Self-adaptive pipeline robot with double motion modes

Abstract

The invention discloses a self-adaptive pipeline robot with double motion modes, which comprises a plurality of support moving modules, a wriggling driving module and a plurality of bending modules, each support moving module comprises a first connecting piece, a support leg and a track moving structure, the periphery of the first connecting piece is connected with the support leg through a plurality of connecting rods, and the track moving structure is connected with the support leg through a plurality of connecting rods; the multiple connecting rods are arranged at equal intervals, the ends of the multiple supporting legs are rotationally connected with crawler belt moving structures correspondingly, a driving structure used for adjusting the multiple supporting legs to be unfolded and folded at the same time is arranged in the first connecting piece in a penetrating mode, and the creeping driving module is connected between the two supporting moving modules. And the plurality of bending modules are annularly arranged at equal intervals in the peristaltic driving module. A translation motion mode and a wriggling motion mode are combined, the translation motion mode is suitable for smooth pipe sections, the wriggling motion mode is suitable for obstacle pipe sections, a driving structure capable of smoothly passing through the protrusions and the annular notches and adjusting the multiple supporting legs to be unfolded and contracted can adapt to different pipe diameters.

Description

Technical Field

[0001] This invention relates to the field of pipeline maintenance equipment technology, specifically an adaptive pipeline robot with dual motion modes. Background Technology

[0002] Pipeline systems, as the carriers of important resources such as water, oil, and natural gas, are widely laid in cities, villages, high-altitude areas, underground areas, and between various equipment. As the service life increases, pipelines are prone to problems such as corrosion, blockage, aging, and damage. If they are not inspected and maintained in time, they may cause serious consequences such as resource leakage, environmental pollution, and casualties.

[0003] Traditional pipeline inspection and maintenance mainly rely on manual operation. However, due to limitations such as pipeline length and laying environment (e.g., underground, high altitude, confined space), manual inspection has inherent defects such as low efficiency, high cost, and poor safety. In recent years, the rapid development of robotics technology has provided new solutions for pipeline inspection and maintenance. Pipeline inspection robots, with their advantages of strong environmental adaptability, high flexibility, and high work intensity, are gradually becoming important equipment to replace manual labor.

[0004] However, when existing pipeline inspection robots encounter situations such as annular gaps, protrusions, bends, pipes of different diameters, and irregular pipe shapes, it is difficult to accurately control the contact pressure between the support mechanism and the pipe wall. This can easily lead to poor fit or excessive compression of the pipe wall, resulting in weak passage capacity or even impassability in complex pipelines.

[0005] Therefore, there is an urgent need to develop a pipeline robot with strong adaptability, high throughput and controllable pressure to meet the inspection and maintenance needs of complex pipeline environments. Summary of the Invention

[0006] The present invention aims to at least partially solve one of the technical problems in the above-mentioned technologies.

[0007] Therefore, the purpose of this invention is to propose an adaptive pipeline robot with dual motion modes. By adding a peristaltic drive module, a bending module, and a drive structure that can simultaneously adjust the opening and closing of multiple support legs, and by symmetrically arranging V-shaped torsion springs on both sides of the tracked movement structure, the robot can achieve adaptation to different pipe diameters, pipe types, directions, and obstacle environments, thereby improving the automation level and operational reliability of pipeline inspection and maintenance.

[0008] To solve the above problems, the technical solution of the present invention includes: Multiple support moving modules are provided, each including a first connector, support legs, and a track moving structure. The first connector is connected to the support legs by multiple connecting rods around its perimeter. The multiple connecting rods are equidistant from each other. The ends of the multiple support legs are rotatably connected to the track moving structure. A drive structure for simultaneously adjusting the opening and retraction of the multiple support legs is provided inside the first connector. The drive structure is used to push the track moving structure to fit tightly against the inner wall of pipes of different diameters. A peristaltic drive module is connected between two support moving modules. The peristaltic drive module includes an airbag and an inflation / deflation assembly. One end of the airbag is fixedly connected to a fourth connector, and the other end is fixedly connected to a fifth connector. The inflation / deflation assembly is inserted into the interior of the fifth connector. The expansion and contraction of the airbag drives multiple support moving modules to advance alternately in the pipeline. Multiple bending modules are arranged in a circular, equidistant manner inside the airbag. Each bending module includes a fixed rod, a steel wire rope, and a traction assembly. One end of the fixed rod is fixedly connected to a fourth connector, and the other end is connected to the steel wire rope. The traction assembly is fixedly connected to a fifth connector, and the end of the steel wire rope away from the fixed rod is connected to the traction assembly. The extension and retraction of the steel wire rope drives the supporting moving module to turn within the pipeline.

