Miniature pipe robot and its walking unit

Abstract

This invention relates to a miniature pipeline robot, comprising a miniature pipeline robot walking unit, a power supply system, an internal detection system, and a control system. The walking unit and power supply unit are independent basic units. The walking unit includes a base and multiple support arms distributed at both ends of the base. Wheels are mounted on one end of each support arm. The walking drive mechanism independently drives each wheel using a motor and a bevel gear set. The swing arm drive mechanism independently drives the opening and closing of individual support arms via a motor and a worm gear mechanism, enabling the walking unit to have a variable diameter function, making it suitable for pipeline systems with varying pipe diameters. The robot of this invention has advantages such as small size, large variable diameter range, strong obstacle avoidance ability, and strong ability to navigate curved pipes.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, and in particular to a micro pipeline robot walking unit and a micro pipeline robot. Background Technology

[0002] Many pipelines are buried deep underground or underwater for extended periods, where soil, water, and underground chemicals can corrode or damage them, leading to safety accidents. The most frequent pipeline defects are functional and structural defects in the pipeline's inner wall, which require internal inspection robots to move and inspect within the pipeline.

[0003] In recent years, researchers have developed various pipeline inspection robots, most of which are suitable for large-diameter pipelines but not for micro-pipelines with diameters less than 100mm. Micro-pipelines have small inner diameters and contain complex situations such as bends, tees, misalignments, vertical (oblique) pipes, and diameter variations. Therefore, designing micro-pipeline robots presents several technical challenges, such as enabling the robot to turn smoothly within small pipe spaces, navigate obstacles effectively, adapt to a wider range of pipe diameters, and safely pass through oblique pipes without falling.

[0004] Currently proposed micro-pipeline robot solutions mainly fall into two categories in terms of locomotion: peristaltic and wheeled. Chinese patent CN 117128389 A discloses a small-diameter pipeline inspection and repair robot with a supported wheeled locomotion mode. Its central drive motor has an output shaft at each end, with a central bevel gear fixed on the output shaft. The central bevel gear drives four branch bevel gears, each of which drives the locomotive wheel of the walking arm to rotate via a worm gear mechanism and a belt transmission mechanism, enabling the robot to move. The end of the walking arm (wheel end) can swing freely. A torsion spring is fitted on the pin at the end of each walking arm. One pin of the torsion spring rests on the walking arm, and the other pin is fixed to the central drive motor. When the walking arm swings, the torsion spring compresses or relaxes. Under the torsional elastic torque of the torsion spring itself, the walking arm always tends to expand outwards. When the robot encounters a smaller orifice in the pipeline, the torsion spring is compressed, reducing the swing angle of the walking arm to adapt to the change in orifice diameter.

[0005] The aforementioned patent utilizes changes in the compression of a torsion spring to achieve diameter changes in the robot (referred to as diameter change), which is a passive adaptive diameter change method. The torsion spring has a small deformation range, resulting in a limited range of diameter changes for the robot and a narrow applicable pipe diameter range. Secondly, when the robot encounters local obstacles within the pipe, although each walking arm can have an independent swing amplitude, the limited swing range means it may still get stuck when encountering large obstacles, thus restricting its obstacle avoidance capabilities. Third, the friction between the pipe wall and the wheels comes from the spring force of the torsion spring. The magnitude of the spring force is determined by the deformation of the torsion spring and cannot be actively adjusted. When the pipe diameter decreases, the spring force (friction) may become too large, resulting in insufficient motor power and causing the robot to jam. Conversely, if the motor power is increased, the spring force (friction) may become too small when the pipe diameter increases, causing the robot to slip (especially when the robot is walking on an inclined pipe, it is very easy to slip off). It is evident that for a passive adaptive variable diameter structure, the inability to actively control the angle of the walking rocker arm (i.e., the robot's outer diameter) and the friction between the pipe wall and the wheels makes it difficult to control the robot's operating parameters, making it difficult to design robots suitable for complex pipelines. At the same time, the loss of initiative in controlling the robot's walking ability also hinders the realization of robot intelligence. Fourth, the robot's walking drive mechanism consists of a bevel gear mechanism, a worm gear mechanism, and a belt drive mechanism, resulting in a complex structure and causing the robot's overall size to be relatively large, which is not conducive to passing through bends and tees.

