following technical solutions: A variable-diameter pipeline robot based on Mecanum wheels, which is improved in that the variable-diameter pipeline robot comprises: A double-shaft servo motor 4 comprising a first connecting shaft and a second connecting shaft; the first connecting shaft and the second connecting shaft are fixed in parallel on the housing of the double-shaft servo motor, and the first connecting shaft axis and the second connecting shaft axis are both perpendicular to the variable-diameter pipeline robot axis; A brushless motor comprising: a first brushless motor 2-1 and a second brushless motor 2-2; the first brushless motor 2-1 and the second brushless motor 2-2 are coaxially arranged with the variable-diameter pipeline robot, and are arranged on the two sides of the double-shaft servo motor respectively; the first brushless motor 2-1 is connected with the first connecting shaft; the second brushless motor 2-1 is connected with the second connecting shaft; The variable-diameter Mecanum wheel comprises: a left-hand variable-diameter Mecanum wheel 1 and a right-hand variable-diameter Mecanum wheel 6 coaxially arranged with the variable-diameter pipeline robot; the left-hand variable-diameter Mecanum wheel 1 is connected with the first brushless motor 2-1; the right-hand variable-diameter Mecanum wheel 6 is connected with the second brushless motor 2-1. The variable-diameter Mecanum wheel comprises: an outer hub disc 10, a guide rail light shaft 9, a middle hub disc 11, an inner hub disc 15, a screw rod 12 and a stepping motor 16 connected coaxially in sequence. The variable-diameter Mecanum wheel further comprises a hub formed by 5 variable-diameter units of the same structure; the variable-diameter units are connected with the middle hub disc 11 and the inner hub disc 15 at the same time; the hub can be formed in different diameters by simultaneously expanding or contracting the 5 variable-diameter units to the same size, so that the variable-diameter pipeline robot can work in pipelines of different diameters.

[0008] Preferably, the first brushless motor 2-1 is connected with the first connecting shaft through a first connecting piece 3; the second brushless motor 2-2 is connected with the second connecting shaft through a second connecting piece 5.

[0009] Preferably, the first connecting piece 3 and the second connecting piece 5 each comprise: a U-shaped connecting frame; a hinge hole is arranged at a connecting end of the U-shaped connecting frame; the first connecting piece 3 is hingedly connected with the first connecting shaft; the second connecting piece 5 is hingedly connected with the second connecting shaft.

[0010] Preferably, the first brushless motor 2-1 and the second brushless motor 2-1 each comprise: a stator and a rotor; the stator of the first brushless motor 2-1 is fixedly connected with the first connecting piece 3 through a bolt, and the rotor of the first brushless motor 2-1 is fixedly connected with the left-hand variable-diameter Mecanum wheel 1 through a bolt; the stator of the second brushless motor 2-2 is fixedly connected with the second connecting piece 5 through a bolt, and the rotor of the second brushless motor 2-2 is fixedly connected with the right-hand variable-diameter Mecanum wheel 6 through a bolt.

[0011] Preferably, the outer hub disc 10 comprises a disc; a through hole is arranged on the disc; The guide rail light shaft 9 comprises two shaft bodies; the first ends of the two guide rail light shafts 9 are arranged in the disc surface through holes of the outer hub disc 10 respectively.

[0012] The middle hub disc 11 comprises a disc; a central through hole is arranged at the center of the middle hub disc 11, and a middle hub disc disc surface through hole corresponding to the outer hub disc disc surface through hole is arranged on the disc surface; 5 middle hub disc protrusions are uniformly arranged along the circumferential edge of the middle hub disc 11; a middle hub disc hinge hole is arranged on each of the middle hub disc protrusions; the axis of each of the middle hub disc hinge holes is perpendicular to the middle hub disc axis; The inner hub disc 15 includes a disc, a base is arranged on the bottom surface of the disc, a central through hole is arranged at the center of the inner hub disc 15, five inner hub disc protrusions corresponding to the middle hub disc protrusions are uniformly arranged along the circumferential edge of the inner hub disc, an inner hub disc hinge hole is arranged on each of the inner hub disc protrusions, the axis of each of the inner hub disc hinge holes is perpendicular to the axis of the inner hub disc, and the second end of the guide rail optical axis 9 passes through the middle hub disc 11 and is connected to the inner hub disc 15. The lead screw 12 is connected to the middle hub disc 11 at the first end of the lead screw 12. The stepping motor 16 is connected to the second end of the lead screw 12.