[0009] Furthermore, the drive structure includes a lead screw and a gear set. One end of the lead screw is connected to a second connecting member by a bearing, and the other end is connected to a third connecting member by a bearing. The outer wall of the third connecting member is rotatably connected to the end of the support leg away from the track moving structure. A sliding nut is sleeved on the outer wall of the lead screw, and a slider is fixedly connected to the end of the sliding nut. A motor is fixedly connected to one side of the second connecting member, and the output end of the motor is connected to the lead screw through the gear set.

[0010] Furthermore, the end of the fourth connector away from the airbag is engaged with the second connector of the support and movement module on one side of the peristaltic drive module, and the end of the fifth connector away from the airbag is engaged with the second connector of the support and movement module on the other side of the peristaltic drive module.

[0011] Furthermore, the traction assembly includes a second motor, which is fixedly connected to the inner wall of the fifth connector. A winding roller is fixedly connected to the output end of the second motor, and the outer wall of the winding roller is wound with the end of the wire rope away from the fixed rod.

[0012] Furthermore, the inflation / deflation assembly includes an inlet / outlet pipe and an air pump. The inlet / outlet pipe passes through the fifth connector, and a connecting pipe is inserted into the end of the inlet / outlet pipe away from the fifth connector. The air pump is inserted into the end of the connecting pipe away from the inlet / outlet pipe through the support moving module.

[0013] Furthermore, the inflation / deflation assembly includes an inlet / outlet pipe and an air pump. The inlet / outlet pipe passes through the center of the fifth connector. A connecting pipe is inserted into the end of the inlet / outlet pipe away from the fifth connector. The air pump is inserted into the end of the connecting pipe away from the inlet / outlet pipe through the support moving module.

[0014] Furthermore, torsion springs are symmetrically provided on both sides of the track moving structure. The two torsion springs are V-shaped. One end of each torsion spring is connected to the support leg via a pin, and the other end is symmetrically connected to the track moving structure via a pin.

[0015] Furthermore, each of the multiple supporting moving modules has a mounting structure connected to its end away from the peristaltic drive module, and the mounting structure has a device for maintaining the inside of the pipeline detachably connected to its end away from the supporting moving module.

[0016] This invention further protects a method for operating an adaptive pipeline robot with dual motion modes, comprising the following steps: As the pipe enters, the drive structure of the two supporting moving modules is activated in the forward direction, causing multiple supporting legs to retract. At the same time, the steel wire rope of the bending module is tightened or released to adjust the posture of the two supporting moving modules so that the posture of the two supporting moving modules conforms to the shape of the pipe inlet, and the two supporting moving modules are placed into the pipe inlet. Adaptive fitting, while simultaneously reversing the activation of the drive structures of the two support moving modules to drive multiple support legs to spread out, so that the track moving structure fits tightly against the inner wall of the pipe; The movement mode selection is as follows: when the pipeline is a straight and unobstructed pipe, the translation mode is adopted, and the two support movement modules are driven to translate by the track movement mechanism. When there are obstacles such as protrusions or annular gaps in the pipeline, the creep mode is adopted, and the expansion and contraction of the airbags drive multiple support movement modules to move forward alternately to overcome the obstacles. Directional adjustment: When there is a bend in the pipeline, the steel wire rope of the bending module is tightened or released at the same time, which drives the support moving module near the bend to deflect up, down, left and right from -90° to 90°, so as to adapt to different directions and branch pipelines.