[0006] In summary, current micro-pipeline robots have drawbacks such as a small range of diameter changes (limited applicable pipe diameter range), poor obstacle avoidance ability, insufficient ability to pass through inclined pipes, difficulty in passing through bends / tees, and difficulty in achieving intelligent operation. Summary of the Invention

[0007] In view of the shortcomings or deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a smaller-sized micro-pipe robot walking unit and a micro-pipe robot, which can be used in thinner pipes and can more easily pass through bends and tees. Its support arm has a larger swing arm angle, which makes the robot applicable to a wider range of pipe diameters and has a stronger obstacle avoidance ability. It can also actively adjust the friction between the robot and the pipe wall, which enhances the robot's ability to pass through inclined pipes.

[0008] To solve the above-mentioned technical problems, the present invention has the following structure:

[0009] The micro-pipeline robot walking unit includes a base parallel to the axis of the pipe to be inspected along its length. A set of support arms is mounted at each end of the base's length. Each set of support arms comprises multiple long rod-shaped support arms arranged circumferentially around the base. The root of each support arm is located at one end of the base, and the rod extends towards the other end, with a wheel mounted at the front end. The support arms at both ends of the base are spaced apart. The unit also includes a walking drive mechanism mounted on each support arm, with a walking motor in each mechanism independently driving the wheel on that support arm to rotate. Furthermore, it includes a swing arm drive mechanism that drives the support arms to swing. Each support arm has its own swing arm drive mechanism, which includes a swing arm motor fixed to the base. The swing arm motor drives a worm gear to drive a worm wheel, and the rotational power of the worm wheel is transmitted to a rotating shaft. The root of the support arm is fixed to the rotating shaft, and the swing arm motor drives the support arm to swing around the rotating shaft. The wheels support the pipe wall, allowing the micro-pipeline robot walking unit to move inside the pipe.

[0010] A control module is installed on the walking unit to adjust the output torque of the swing arm motor, and a reducer is installed between the worm gear and the shaft to jointly adjust the robot's driving force.

[0011] A groove is cut at the position corresponding to the rear arm of each support arm on the base, the swing arm drive mechanism is installed in the groove, and a pressure plate is set to fix it on the groove.

[0012] The support arm is a variable diameter rod, with a large diameter for the forearm and a small diameter for the rear arm. The forearm has a hollow structure with a walking drive mechanism installed inside.

[0013] The walking drive mechanism includes a walking motor fixed inside the support arm. The output shaft axis of the walking motor is parallel to the length direction of the support arm. A bevel gear set is installed on the output shaft of the walking reducer connected to the walking motor. The wheel axle is fixedly connected to the driven bevel gear. A wheel is installed at each end of the wheel axle. The walking motor drives the wheel axle and the wheels to rotate.

[0014] A concave surface is made at the corresponding position of the forearm when each support arm is engaged on the base to accommodate part of the support arm; a radial connecting part is installed at the root of the support arm to raise the root of the support arm so that the support arm is in a horizontal position when the robot engages.

[0015] The miniature pipeline robot includes the aforementioned miniature pipeline robot walking unit, as well as a power supply system, an internal detection system, and a control system. The power supply system is electrically connected to the power unit and the control system to provide power to the robot. The internal detection system includes various pipeline internal detection devices mounted on the robot to collect information about the pipeline condition from inside the pipeline. The control system automatically controls the parameters of the robot when it works in complex pipelines and the actions of the internal detection devices.

[0016] The power supply system consists of independent power supply units containing portable rechargeable batteries. Each power supply unit is a separate unit that is rotatably connected to the walking unit and is towed by the walking unit. The portable rechargeable batteries are placed in the battery compartment.

[0017] The micro-pipeline robot comprises one module or multiple modules connected in sequence, with the modules rotatably connected. Each module contains one micro-pipeline robot walking unit and one power supply unit, with the walking unit in front and the power supply unit behind; or each module contains two micro-pipeline robot walking units and one power supply unit, with the power supply unit located between the two walking units.

[0018] The power supply unit and the walking unit are connected by a universal coupling, and adjacent modules are also connected by a universal coupling.

[0019] Compared with the prior art, the advantages of the present invention are as follows:

[0020] The micro-pipe robot walking unit of the present invention has multiple support arms arranged circumferentially around the base. The swing arm drive mechanism drives the support arms to swing around the root pivot as the rotation center. The swing arm angle can reach 0~90°. Therefore, the walking unit has a large diameter range and is applicable to a wide range of pipe diameters.