[0013] Preferably, the variable-diameter unit comprises: The wheel surface unit 8 uniformly divides the overall wheel surface of the variable-diameter Mecanum wheel into five parts, and each individual wheel surface after division is the wheel surface unit 8. The roller 7 comprises a roller shaft and a roller barrel coaxially arranged on the roller shaft, the roller 7 is arranged on the surface of the wheel surface unit 8, the axis of the roller 7 forms a 45° angle with the axis of the variable-diameter Mecanum wheel, three rollers 7 are uniformly and parallelly arranged on the wheel surface unit 8, and the length of the roller 7 matches the width of the wheel surface unit 8. The protrusion is arranged below the wheel surface unit 8 and parallel to the axis of the variable-diameter Mecanum wheel, a protrusion hinge hole and a moving slot hole are arranged on the protrusion. The guide hole wheel pair rod 13 comprises a rod, the first end of the guide hole wheel pair rod 13 is connected in the moving slot hole and can move in the moving slot hole, and the second end of the guide hole wheel pair rod 13 is connected with the inner hub disc hinge hole. The wheel pair rod 14 comprises a rod, the first end of the wheel pair rod 14 is connected in the protrusion hinge hole, and the second end of the wheel pair rod 14 is connected with the middle hub disc hinge hole.

[0014] Preferably, the cutting line of the wheel surface unit 8 also forms a 45° angle with the axis of the variable-diameter pipeline robot.

[0015] Preferably, the variable-diameter pipeline robot further comprises a stepping motor control unit, and the stepping motor 16 drives the inner hub disc and the middle hub disc to move along the guide rail optical axis 9 through the stepping motor control unit.

[0016] Preferably, the variable-diameter pipeline robot further comprises a cooperative control unit, the first connecting shaft and the second connecting shaft adjust the rotation angle through the cooperative control unit, thereby driving the first connecting piece 3 and the second connecting piece 5 to rotate along the radial direction of the variable-diameter pipeline robot, so as to adjust the bending angle of the body of the variable-diameter pipeline robot.

[0017] Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects: The variable-diameter pipeline robot based on the Mecanum wheel can control the unfolding degree of the variable-diameter Mecanum wheel mechanism according to the pipe diameter of the working scene, so as to achieve the effect of roller adhesion to the pipe wall.

[0018] When the pipeline robot travels to a pipe bend or a fork, the motion posture of the double-shaft rudder is accurately adjusted by cooperatively controlling the rotating speeds and rotating directions of the two brushless motors, so that the rudder reaches an optimal working position. In this process, the double-shaft rudder dynamically adjusts the body bending angle according to a preset algorithm, thereby realizing a smooth and accurate turning action. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings accompanying the specification of the present application form a part of the specification and serve to further understand the present application, the illustrative embodiments of the present application and the explanations thereof, and do not constitute an improper limitation on the present application. Among them: Figure 1 is a front view of the variable-diameter pipeline robot based on the Mecanum wheel involved in the present application; Figure 2 is an exploded view of the variable-diameter pipeline robot based on the Mecanum wheel involved in the present application; Figure 3 is a variable-diameter Mecanum wheel mechanism (left-handed) involved in the present application; Figure 4 is an exploded view of the Mecanum wheel involved in the present application; Figure 5 is a fully unfolded state of the variable-diameter pipeline robot based on the Mecanum wheel involved in the present application; Among them, 1 is a left-handed variable-diameter Mecanum wheel; 2-1 is a first brushless motor; 2-2 is a second brushless motor; 3 is a first connecting piece; 4 is a double-shaft rudder; 5 is a second connecting piece; 6 is a right-handed variable-diameter Mecanum wheel; 7 is a roller; 8 is a wheel surface unit; 9 is a guide rail optical axis; 10 is an outer wheel hub disc; 11 is a middle wheel hub disc; 12 is a lead screw; 13 is a guide hole wheel pair rod; 14 is a wheel pair rod; 15 is an inner wheel hub disc; and 16 is a stepping motor. DETAILED DESCRIPTION

[0020] The present application will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. In fact, those skilled in the art will recognize that modifications and variations can be made to the present application without departing from the scope or spirit thereof. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desirable that the present application encompass such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0021] In the following description, the terms "first / second / third" are used merely to distinguish similar objects and do not represent a specific order of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing embodiments of this disclosure only and is not intended to limit this disclosure.