[0017] The advantages of this invention compared to existing technologies are: This invention provides an adaptive pipeline robot with dual motion modes, combining translation and peristalsis. The translation mode is suitable for unobstructed pipe sections, while the peristalsis mode is suitable for obstructed pipe sections. It can smoothly pass through protrusions with a height not exceeding 50mm and annular gaps with a depth not exceeding 30mm. Multiple cooperating motors simultaneously drive the winding roller to rotate, causing the corresponding steel wire rope to tighten or release. Through the connection of the fixed rod, the support moving module near the bend can deflect up, down, left, and right from -90° to 90°, flexibly adapting to different changes in the direction of the pipeline, such as bends and branches. By simultaneously adjusting the drive structure of multiple support legs to open and retract, it can adapt to different pipe diameters. The contact pressure is adjusted by the spring compression to avoid excessive squeezing or poor fit, ensuring that the robot moves stably in complex pipeline layouts and accurately completes inspection and maintenance operations. Attached Figure Description

[0018] Figure 1 This is a partial structural diagram of the adaptive pipeline robot with dual motion modes according to the present invention. Figure 2 for Figure 1 A schematic diagram of the structure without the spring; Figure 3 for Figure 1 Enlarged structural diagram at point A; Figure 4 for Figure 1 Enlarged structural diagram at point B; Figure 5 for Figure 1 A three-dimensional enlarged schematic diagram of the structure of the peristaltic drive module; Figure 6 for Figure 5 A partially sectional, enlarged stereoscopic view; Figure 7 for Figure 5 A three-dimensional enlarged schematic diagram of the structure near the middle connector six; As shown in the figure: 1. Support moving module; 101. First connecting piece; 102. Connecting rod; 103. Support leg; 104. Track moving structure; 105. Lead screw; 106. Second connecting piece; 107. Third connecting piece; 108. Sliding nut; 109. Slider; 110. Motor 1; 111. Gear set 1; 112. Spring; 113. Guide rail; 114. Torsion spring; 115. Stop; 2. Peristaltic drive module; 201. Airbag; 202. Fourth connecting piece; 203. Fifth connecting piece; 204. Inlet and outlet air pipes; 3. Bending module; 301. Motor 2; 302. Winding roller; 303. Fixing rod; 304. Steel wire rope; 4. Mounting structure. Detailed Implementation

[0019] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses consistent with some aspects of this disclosure as detailed in the appended claims.

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] like Figure 1 As shown, this embodiment proposes an adaptive pipeline robot with dual motion modes, including multiple support movement modules 1 and a peristaltic drive module 2. The support movement module 1 includes a first connector 101, support legs 103, and a track movement structure 104. The support legs 103 are connected to the first connector 101 around its perimeter by multiple connecting rods 102. The multiple connecting rods 102 are equidistantly arranged. The ends of the multiple support legs 103 are rotatably connected to the track movement structure 104. The track movement structure 104 is used to drive the robot to move inside the pipeline in translation mode. A drive structure for simultaneously adjusting the opening and closing of the multiple support legs 103 is provided inside the first connector 101. The drive structure is used to push the track movement structure 104 to fit tightly against the inner wall of the pipeline with different diameters. The peristaltic drive module 2 is connected between two support movement modules 1.

[0022] It should be noted that multiple support movement modules 1 and peristaltic drive modules 2 are electrically connected to the remote control terminal via wired or wireless connections, thereby enabling cooperation between the modules. The robot adopts a three-section configuration with the peristaltic drive module 2 as the plane of symmetry, and the two support movement modules 1 have the same structure. This symmetrical design greatly simplifies the control logic, and each module is controlled independently, reducing the difficulty of control.

[0023] Specifically, the tracked movement structure 104 includes a third motor, a second gear set, a driving wheel, a driven wheel, and a track. The third motor transmits driving force to the driving wheel through the second gear set. The driving wheel drives the driven wheel to rotate through the track, thereby realizing the tracked cyclic movement and providing translational force for the robot. The tracked movement structure 104 is existing technology and will not be described in detail here. The third motor is electrically connected to the remote control terminal via wired or wireless means.

[0024] To clearly illustrate the previous embodiment, in one embodiment of the present invention, as follows: Figure 2 and Figure 3 As shown, the drive structure includes a lead screw 105 and a gear set 111. One end of the lead screw 105 is connected to a second connecting member 106 by a bearing, and the other end is connected to a third connecting member 107 by a bearing. The outer wall of the third connecting member 107 is rotatably connected to the end of the support leg 103 away from the track moving structure 104. A sliding nut 108 is sleeved on the outer wall of the lead screw 105. A slider 109 is fixedly connected to the end of the sliding nut 108. A motor 110 is fixedly connected to one side of the second connecting member 106. The output end of the motor 110 is connected to the lead screw 105 through the gear set 111.