[0021] The swing motion of each support arm is controlled by a separate swing arm drive mechanism, which allows for individual adjustment of the swing angle of a single arm. The swing angle of the support arm has a wide range of variation, giving the robot a strong ability to avoid obstacles inside the pipe.

[0022] The swing angle of each support arm in this walking unit can be controlled independently, as can the rotation speed of each pair of wheels. This facilitates the control of walking parameters, allows the robot to change its centering posture in the pipeline, and enables the robot to pass through bends, tees, etc. in a more flexible manner. It also makes it easier to realize the intelligence of pipeline robots.

[0023] Compared to passive adaptive diameter-changing mechanisms, this invention can actively adjust the friction (driving force) between the wheels and the pipe wall within a certain range, enabling the robot to move forward according to the driving force of the current situation when walking on horizontal pipes, upward pipes, and downward pipes, thus avoiding slippage or jamming.

[0024] Methods such as installing the swing arm drive mechanism in a groove, installing the walking drive mechanism inside the support arm, and opening an inner concave surface on the base to accommodate the forearm of the support arm can all reduce the space occupied by the walking unit and the required turning space, enabling the robot to be used in thinner pipes and making it easier to turn in the pipes.

[0025] The worm gear mechanism 172 of the swing arm drive mechanism has a self-locking function. Once the support arm is adjusted into place, the mechanism can lock in the reverse direction. The force exerted by the inner wall of the pipe on the wheel will not drive the worm gear in the reverse direction, which greatly enhances the reliability of the robot walking in the pipe.

[0026] The micro-pipeline robot of this invention adopts a basic configuration of multi-segmentation, modularity, variable diameter, multiple supports, and mobile power supply. It has a small external size, a large degree of freedom between adjacent units, and can pass through thin pipes as well as complex pipes.

[0027] The power supply unit follows the walking unit to provide power to the robot, which is not limited by the length of the power cable, allowing the robot to work in longer and more complex pipeline systems.

[0028] The modular structure of the robot reduces manufacturing costs. Users can also flexibly choose the arrangement method, making it easy to assemble or modify robots of different lengths according to actual needs. Attached Figure Description

[0029] Figure 1 : A perspective view of the walking unit of the miniature pipeline robot of the present invention;

[0030] Figure 2 : A three-dimensional view of the walking unit of the micro-pipe robot of the present invention, which hugs and opens 90° inside the pipe;

[0031] Figure 3 : A perspective view of a single support arm of the walking unit of the micro pipeline robot of the present invention connected to the base;

[0032] Figure 4 : Front sectional view of the swing arm drive mechanism of the walking unit of the micro pipeline robot of the present invention;

[0033] Figure 5 : Figure 4 A-direction cross-section (cross-section of the walking drive mechanism).

[0034] Figure 6 : A 3D diagram showing the layout of miniature pipeline robots;

[0035] Figure 7 : Two-dimensional diagrams showing the arrangement of miniature pipeline robots.

[0036] The symbols in the diagram represent the following meanings:

[0037] 1-Miniature Pipeline Robot Walking Unit, 11-Base, 12-Support Arm, 121-Forearm, 122-Rear Arm, 123-Root, 124-Radial Connection, 125-Groove, 126-Concave Surface, 13-Rotating Shaft, 14-Wheel, 15-Wheel Axle, 16-Walking Drive Mechanism, 161-Walking Motor, 162-Walking Reducer, 163-Bevel Gear Set, 17-Swing Arm Drive Mechanism, 171-Swing Arm Motor, 172-Worm Gear Mechanism, 173-Reducer, 18-Pressure Plate, 2-Power Supply Unit, 21-Battery Compartment, 3-Universal Coupling. Detailed Implementation

[0038] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention.

[0039] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only simplified descriptions for the convenience of describing this invention and do not mean that the indicated parts must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limitations on this invention.

[0040] In the following text, "axial" refers to the axial direction of the pipe, and "radial" refers to the radial direction of the pipe.