[0023] In the description of this application, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and do not require that this application be constructed and operated in a specific orientation, and therefore should not be construed as limiting this application. The terms "connected," "linked," and "set up" used in this application should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; direct connections or indirect connections through intermediate components; wired connections, radio connections, or wireless communication signal connections. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0024] Before providing a further detailed description of the embodiments of this disclosure, the nouns and terms involved in the embodiments of this disclosure will be explained, and the nouns and terms involved in the embodiments of this invention shall be interpreted as follows.

[0025] like Figure 1 and Figure 2 As shown, this application relates to a variable diameter pipe robot based on a Mecanum wheel, wherein the improvement is that the pipe robot includes: a coaxially connected dual-axis servo motor 4, a brushless motor, and a variable diameter Mecanum wheel.

[0026] The double-shaft steering engine 4 comprises a first connecting shaft and a second connecting shaft; specifically, the double-shaft steering engine 4 is a steering engine capable of simultaneously controlling two independent rotating shafts. The double-shaft steering engine comprises a shell, two driving mechanisms, i.e., a first driving mechanism and a second driving mechanism, arranged in the shell, and the two driving mechanisms each comprise a motor assembly, a transmission assembly and a speed reduction assembly. The output ends of the two driving mechanisms are each fixed with a connecting shaft; the two connecting shafts are arranged in parallel on the shell, and the axes of the two connecting shafts are each perpendicular to the axis of the variable-diameter pipe robot. The connecting shaft of each driving mechanism is connected with an external mechanical component, and the angular displacement of the output end is detected by a sensing piece to achieve precise control.

[0027] The two motors inside the double-shaft steering engine are each responsible for the control of one connecting shaft, and the motors and the connecting shafts work in coordination through a communication protocol. The motors can receive control signals and drive the two connecting shafts to rotate to corresponding angles respectively according to the signal instructions, thereby providing the robot with flexible steering functions and enabling it to complete turning actions, so as to complete actions in a more complex three-dimensional space.

[0028] Preferably, the first brushless motor 2-1 is connected with the first connecting shaft of the double-shaft steering engine 4 through a first connecting piece 3, and the second brushless motor 2-2 is connected with the second connecting shaft of the double-shaft steering engine 4 through a second connecting piece 5.

[0029] Specifically, the output end of the first driving mechanism is fixedly provided with the first connecting shaft, and the output end of the second driving mechanism is fixedly provided with the second connecting shaft; the first connecting shaft and the second connecting shaft are fixed in parallel on the shell, and the axes of the first connecting shaft and the second connecting shaft are each perpendicular to the axis of the Mecanum wheel variable-diameter pipe robot. Preferably, the two ends of the first connecting shaft and the second connecting shaft each extend out of the shell for connecting subsequent devices. The first connecting shaft is connected with the first brushless motor 2-1 through the first connecting piece 3, and the second connecting shaft is connected with the second brushless motor 2-2 through the second connecting piece 5. The first motor in the first driving mechanism can drive the first connecting shaft to rotate, the first connecting piece 3 rotates together with the first connecting shaft, thereby adjusting the swing angle of the first connecting piece 3 in the radial direction of the pipe robot. The second motor in the second driving mechanism can drive the second connecting shaft to rotate, the second connecting piece 5 rotates together with the second connecting shaft, thereby adjusting the swing angle of the second connecting piece 5 in the radial direction of the pipe robot.