[0025] It should be noted that the gear set 111 includes a driving gear and a driven gear. The driving gear is fixedly connected to the output end of the motor 110. The driven gear is connected to the inside of the second connecting member 106 with its outer wall exposed. The end of the lead screw 105 away from the third connecting member 107 is inserted into the inside of the driven gear and fixedly connected to the driven gear, or connected through a transition member. The transition member includes, but is not limited to, a flange or coupling, etc., to achieve the connection and transmission.

[0026] The second connector 106 has several equidistant slots at one end away from the lead screw 105, and these slots are arranged in a circular pattern.

[0027] Furthermore, the sliding nut 108 is adapted to the lead screw 105. A spring 112 is sleeved on the outer wall of the sliding nut 108. One end of the spring 112 abuts against the slider 109, and the other end abuts against the first connecting member 101. Guide rails 113 are respectively provided at the four corners of the slider 109. One end of the guide rail 113 is fixedly connected to the first connecting member 101, and the other end passes through the slider 109 and is threadedly connected to the stop block 115.

[0028] It should be noted that the support and movement module 1 is used to fix the robot inside pipes of different diameters and adjust the pressure. A cylindrical spring 112 is sleeved on the outer wall of the sliding nut 108. The two ends of the spring 112 are in close contact with the first connecting piece 101 and the slider 109 respectively, but there is no rigid connection, so as to ensure that the spring 112 can extend and retract freely. The first connecting piece 101 and the slider 109 are both slidably connected to the lead screw 105. The fixed connection between the sliding nut 108 and the slider 109 is a connection that cannot be rotated or moved, such as welding or riveting. The stop block 115 is used to prevent the first connecting piece 101 from losing force when it is pulled when the slider 109 moves close to the airbag 201.

[0029] Among them, the buffering effect of spring 112 can absorb the impact force caused by irregular protrusions or vibrations on the inner wall of the pipe, and improve the stability of robot movement. The lead screw is a trapezoidal lead screw, which has the characteristics of high precision and good self-locking. Combined with the elastic adjustment of spring 112, it can achieve precise control and stable maintenance of contact pressure.

[0030] To clearly illustrate the previous embodiment, in one embodiment of the present invention, as follows: Figure 4 As shown, torsion springs 114 are symmetrically provided on both sides of the track moving structure 104. The two torsion springs 114 are V-shaped. One end of the torsion spring 114 is connected to the support leg 103 through a shaft pin, and the other end is symmetrically connected to the track moving structure 104 through a shaft pin. The two torsion springs 114 are used to push the track moving structure 104 to conform to the irregularly shaped pipe.

[0031] It should be noted that the stiffness of both torsion springs is set at 10-50 N·m / rad, allowing for elastic deformation within a range of ±30°, and adapting to the inner wall profile of pipes with a curvature radius of 50-500 mm. The shaft pin is made of wear-resistant alloy steel with a nitrided surface to reduce the coefficient of rotational friction and improve service life.

[0032] In its natural state, the preload of the two torsion springs 114 keeps the support leg 103 perpendicular to the tracked moving structure 104. When the robot enters a non-circular pipe or when there are protrusions or depressions on the inner wall of the pipe, the external force generated by the contact between the tracked moving structure 104 and the pipe wall overcomes the preload of the two torsion springs 114, causing the tracked moving structure 104 to rotate around the pivot until it is completely in contact with the pipe wall. The elastic restoring force of the two torsion springs 114 continues to act, ensuring that the tracked moving structure 104 is always in close contact with the pipe wall and avoiding slippage.

[0033] To clearly illustrate the previous embodiment, in one embodiment of the present invention, as follows: Figure 5 As shown, the peristaltic drive module 2 includes an airbag 201 and an inflation / deflation assembly. One end of the airbag 201 is fixedly connected to a fourth connector 202, and the other end is fixedly connected to a fifth connector 203. The inflation / deflation assembly is inserted into the interior of the fifth connector 203. The extension and retraction of the airbag 201 drives multiple support moving modules 1 to move forward alternately in the pipeline.

[0034] Furthermore, the inflation / deflation assembly includes an inlet / outlet pipe 204 and an air pump. The inlet / outlet pipe 204 passes through the fifth connector 203. A connecting air pipe is inserted into the end of the inlet / outlet pipe 204 away from the fifth connector 203. The air pump is inserted into the end of the connecting air pipe away from the inlet / outlet pipe 204 through the support moving module 1.