[0041] The micro-pipeline robot of this invention comprises a micro-pipeline robot walking unit, a power supply system, an internal detection system, and a control system. The walking unit and power supply unit are independent basic units. Multiple walking units and power supply units are connected according to a set pattern to form the robot's main body. The battery in the power supply unit is electrically connected to other components requiring power. The internal detection system is mounted on the walking unit as needed or connected to other units as a separate unit. The walking unit of this invention comprises a base and multiple support arms distributed at both ends of the base. Wheels are mounted on one end of each support arm. The walking drive mechanism independently drives each wheel to rotate using a motor and a bevel gear set, enabling the walking unit to move within the pipe. The swing arm drive mechanism independently drives each support arm to open and close via a motor and a worm gear mechanism, giving the walking unit a variable diameter function, making it suitable for pipeline systems with varying pipe diameters. The robot of this invention has advantages such as small size, large variable diameter range, strong obstacle avoidance ability, and strong ability to navigate curved pipes.

[0042] Figure 1 , Figure 2The image shows a preferred embodiment of the micro-pipeline robot walking unit 1. The micro-pipeline robot walking unit 1 includes a base 11, the length direction of which is parallel to the axis of the pipe to be inspected. A set of support arms is provided at each end of the length direction of the base 11. Each set of support arms includes multiple long rod-shaped support arms 12 arranged around the base 11. The root 123 of each support arm 12 is located at one end of the base 11, and the rod extends to the other end of the base 11. A wheel 14 is installed at the front end. The support arms 12 at both ends of the base 11 are arranged at intervals.

[0043] Each group contains multiple support arms 12, which are preferably evenly distributed around the circumference, with the support arms 12 at both ends arranged at equal phase differences on the circumference. Figure 1 , Figure 2 In the middle, three support arms 12 in each group are evenly distributed around the circumference. The included angle between adjacent support arms 12 on this side is 120°, forming a three-point support on this side. A total of six support arms 12 on the left and right sides are arranged on the circumference with a phase difference of 60°, so that the projection of the six support arms 12 on the cross-section of the pipe is evenly distributed at 60° intervals. The robot is subjected to support forces in a total of 6 directions on the two support surfaces, and the 6 support forces are evenly distributed around the circumference. When the support arms are controlled to swing at the same angle in coordination, the robot can stably be centered and supported in the pipe.

[0044] The micro-pipeline robot walking unit 1 also includes a walking drive mechanism 16 installed on each support arm 12. The walking motor 161 in each walking drive mechanism 16 independently drives the wheel 14 on the support arm 12 to rotate, so that the robot has walking power.

[0045] from Figure 2 It is evident that the outer diameter of the robot's maximum outer edge envelope varies depending on the opening angle of the support arm 12. The swinging motion of the support arm allows the robot to adapt to pipes with different inner diameters. When the support arm 12 is engaged with the base 11, the outer diameter of the walking unit is minimized. Figure 2 In (a), the outer diameter of the robot when it is in a closed position determines the minimum applicable pipe inner diameter; when the support arm 12 swings 90° and is fully open, the outer diameter of the walking unit is at its maximum ( Figure 2 In section (b), the detectable pipe diameter is the largest. Therefore, the micro-pipe robot walking unit 1 also includes a swing arm drive mechanism 17 (see [reference]) that drives the support arm 12 to swing. Figure 3 , Figure 4 Each support arm 12 is equipped with a separate swing arm drive mechanism 17, see Figure 3 , Figure 4The swing arm drive mechanism 17 includes a swing arm motor 171 fixed to the base 11. The swing arm motor 171 drives a worm gear to drive a worm wheel. The rotational power of the worm wheel is transmitted to the rotating shaft 13. The root 123 of the support arm 12 is fixed to the rotating shaft 13. The swing arm motor 171 drives the support arm 12 to swing around the rotating shaft 13. When the support arm 12 is open, the wheel supports the pipe wall and moves inside the pipe. Because the worm gear mechanism 172 has a self-locking function, once the support arm 12 is adjusted into place, the mechanism can lock in the reverse direction. The force of the inner wall of the pipe on the wheel will not drive the worm wheel in the reverse direction, so that the support arm will not suddenly retract, thus increasing the reliability of the robot's movement in the pipe.

[0046] In this traveling unit, the support arm 12 swings around the pivot 13 at its base, without being restricted by any linkage mechanism. Its swing angle ranges from 0 to 90°. The support arm 12 can be fully extended or closed, thus allowing for a wide range of pipe diameters and making it suitable for a broad range of applications. The swing motion of each support arm is individually controlled by a swing arm drive mechanism 17, and the large swing angle allows a single support arm to independently swing over obstacles with a wide range of motion, demonstrating strong obstacle avoidance capabilities.