[0030] Specifically, the first connecting piece 3 and the second connecting piece 5 each include a U-shaped connecting frame, and a hinge hole is arranged at a connecting end of the U-shaped connecting frame. Specifically, the U-shaped connecting frame includes a bottom plate and two connecting plates arranged at the edges of the bottom plate and perpendicular to the bottom plate; a through hole is arranged on the free end (i.e., the connecting end) of the connecting plate as the hinge hole, which is used for being hinged with the first connecting shaft or the second connecting shaft. That is, the first connecting piece 3 is hinged with the first connecting shaft, and the second connecting piece 5 is hinged with the second connecting shaft. The length of the bottom plate matches the width of the double-shaft steering engine shell; the size of the hinge hole matches the diameter of the connecting shaft. That is, the length of the bottom plate of the first connecting piece 3 and the length of the bottom plate of the second connecting piece 5 each match the width of the double-shaft steering engine shell. The size of the hinge hole of the connecting plate of the first connecting piece 3 matches the diameter of the first connecting shaft, and the size of the hinge hole of the connecting plate of the second connecting piece 5 matches the diameter of the second connecting shaft.

[0031] The brushless motor is coaxially arranged with the variable-diameter pipeline robot; the brushless motor includes a first brushless motor 2-1 and a second brushless motor 2-2; the first brushless motor 2-1 and the second brushless motor 2-2 are arranged on the two sides of the double-shaft steering engine 4, respectively.

[0032] The variable-diameter Mecanum wheel includes a left-rotation variable-diameter Mecanum wheel 1 and a right-rotation variable-diameter Mecanum wheel 6 coaxially arranged with the variable-diameter pipeline robot. Specifically, the left-rotation variable-diameter Mecanum wheel 1 and the right-rotation variable-diameter Mecanum wheel 6 adopt the same structure and are installed in mirror symmetry to form the left-rotation variable-diameter Mecanum wheel 1 and the right-rotation variable-diameter Mecanum wheel 6. The left-rotation variable-diameter Mecanum wheel 1 is connected with the first brushless motor 2-1; the right-rotation variable-diameter Mecanum wheel 6 is connected with the second brushless motor 2-1. Specifically, the brushless motor includes a stator and a rotor. The stator of the brushless motor is composed of silicon steel sheets and is fixed on the connecting piece through the shell; the rotor of the brushless motor is composed of permanent magnets and is installed inside the stator through bearings and can rotate around the axis. The brushless motor generates driving force through the relative movement of the stator magnetic field and the rotor permanent magnet. In this application, the brushless motor commonly used in the market can be used. The stator of the first brushless motor 2-1 is fixedly connected with the first connecting piece 3 through bolts, and the rotor of the first brushless motor 2-1 is fixedly connected with the left-rotation variable-diameter Mecanum wheel 1 through bolts. The stator of the second brushless motor 2-2 is fixedly connected with the second connecting piece 5 through bolts, and the rotor of the second brushless motor 2-2 is fixedly connected with the right-rotation variable-diameter Mecanum wheel 6 through bolts.

[0033] Preferably, in order to make the connection between the brushless motor and each component more firm, a connecting gasket is arranged on both sides of each brushless motor; the connecting gasket is a disc structure, and a bolt hole is arranged on the disc. The first brushless motor 2-1 is fixedly arranged between the left-handed variable-diameter Mecanum wheel 1 and the first connecting piece 3 through the connecting gasket; the second brushless motor 2-2 is fixedly arranged between the second connecting piece 5 and the right-handed variable-diameter Mecanum wheel 6 through the connecting gasket; The left-handed variable-diameter Mecanum wheel 1 and the right-handed variable-diameter Mecanum wheel 6 each include five variable-diameter units of the same structure; the five variable-diameter units are simultaneously expanded or contracted to the same size to form a hub of different diameters, so that the pipeline robot can work in a pipeline of different diameters.