[0035] It should be noted that the airbag 201 is a folded bellows bag with elastic deformation. The air pump is located next to the remote control terminal and is electrically connected to the remote control terminal via wired or wireless connection. The fourth connector 202 and the fifth connector 203 are both disc-shaped. Several equidistant locking blocks are fixedly connected to the side of the fourth connector 202 and the fifth connector 203 away from the airbag 201. The locking blocks are arranged in a circumferential manner and are adapted to the locking slot of the second connector 106.

[0036] The fifth connector 203 is sealed to the inlet / outlet pipe 204 by a sealing ring to prevent gas leakage.

[0037] To clearly illustrate the previous embodiment, in one embodiment of the present invention, as follows: Figure 6 and Figure 7 As shown, multiple bending modules 3 are arranged in a circular shape and equidistantly inside the airbag 201. Each bending module 3 includes a fixed rod 303, a steel wire rope 304, and a traction assembly. One end of the fixed rod 303 is fixedly connected to the fourth connector 202, and the other end is connected to the steel wire rope 304. The traction assembly is fixedly connected to the fifth connector 203. The end of the steel wire rope 304 away from the fixed rod 303 is connected to the traction assembly. The extension and retraction of the steel wire rope 304 drives the support moving module 1 to turn inside the pipeline.

[0038] Furthermore, the traction assembly includes a second motor 301, which is fixedly connected to the fifth connector 203. The output end of the second motor 301 is fixedly connected to a winding roller 302, and the outer wall of the winding roller 302 is wound with the end of the wire rope 304 away from the fixed rod 303.

[0039] It should be noted that motor 2 301 is fixedly connected to the inner wall of the fifth connector 203 via a mounting base. Motor 2 301 is electrically connected to the remote control terminal via wired or wireless connection. The remote control terminal controls the different rotation speeds and directions of motor 2 301 in multiple bending modules 3 respectively, and adjusts the robot's direction by pulling the wire rope 304. The end of the fixed rod 303 away from the fourth connector 202 has a through hole. The end of the wire rope 304 passes through the through hole and is knotted, or the end of the wire rope 304 passes through the through hole and is fixed by other fixing parts to prevent the wire rope 304 from falling off. Thus, when the two support moving modules 1 are adjusted in direction, they can be pulled and dragged, thereby preventing them from falling.

[0040] To clearly illustrate the previous embodiment, in one embodiment of the present invention, as follows: Figure 1 As shown, the ends of multiple supporting moving modules 1 that are away from the peristaltic drive module 2 are respectively connected to the mounting structure 4, and the ends of the mounting structure 4 that are away from the supporting moving modules 1 are detachably connected to equipment for maintaining the inside of the pipe.

[0041] It should be noted that the end of the mounting structure 4 away from the supporting moving module 1 is detachably connected to equipment for maintaining the inside of the pipeline. The detachable connection includes, but is not limited to, snap-fit ​​and threaded connection. The equipment for maintaining the inside of the pipeline includes, but is not limited to, cameras, welding equipment and cleaning equipment. The equipment for maintaining the inside of the pipeline is electrically connected to the remote control terminal using a wired or wireless connection method.

[0042] like Figures 1 to 7 As shown, this embodiment proposes a working method for an adaptive pipeline robot with dual motion modes, including the following steps: As the pipe enters, the drive structure of the two support moving modules 1 is activated in the forward direction, causing multiple support legs 103 to retract. At the same time, the steel wire rope 304 of the bending module 3 is tightened or released to adjust the posture of the two support moving modules 1 so that the posture of the two support moving modules 1 conforms to the shape of the pipe inlet, and the two support moving modules 1 are placed into the pipe inlet. Adaptive fitting, while simultaneously reversing the start of the drive structure of the two support moving modules 1 to drive multiple support legs 103 to open, so that the track moving structure 104 fits tightly against the inner wall of the pipe. The movement mode selection is as follows: when the pipeline is a straight and unobstructed pipe, the translation mode is adopted, and the two support movement modules 1 are driven to translate by the track movement structure 104. When there are protrusions or ring-shaped gaps in the pipeline, the creep mode is adopted, and the extension and retraction of the airbag 201 drives multiple support movement modules 1 to move forward alternately to overcome the obstacles. Directional adjustment: When there is a bend in the pipeline, the steel wire rope 304 of the bending module 3 is tightened or released at the same time, which drives the support moving module 1 near the bend to deflect up, down and left and right from -90° to 90°, so as to adapt to different directions and branch pipelines.