[0047] The swing angle of each support arm in this walking unit can be controlled independently, as can the rotation speed of each pair of wheels. For example, controlling the swing angle of each support arm can change the robot's centering posture in the pipe to adapt to the internal space of the bend, making it easier for the walking unit to pass through bends and tees. Alternatively, controlling the different rotation speeds of each wheel pair and using the differential speed of the wheels can enable the robot to actively turn. All of these methods allow the robot to pass through bends and tees in a more flexible manner, which is also more conducive to realizing the intelligence of the pipeline robot.

[0048] A control module (not shown in the figure) is installed on the aforementioned micro-pipe robot walking unit to adjust the output torque of the swing arm motor 171, and a reducer 173 is installed between the worm gear and the rotating shaft 13. Figure 4 Together, they achieve the adjustment of the robot's driving force. For example, the adjustment module increases the output torque of the swing arm motor 171, while the reducer 173 decreases the output speed, further increasing the output torque of the shaft (output shaft of the reducer 173). The maximum swing arm torque output by the swing arm drive mechanism 17 to the support arm 12 increases, and the torque is transmitted to the wheel 14 through the support arm 12. The maximum normal pressure (friction) between the wheel and the pipe wall also increases. The greater the friction, the stronger the robot's climbing ability in the vertical pipe. Compared with a passive adaptive diameter-changing mechanism, this invention can actively adjust the friction (driving force) between the wheel and the pipe wall within a certain range, enabling the robot to adapt to the driving force of the current situation when walking on horizontal pipes, upward pipes, and downward pipes, avoiding slippage or jamming. The specific structure of the swing arm drive mechanism 17, including the reducer 173, is as follows: Figure 4 As shown, the output shaft of the swing arm motor 171 is parallel to the length direction of the base 11. The output shaft coaxially drives the worm, the worm drives the worm wheel, and the worm wheel is connected to the reducer 173. The reducer 173 with different transmission ratios can be set according to the swing speed and torque requirements. The rotating shaft 13 (the output shaft of the reducer 173) passes through the root 123 of the support arm 12 and is fixedly connected to the support arm 12. The rotating shaft 13 drives the support arm 12 to swing.

[0049] The more compact the structure of the micro-pipeline robot's walking unit 1, the smaller its radial engagement dimension (the radial dimension of the robot's outer envelope when the support arms are engaged), resulting in less space occupied and less turning space required. This allows the robot to be used in thinner pipes and makes turning within the pipes easier. Therefore, see... Figure 4 A groove 125 is made at the position corresponding to the rear arm 122 of each support arm 12 on the base 11. The swing arm drive mechanism 17 is installed in the groove 125, making full use of the internal space of the base 11 without occupying additional external space, further reducing the radial clamping size of the robot. A pressure plate 18 is set on the groove 125 and fixed on the groove 125 to hide the swing arm drive mechanism 17 inside the base 11, preventing the motor from contacting the gas in the pipeline. This is beneficial for the robot to have explosion-proof capability and is beneficial for the use of the robot in dangerous gas pipelines.

[0050] Based on the above or as a standalone embodiment, see Figure 3 The support arm 12 is designed as a variable-diameter rod, with a large diameter forearm 121 and a small diameter for the rear arm 122. The thicker forearm 121 has a hollow structure, housing the walking drive mechanism 16 inside. This fully utilizes the internal space of the support arm 12, helping to reduce the robot's overall size. The walking drive mechanism's placement within the support arm 12 also provides the robot with explosion-proof capabilities.

[0051] like Figure 5 As shown, the walking drive mechanism 16 installed within the support arm 12 includes a walking motor 161 and a walking reducer 162 fixed within the support arm 12. The output shaft axis of the walking motor 161 is parallel to the length direction of the support arm 12. A bevel gear set 163 is installed on the output shaft of the walking reducer 162 connected to the walking motor 161. The wheel axle 15 is the shaft of the driven bevel gear and is fixedly connected to the driven bevel gear. A wheel 14 is installed at each end of the wheel axle 15. The walking motor 161 drives the wheel axle 15 and the wheels 14 to rotate, realizing the robot's walking. The walking drive mechanism 16 utilizes the high load-bearing capacity of bevel gear transmission, which can improve the safety of wheel walking. Installing two wheels on each wheel axle doubles the contact points between the wheel and the pipe wall compared to a single wheel, enhancing the stability and obstacle-crossing ability of the walking unit. Furthermore, distributing the force points of the wheel axle at both ends optimizes the force distribution and extends the wheel axle's lifespan.