[0034] Preferably, as shown in Figure 3 and Figure 4 The left-handed variable-diameter Mecanum wheel 1 and the right-handed variable-diameter Mecanum wheel 6 each include: coaxially connected in sequence: an outer hub disc 10, a guide rail light axis 9, a middle hub disc 11, an inner hub disc 15, a lead screw 12, and a stepper motor 16; the variable-diameter units used by the variable-diameter Mecanum wheel are simultaneously connected with the middle hub disc 11 and the inner hub disc 15; The outer hub disc 10 includes a disc; a through hole is arranged on the disc. Specifically, the outer hub disc 10 is disc-shaped. A central through hole is arranged at the center of the outer hub disc 10, and two disc surface through holes symmetrical to the central through hole are arranged on the disc surface of the outer hub disc 10 for connection with the guide rail light axis 9.

[0035] The guide rail light axis 9 includes two shaft bodies; the first ends of the two guide rail light axes 9 are arranged in the disc surface through holes of the corresponding outer hub discs 10. Specifically, one guide rail light axis 9 is connected in each disc surface through hole.

[0036] The middle hub disc 11 includes a disc; a central through hole is arranged at the center of the middle hub disc 11, and a middle hub disc disc surface through hole corresponding to the outer hub disc disc surface through hole is arranged on the disc surface; five middle hub disc protrusions are uniformly arranged along the circumferential edge of the middle hub disc 11; a middle hub disc hinged hole is arranged on each middle hub disc protrusion; the axis of each middle hub disc hinged hole is perpendicular to the middle hub disc axis; The inner hub disc 15 includes a disc, and a base is arranged on the bottom surface of the disc; a central through hole is arranged at the center of the inner hub disc 15; five inner hub disc protrusions corresponding to the middle hub disc protrusions are uniformly arranged along the circumferential edge of the inner hub disc; an inner hub disc hinged hole is arranged on each inner hub disc protrusion; the axis of each inner hub disc hinged hole is perpendicular to the inner hub disc axis; the second ends of the guide rail light axes 9 pass through the middle hub disc 11 and are connected with the inner hub disc 15; Preferably, the inner side of the outer hub disc is bolted to the brushless motor shell through a flange structure to ensure radial bearing stability.

[0037] A lead screw 12, the first end of the lead screw 12 is connected to the middle hub disc 11; A stepper motor 16, the second end of the lead screw 12 is connected to the stepper motor 16. Specifically, the stepper motor output shaft is rigidly coupled to the double-shaft steering engine input shaft through a high-precision shaft coupling to form a closed-loop servo drive system. Under the instruction of the motion control module, the motor drives the double-shaft steering engine to rotate accurately by ±180° through a harmonic reducer mechanism, and then transmits the torque to the walking wheel system through a space linkage mechanism, finally realizes the adaptive steering, variable-diameter climbing function of the pipeline robot.

[0038] Preferably, the motor used to drive the Mecanum wheel to realize the expansion and contraction function is preferably a 42-step motor. This motor can fully meet the strict requirements of the pipeline robot for the Mecanum wheel in terms of high-precision positioning, high-efficiency operation, low-noise output, low electromagnetic interference, and high flexibility.

[0039] Preferably, a fixed disc is arranged on the inner hub disc 15, and a bolt hole corresponding to the lead screw 12 is arranged in the fixed disc. The inner hub disc 15 and the stepper motor 16 are synchronized and matched.

[0040] The variable-diameter unit includes a wheel surface unit 8, which uniformly divides the overall wheel surface of the variable-diameter Mecanum wheel into 5 parts, i.e., the wheel surface unit 8 is 1 / 5 the size of the overall wheel surface; each individual wheel surface after division is a wheel surface unit 8; the cutting line of the wheel surface unit 8 also forms a 45° angle with the axis of the variable-diameter pipeline robot.

[0041] A roller 7, including a roller shaft and a roller barrel coaxially arranged on the roller shaft; the roller 7 is arranged on the surface of the wheel surface unit 8; the axis of the roller 7 forms a 45° angle with the axis of the variable-diameter Mecanum wheel; three rollers 7 are evenly distributed and arranged in parallel on the wheel surface unit 8; the length of the roller 7 matches the width of the wheel surface unit. Preferably, the length of the roller 7 is preferably 1.5 times the width of the wheel surface unit. Preferably, the roller 7 can be integrated with a micro brush inside, which can automatically clean the gap when the roller rotates.