[0043] To clearly illustrate the previous embodiment, in one embodiment of the present invention, each of the plurality of support moving modules 1 is provided with three support legs 103. The three support legs 103 are evenly distributed in the circumferential direction of the outer wall of the lead screw 105, and the included angle between adjacent support legs 103 is 120°. The stiffness of the torsion spring 114 is 30 N·m / rad, the deformation angle range is ±30°, the stiffness of the spring 112 is 5 N / mm, the pipe diameter adaptation range is 100-400 mm, the contact pressure adjustment range is 10-40 N, the translational movement speed is 0-40 mm / s, the creeping stroke is 0-150 mm, and a camera for detecting data inside the pipe is detachably connected to the end of the mounting mechanism away from the support moving module 1.

[0044] Furthermore, when the robot operates in a circular pipe with a diameter of 200mm, the remote control terminal simultaneously controls the retraction of two support movement modules 1. The specific operation is as follows: the remote control terminal controls the motor 110 of the support movement module 1 to rotate in the opposite direction, which drives the lead screw 105 to rotate through the transmission of the gear set 111. Through the connection between the sliding nut 108 and the lead screw 105, the slider 109 is driven to move towards the airbag 201 under the limit of the lead screw 105. With the cooperation of the guide rail 113 and the stop block 115, the first connecting piece 101 is pulled to move towards the airbag 201. Through the connection of the connecting rod 102, the end of the support leg 103 away from the third connecting piece 107 is driven to retract around the third connecting piece 107 towards the lead screw 105.

[0045] Furthermore, the remote control terminal simultaneously controls the motor 301 in the three bending modules 3 to rotate slowly in the forward direction, driving the winding roller 302 to tighten the wire rope 304. The wire rope 304 pulls the fixed rod 303 to drive the support moving module 1 to adjust its direction until the robot's posture can enter the pipe entrance. Then, the staff manually puts the robot into the pipe.

[0046] Furthermore, the remote control terminal controls the motor 110 of the support moving module 1 near the fourth connector 202 to rotate forward, causing the slider 109 to move away from the airbag 201 under the limit of the lead screw 105. Under the push of the spring 112 and the limit of the guide rail 113, it causes the first connector 101 to move away from the airbag 201, thereby causing the end of the support leg 103 away from the third connector 107 to move around the third connector 107 away from the lead screw 105, until the track moving structure... When 104 contacts the pipe wall, motor 110 is controlled to rotate slowly until torsion spring 114 keeps the track in horizontal contact with the pipe wall under the pressure of the pipe wall. The remote control terminal controls motor 3 of track moving structure 104 to rotate. The rotation of the track drives the robot to move horizontally at a speed of 30mm / s. After the robot has completely entered the pipe, the remote control terminal controls motor 110 of support moving module 1 near the fifth connector 203 to rotate forward, driving support leg 103 to open so that the track is in horizontal contact with the pipe wall.

[0047] Furthermore, when the robot detects a 30mm high protruding obstacle inside the pipe via the camera mounted on structure 4, the remote control terminal switches the motion mode to creep mode one. This involves controlling the support movement module 1 near the fourth connector 202 to keep the support leg 103 extended, causing the track movement structure 104 of the support movement module 1 near the fourth connector 202 to abut against the pipe wall and remain fixed. Meanwhile, the support movement module 1 near the fifth connector 203 retracts the support leg 103, controls the air pump to extract air from the airbag 201, and simultaneously controls the motor 301 in the bending module 3 to slowly retract the wire, thereby driving the support movement module 1 near the fifth connector 203 towards... The support moving module 1 near the fourth connector 202 moves closer until the airbag 201 is fully contracted. Then, the support leg 103 of the support moving module 1 near the fifth connector 203 extends until the track moving structure 104 of the support moving module 1 near the fifth connector 203 abuts against the pipe wall and remains fixed. Then, the support leg 103 of the support moving module 1 near the fourth connector 202 is controlled to contract, the air pump is controlled to slowly inflate the airbag 201, and the bending module 3 is controlled to slowly release the line, thereby pushing the support moving module 1 near the fourth connector 202 forward. Repeating the above movement can easily overcome the continuous obstacles in the pipe.