[0052] The positional relationship between the support arm 12 and the base when they are engaged directly affects the external dimensions of the walking unit. In order to reduce the radial engagement dimension of the walking unit, considering that the diameter of the forearm 121 of the support arm 12 is larger than that of the rear arm 122, a concave surface 126 is made at the corresponding position of the forearm 121 when each support arm 12 is engaged on the base 11. Figure 3 This accommodates part of the support arm, making the walking unit structure more compact. Simultaneously, a radial connecting part 124 (see...) is installed at the base 123 of the support arm 12. Figure 3 , Figure 4 The radial connecting part 124 is non-rotatably connected to the rotating shaft 13. The radial connecting part 124 has a certain height, which elevates the root of the support arm. When the robot hugs, the support arm 12 is in a horizontal position, not in an outward-opening posture. The forearm 121 is placed precisely on the concave surface 126 of the base 11, making the support arm safer and the robot structure more compact. In addition, the torque of the swing arm drive mechanism 17 is transmitted to the support arm through the rotating shaft 13. As load-bearing components, the rotating shaft 13 and the radial connecting part 124 should have a wider radial connecting part 124 than the rear arm 122 of the support arm 12 to avoid localized stress on the rotating shaft 13. A corresponding slot is cut in the base 11 to accommodate the radial connecting part 124, and the slot wall is perforated. The two ends of the rotating shaft 13 of the radial connecting part 124 are supported by the slot wall holes of the base, increasing the strength of the rotating shaft. The rotating shaft and the radial connecting part 124 are preferably made of materials with high surface hardness and wear resistance, such as high-quality alloy steel.

[0053] The miniature pipeline robot of the present invention, such as Figure 6 and Figure 7 As shown, the micro-pipeline robot walking unit 1 includes the above-mentioned micro-pipeline robot walking unit 1, and also includes a power supply system, an internal detection system, and a control system. The power supply system is electrically connected to the power unit and the control system to provide power to the robot. The internal detection system includes various internal pipe detection devices mounted on the robot to collect information on the condition of the pipe from inside the pipe. The control system automatically controls the parameters (such as swing angle, swing torque, walking speed and walking direction, etc.) of the robot when working in complex pipelines and the actions of the internal detection devices.

[0054] The internal detection system (not shown in the figure) is mounted on the micro-pipeline robot walking unit 1 as needed, or it can be connected to other units as a separate unit.

[0055] The power supply system can be a wired power supply system connected to an external fixed power source, or it can be a wireless power supply method with automatic recharge. As an example, for instance... Figure 6As shown, the power supply system consists of independent power supply units 2, each containing a portable rechargeable battery. Each power supply unit 2 is a separate unit, rotatably connected to the micro-pipe robot walking unit 1, and is towed by the walking unit. The portable rechargeable battery is placed inside the battery compartment 21. The power supply unit 2 follows the micro-pipe robot walking unit 1 to provide power to the robot, without being limited by the length of the power cable, allowing the robot to work in longer and more complex pipe systems.

[0056] The walking unit of this micro-pipeline robot also features low energy consumption. This is due to several reasons: First, its simple structure and small size result in light weight. Second, the swing arm motor 171 of the swing arm drive mechanism 17 only briefly starts when the support arm 12 needs to swing. After the diameter adjustment is completed, the swing arm motor 171 is in a non-working state during robot movement because the worm gear mechanism 172 has a reverse self-locking function, significantly reducing the static energy consumption of the robot during long-distance inspections. Third, the walking drive mechanism 16 uses bevel gear transmission, which has high transmission efficiency and reduces energy consumption. Low energy consumption results in a longer battery life for the power supply unit, allowing the robot to work for a longer time on a single battery charge, enabling it to serve long pipeline systems, which is crucial for micro-pipeline robots.