[0042] Preferably, the roller on the wheel surface is designed to be detachable, and the roller shaft is connected to the wheel surface unit through bolts, which is convenient for maintenance and replacement in the later period. When the roller reaches the service life due to long-term contact with the inner wall of the pipeline and continuous corrosion by internal chemical media, it can be replaced in time.

[0043] ​The protrusion is arranged below the wheel surface unit 8 and parallel to the variable-diameter pipeline robot axis. The protrusion is provided with a protrusion hinge hole and a moving slot hole. The moving slot hole is a slot-shaped through hole matching the width of the wheel surface. Specifically, the position of the protrusion is not limited. It can be arranged at the center of the wheel surface unit 8, or arranged at 1 / 3 of the edge of the wheel surface unit 8 as shown in the drawings. Figure 3 And Figure 4 as shown, arranged at 1 / 3 of the edge of the wheel surface unit 8.

[0044] The guide hole wheel pair rod 13 includes a rod-shaped object. The first end of the guide hole wheel pair rod 13 is connected in the moving slot hole and can slide in the moving slot hole. The second end of the guide hole wheel pair rod 13 is connected with the inner hub disc hinge hole. The wheel pair rod 14 includes a rod-shaped object. The center of the guide hole wheel pair rod 13 is hinged with the wheel pair rod 14. The first end of the wheel pair rod 14 is connected in the protrusion hinge hole. The second end of the wheel pair rod 14 is connected with the middle hub disc hinge hole. The length of the guide hole wheel pair rod 13 and the wheel pair rod 14 has no special requirements, and the length of the guide hole wheel pair rod 13 and the wheel pair rod 14 determines the maximum pipe diameter that the Mecanum wheel variable-diameter robot can work.

[0045] The middle hub disc protrusion and the inner hub disc protrusion need to be arranged correspondingly to avoid misalignment. At the same time, the guide rail optical axis 9 can also limit the relative movement of the middle hub disc and the inner hub disc.

[0046] Referring to Figure 5 , the variable-diameter pipeline robot based on the Mecanum wheel can control the expansion degree of the variable-diameter Mecanum wheel mechanism according to the pipe diameter size of the working scene to achieve the effect of the roller adhering to the pipe wall. Specifically, when the diameter size of the variable-diameter pipeline robot needs to be changed, the step motor 16 precisely drives the inner hub disc and the middle hub disc through the step motor control unit, so that the inner hub disc and the middle hub disc can realize stable and precise displacement movement along the guide rail optical axis 9, thereby driving the second end of the guide hole wheel pair rod 13 hinged with the inner hub disc to rotate, and driving the second end of the wheel pair rod 14 hinged with the middle hub disc to rotate, so that the first end of the guide hole wheel pair rod 13 can slide in the moving slot hole. With the sliding of the first end of the guide hole wheel pair rod 13, the wheel surface unit 8 also expands and contracts, thereby completing the expansion and contraction of the Mecanum wheel.

[0047] The rollers in the wheel hub of the Mecanum wheel form a 45-degree angle with the pipeline robot axis, so that the Mecanum wheel can generate a 45-degree driving force when moving forward. If the rollers in the wheel hub are placed horizontally (parallel to the pipeline robot axis), only a small part of the force applied to the wheel will be received, and most of the force will be absorbed by the free rotation of the rollers, so the wheel will stop moving almost immediately. If the rollers in the wheel hub are placed vertically (perpendicular to the pipeline robot axis), the applied external force will be completely absorbed by the wheel, converted into the power of the wheel rolling, and the wheel will continue to move forward and roll further. If the rollers in the wheel hub form a 45-degree angle with the horizontal plane, and these rollers are evenly distributed around the wheel hub and can rotate freely, the friction force generated at the contact point when the Mecanum wheel contacts the ground is still forward. At this time, two forces are distributed on each roller, one parallel to the roller axis and the other perpendicular to the roller axis. Since the rollers can rotate freely around their own axes, when the Mecanum wheel moves forward, a 45-degree friction force, i.e. driving force, is generated. When the robot moves forward, the first brushless motor 2-1 controls the rotation of the left Mecanum wheel mechanism, and the second brushless motor 2-2 controls the rotation of the right Mecanum wheel mechanism in the opposite direction, so that the two Mecanum wheel mechanisms push forward; when the robot moves backward, the rotation direction is opposite to that when moving forward.