[0048] Furthermore, the remote control terminal switches the motion mode to peristaltic mode two, that is, controls the support leg 103 of the support moving module 1 near the fourth connector 202 to retract, and then pushes the robot forward to the obstacle by the track moving structure 104 of the support moving module 1 near the fifth connector 203. If it is a small obstacle that the support moving module 1 near the fourth connector 202 can directly cross, the support leg 103 of the support moving module 1 near the fourth connector 202 can be directly controlled to open after the support moving module 1 near the fourth connector 202 crosses, and then the support leg 103 of the support moving module 1 near the fourth connector 202 can be controlled to open and fix against the pipe wall. The support leg 103 of the support moving module 1 near the fifth connector 203 can be controlled to retract. After the retraction is completed, the track moving structure 104 of the support moving module 1 near the fourth connector 202 is controlled to move forward, thereby driving the support moving module 1 near the fifth connector 203 to cross the obstacle. If the support moving module 1 near the fourth connector 202 cannot directly overcome an obstacle, the air pump can be controlled to slowly inflate the airbag 201, while the bending module 3 is controlled to slowly release the line, thereby pushing the support moving module 1 near the fourth connector 202 forward until it overcomes the obstacle. Then, the support leg 103 of the support moving module 1 near the fourth connector 202 is controlled to open and abut against the pipe wall for fixation. The support leg 103 of the support moving module 1 near the fifth connector 203 is controlled to retract. After retraction, the track moving structure 104 of the support moving module 1 near the fourth connector 202 is controlled to move forward, thereby driving the support moving module 1 near the fifth connector 203 to overcome the obstacle, thus easily overcoming a single obstacle in the pipe.

[0049] Furthermore, when the robot detects a bend in the pipe using the camera mounted on structure 4, the remote control terminal controls the support leg 103 of the support movement module 1 near the fourth connector 202 to retract. Simultaneously, the remote control terminal controls the rotation of motors 301 of the three bending modules 3. The motor 301 of the bending module 3 near the bend rotates forward, while the motors 301 of the other two bending modules rotate in opposite directions. This causes the winding roller 302 to tighten and release the wire rope 304. The wire rope 304 pulls the fixing rod 303, causing the support movement module 1 near the fourth connector 202 to adjust its direction. The remote control terminal controls the motors 301 of the three bending modules 3 to rotate at different speeds. Simultaneously, the remote control terminal controls the air pump to slowly inflate the airbag 201 until it reaches the fourth connector 202. The support moving module 1 is aligned with the entrance of the turning pipe. At the same time, the remote control terminal controls the tracked moving structure 104 of the support moving module 1 near the fifth connector 203 to move slowly forward until the support moving module 1 near the fourth connector 202 is completely inside the turning pipe. Then, the remote control terminal controls the support leg 103 of the support moving module 1 near the fourth connector 202 to spread out until the tracked moving structure 104 touches the pipe wall. The remote control terminal then controls the support leg 103 of the support moving module 1 near the fifth connector 203 to retract. The remote control terminal controls the tracked moving structure 104 of the support moving module 1 near the fourth connector 202 to move slowly forward, thereby driving the support moving module 1 near the fifth connector 203 to pass over the turning pipe. It can flexibly adapt to different changes in the direction of the pipe, such as turns and branches.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0051] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0052] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. An adaptive duct robot with dual motion modes, comprising: Include; A plurality of support mobile modules, the support mobile module includes a first connecting piece, a support leg and a track moving structure, the periphery of the first connecting piece is connected with a support leg through a plurality of connecting rods, a plurality of the connecting rods are equidistantly arranged, the end of a plurality of the support legs is respectively rotationally connected with a track moving structure, the inside of the first connecting piece is provided with a driving structure for simultaneously adjusting the expansion and contraction of a plurality of support legs, the driving structure is used for pushing the track moving structure to tightly contact the inner wall of the pipeline with different pipe diameters; A peristalsis driving module is connected between two support mobile modules, the peristalsis driving module includes an air bag and a gas charging and discharging assembly, one end of the air bag is fixedly connected with a fourth connecting piece, the other end is fixedly connected with a fifth connecting piece, the inside of the fifth connecting piece is inserted with the gas charging and discharging assembly, a plurality of the support mobile modules are driven to alternately advance in the pipeline through the expansion and contraction of the air bag; A plurality of bending modules are arranged in a circular ring in the air bag, each of the bending modules includes a fixed rod, a steel wire rope and a pulling assembly, one end of the fixed rod is fixedly connected with the fourth connecting piece, the other end is connected with the steel wire rope, the pulling assembly is fixedly connected with the fifth connecting piece, one end of the steel wire rope away from the fixed rod is connected with the pulling assembly, the support mobile module is driven to turn in the pipeline through the expansion and contraction of the steel wire rope.