[0048] When the pipeline robot moves laterally, since the rollers can rotate freely along their own axes, the force component perpendicular to the pipeline robot axis direction will be greatly weakened, and the force component parallel to the pipeline robot axis direction will be fully utilized. By controlling the speed and steering of the left and right Mecanum wheels, the lateral force of one side of the wheel can be made greater than the other side, or the lateral force directions of the two sides of the wheel can be made opposite, so as to realize the lateral movement of the pipeline robot.

[0049] When the pipeline robot moves to a pipe bend or a fork, by controlling the speed and steering of the two brushless motors through the cooperative control unit, the rotation angle of the two connecting shafts of the double-shaft rudder is accurately adjusted, and then the first connecting piece 3 and the second connecting piece 5 are rotated, so that the rudder reaches the optimal working position. In this process, the double-shaft rudder dynamically adjusts the body bending angle according to the preset algorithm, so as to realize smooth and accurate turning action.

[0050] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A Mecanum wheel-based variable-diameter pipe robot, characterized by, The variable-diameter pipeline robot comprises: A double-shaft steering engine (4) comprising a first connecting shaft and a second connecting shaft; the first connecting shaft and the second connecting shaft are fixed on the shell of the double-shaft steering engine in parallel, and the first connecting shaft axis and the second connecting shaft axis are both perpendicular to the variable-diameter pipeline robot axis; A brushless motor comprising a first brushless motor (2-1) and a second brushless motor (2-2); the first brushless motor (2-1) and the second brushless motor (2-2) are coaxially arranged with the variable-diameter pipeline robot, and are arranged on the two sides of the double-shaft steering engine respectively; the first brushless motor (2-1) is connected with the first connecting shaft; the second brushless motor (2-1) is connected with the second connecting shaft; A variable-diameter Mecanum wheel comprising a left-hand variable-diameter Mecanum wheel (1) and a right-hand variable-diameter Mecanum wheel (6) coaxially arranged with the variable-diameter pipeline robot; the left-hand variable-diameter Mecanum wheel (1) is connected with the first brushless motor (2-1); the right-hand variable-diameter Mecanum wheel (6) is connected with the second brushless motor (2-1); The variable-diameter Mecanum wheel comprises, in sequence and coaxially: an outer hub disc (10), a guide rail optical shaft (9), a middle hub disc (11), an inner hub disc (15), a lead screw (12), and a stepping motor (16); The variable-diameter Mecanum wheel further comprises a hub formed by five variable-diameter units of the same structure; the variable-diameter units are connected with the middle hub disc (11) and the inner hub disc (15) simultaneously; the five variable-diameter units are simultaneously expanded or contracted to the same size to form a hub of different diameters, so that the variable-diameter pipeline robot can work in a pipeline of different diameters.

2. The Mecanum wheel-based variable diameter pipe robot of claim 1, wherein, The first brushless motor (2-1) is connected with the first connecting shaft through a first connecting piece (3); the second brushless motor (2-2) is connected with the second connecting shaft through a second connecting piece (5).

3. The Mecanum wheel-based variable diameter pipe robot of claim 2, wherein, The first connecting piece (3) and the second connecting piece (5) both comprise a U-shaped connecting frame; a hinge hole is arranged at the connecting end of the U-shaped connecting frame; the first connecting piece (3) is hinged with the first connecting shaft; the second connecting piece (5) is hinged with the second connecting shaft.

4. The Mecanum wheel-based variable diameter pipe robot of claim 2, wherein, The first brushless motor (2-1) and the second brushless motor (2-1) both comprise a stator and a rotor; the stator of the first brushless motor (2-1) is fixedly connected with the first connecting piece (3) through a bolt, and the rotor of the first brushless motor (2-1) is fixedly connected with the left-hand variable-diameter Mecanum wheel (1) through a bolt; the stator of the second brushless motor (2-2) is fixedly connected with the second connecting piece (5) through a bolt, and the rotor of the second brushless motor (2-2) is fixedly connected with the right-hand variable-diameter Mecanum wheel (6) through a bolt.

5. The variable-diameter pipeline robot based on the Mecanum wheel according to claim 1, wherein The outer hub disc (10) comprises a disc; a through hole is arranged on the disc; The guide rail optical shaft (9) comprises two shaft bodies; the first ends of the two guide rail optical shafts (9) are arranged in the disc surface through hole of the outer hub disc (10) respectively; The middle wheel hub disc (11) comprises a disc, a central through hole is arranged at the center of the middle wheel hub disc (11), and a disc surface through hole corresponding to the disc surface through hole of the outer wheel hub disc is arranged on the disc surface; five middle wheel hub disc protrusions are uniformly arranged along the circumferential edge of the middle wheel hub disc (11); a middle wheel hub disc hinge hole is arranged on each middle wheel hub disc protrusion; the axis of each middle wheel hub disc hinge hole is perpendicular to the middle wheel hub disc axis; The inner wheel hub disc (15) comprises a disc, a base is arranged on the bottom surface of the disc; a central through hole is arranged at the center of the inner wheel hub disc (15); five inner wheel hub disc protrusions corresponding to the middle wheel hub disc protrusions are uniformly arranged along the circumferential edge of the inner wheel hub disc; an inner wheel hub disc hinge hole is arranged on each inner wheel hub disc protrusion; the axis of each inner wheel hub disc hinge hole is perpendicular to the inner wheel hub disc axis; the second end of the guide rail optical axis (9) passes through the middle wheel hub disc (11) and is connected with the inner wheel hub disc (15); The lead screw (12) is connected to the middle wheel hub disc (11) at the first end; The stepping motor (16) is connected to the second end of the lead screw (12).

6. The Mecanum wheel-based variable diameter pipe robot of claim 1, wherein, The variable diameter unit comprises: The wheel surface unit (8) uniformly divides the overall wheel surface of the variable diameter Mecanum wheel into five parts, and each individual wheel surface is the wheel surface unit (8) after division; The roller (7) comprises a roller shaft and a roller barrel coaxially arranged on the roller shaft; the roller (7) is arranged on the surface of the wheel surface unit (8); the axis of the roller (7) forms a 45° angle with the axis of the variable diameter Mecanum wheel; three rollers (7) are uniformly divided and arranged in parallel on the wheel surface unit (8); the length of the roller (7) matches the width of the wheel surface unit (8); The protrusion is arranged below the wheel surface unit (8) and parallel to the axis of the variable diameter Mecanum wheel; a protrusion hinge hole and a moving slot hole are arranged on the protrusion; The guide hole wheel pair rod (13) comprises a rod; the first end of the guide hole wheel pair rod (13) is connected in the moving slot hole, and the first end of the guide hole wheel pair rod (13) can move in the moving slot hole; the second end of the guide hole wheel pair rod (13) is connected with the inner wheel hub disc hinge hole; The wheel pair rod (14) comprises a rod; the wheel pair rod (14) is hingedly connected with the center of the guide hole wheel pair rod (13); the first end of the wheel pair rod (14) is connected in the protrusion hinge hole; the second end of the wheel pair rod (14) is connected with the middle wheel hub disc hinge hole.

7. The Mecanum wheel-based variable diameter pipe robot of claim 1, wherein, The cutting line of the wheel surface unit (8) also forms a 45° angle with the axis of the variable diameter pipe robot.

8. The Mecanum wheel based variable diameter pipe robot of claim 5, wherein, The variable diameter pipe robot further comprises a stepping motor control unit; the stepping motor (16) drives the inner wheel hub disc and the middle wheel hub disc to move along the guide rail optical axis (9) through the stepping motor control unit.

9. The Mecanum wheel-based variable diameter pipe robot of claim 1, wherein, The variable diameter pipe robot further comprises a cooperative control unit; the first connecting shaft and the second connecting shaft adjust the rotation angle through the cooperative control unit, thereby driving the first connecting piece (3) and the second connecting piece (5) to rotate radially along the variable diameter pipe robot, so as to adjust the bending angle of the body of the variable diameter pipe robot.

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