2. The self-adapting pipeline robot with dual motion modes according to claim 1, characterized in that: The gas charging and discharging assembly includes an air inlet and outlet pipe and a gas pump, the air inlet and outlet pipe is inserted into the fifth connecting piece, one end of the air inlet and outlet pipe away from the fifth connecting piece is inserted with a connecting air pipe, one end of the connecting air pipe away from the air inlet and outlet pipe is inserted with the gas pump through the support mobile module.

3. The self-adapting pipe robot with dual motion modes according to claim 1, characterized in that: The driving structure includes a lead screw and a gear set one, one end of the lead screw is bearing connected with a second connecting piece, the other end is bearing connected with a third connecting piece, the outer wall of the third connecting piece is rotationally connected with one end of the support leg away from the track moving structure, the outer wall of the lead screw is sleeved with a sliding nut, the end of the sliding nut is fixedly connected with a sliding block, one side of the second connecting piece is fixedly connected with a motor one, the output end of the motor one is connected with the lead screw through the gear set one.

4. The self-adapting pipe robot with dual motion modes according to claim 3, characterized in that: The outer wall of the sliding nut is sleeved with a spring, one end of the spring abuts against the sliding block, the other end abuts against the first connecting piece, the four corners of the sliding block are respectively provided with guide rails, one end of the guide rail is respectively fixedly connected with the first connecting piece, the other end is threadedly connected with a stop block through the sliding block.

5. The self-adapting pipe robot with dual motion modes according to claim 3, characterized in that: One end of the fourth connecting piece away from the air bag is clamped with the second connecting piece of the support mobile module on one side of the peristalsis driving module, one end of the fifth connecting piece away from the air bag is clamped with the second connecting piece of the support mobile module on the other side of the peristalsis driving module.

6. The self-adapting duct robot with dual motion modes according to claim 1, characterized in that: The two sides of the track moving structure are respectively provided with torsion springs, the shape of the two torsion springs is V-shaped, one end of the torsion spring is respectively connected with the support leg through an axle pin, the other end is symmetrically connected with the track moving structure through an axle pin.

7. The self-adapting pipe robot with dual motion modes according to claim 1, characterized in that: The pulling assembly includes a motor two, the motor two is fixedly connected with the inner wall of the fifth connecting piece, the output end of the motor two is fixedly connected with a winding roller, the outer wall of the winding roller is wound with one end of the steel wire rope away from the fixed rod.

8. The self-adapting pipeline robot with dual motion modes according to any one of claims 1-7, characterized in that: A plurality of support moving modules are respectively connected with a carrying structure at one end away from the peristaltic driving module, and the carrying structure is detachably connected with equipment for maintaining the inside of the pipeline at one end away from the support moving module.

9. The working method of the self-adapting pipeline robot with double motion modes according to claim 1, characterized in that, The method comprises the following steps: The pipeline enters, and the driving structure of the two support moving modules is simultaneously started in a forward direction to drive the plurality of support legs to retract, and the steel wire ropes of the bending modules are simultaneously tightened or released to adjust the posture of the two support moving modules, so that the posture of the two support moving modules conforms to the shape of the pipeline entrance, and the two support moving modules are placed into the pipeline entrance; The posture is adapted, and the driving structure of the two support moving modules is simultaneously started in a reverse direction to drive the plurality of support legs to be spread apart, so that the crawler moving structure is tightly attached to the inner wall of the pipeline; The motion mode is selected, when the pipeline is a straight pipeline, the translation mode is adopted, the two support moving modules are translated through the crawler moving mechanism, when there are protrusions and annular notches in the pipeline, the peristaltic mode is adopted, the plurality of support moving modules are driven to alternately advance through the obstacles through the expansion and contraction of the air bags; The direction is adjusted, when there is a curved pipe in the pipeline, the steel wire ropes of the bending modules are simultaneously tightened or released to drive the support moving modules on the side close to the curved pipe to be deflected up and down and left and right by-90° to 90°, so that the adaptation to different directions and branch pipelines is realized.

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