[0057] The miniature pipeline robot comprises one module or multiple modules connected in sequence, with the modules rotatably connected. Each module is arranged in a specific manner. Figure 6 Arrangement 2: Includes one section of the aforementioned micro-pipeline robot walking unit 1 and one section of power supply unit 2. The micro-pipeline robot walking unit 1 is in front, and the power supply unit 2 is behind. Each section of power supply unit 2 supplies power to the micro-pipeline robot walking unit 1 in front. Figure 7 The robot comprises two miniature pipe robot walking units 1 and a power supply unit 2. The power supply unit 2 is located between the two miniature pipe robot walking units 1 and supplies power to both units. The robot's modular structure reduces manufacturing costs. Users can also flexibly choose the arrangement method and easily assemble or modify robots of different lengths according to actual needs.

[0058] like Figure 6 and Figure 7 As shown, the power supply unit 2 and the micro-pipe robot walking unit 1 are connected by a universal coupling 3. Adjacent modules are also connected by universal couplings 3, giving each unit a large degree of rotational freedom. The robot can bend to different angles to achieve varied postures, facilitating passage through bends, tees, and misaligned sections. The universal coupling 3 preferably uses a universal damping ball joint, where the ball and the connecting part have spherical contact, resulting in smoother rotation between the connecting parts. This provides more degrees of freedom between units and modules, making the robot's bending angle more flexible and facilitating passage through bends.

[0059] The micro-pipeline robot of this invention adopts a basic configuration of multi-segmentation, modularity, variable diameter, multiple supports, and mobile power supply, and has the ability to pass through complex pipelines.

[0060] The above embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Although the invention has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of the invention do not depart from the spirit and scope of the invention and should be covered within the scope of the claims of the invention.

Claims

1. A walking unit for a miniature pipeline robot, characterized in that, Includes a base (11), the length direction of which is parallel to the axis of the pipe to be tested. A set of support arms is installed at each end of the length direction of the base (11). Each set of support arms includes multiple long rod-shaped support arms (12) arranged around the base (11) in a circumferential direction. The root (123) of the support arm (12) is located at one end of the base (11), and the rod extends to the other end of the base (11). A wheel (14) is installed at the front end. The support arms (12) at both ends of the base (11) are arranged at intervals. The support arm (12) is a variable diameter rod, with a large diameter front arm (121) and a small diameter rear arm (122). The front arm (121) is a hollow structure with a walking drive mechanism (16) inside. The walking drive mechanism (16) includes a walking motor (161) fixed inside the support arm (12). The output shaft axis of the walking motor (161) is parallel to the length direction of the support arm (12). A bevel gear set (163) is installed on the output shaft of the walking reducer (162) connected to the walking motor (161). The wheel axle (15) is fixedly connected to the driven bevel gear. A wheel (14) is installed at each end of the wheel axle (15). The walking motor (161) drives the wheel axle (15) and the wheel to rotate. It also includes a swing arm drive mechanism (17) for driving the support arm (12) to swing. Each support arm (12) is provided with a separate swing arm drive mechanism (17). The swing arm drive mechanism (17) includes a swing arm motor (171) fixed on the base (11). The swing arm motor (171) drives the worm to drive the worm wheel. The rotational power of the worm wheel is transmitted to the rotating shaft (13). The root (123) of the support arm (12) is fixed on the rotating shaft (13). The swing arm motor (171) drives the support arm (12) to swing around the rotating shaft (13). The wheel (14) is supported on the pipe wall. The micro-pipe robot walking unit walks in the pipe.

2. The micro-pipeline robot walking unit according to claim 1, characterized in that, A control module is set on the walking unit to adjust the output torque of the swing arm motor (171), and a reducer (173) is set between the worm gear and the rotating shaft (13) to jointly adjust the driving force of the robot.

3. The micro-pipeline robot walking unit according to claim 1, characterized in that, A groove (125) is made at the position corresponding to the rear arm (122) of each support arm (12) on the base (11), the swing arm drive mechanism (17) is installed in the groove (125), and a pressure plate (18) is fixed on the groove (125).

4. The micro-pipeline robot walking unit according to claim 1, characterized in that, When each of the support arms (12) on the base (11) is engaged, a concave surface (126) is made at the corresponding position of the forearm (121) to accommodate part of the support arm; A radial connecting part (124) is installed at the root (123) of the support arm (12) to raise the root (123) of the support arm (12) so that the support arm (12) is in a horizontal position when the robot hugs it.

5. A miniature pipeline robot, characterized in that, The micro pipeline robot walking unit (1) comprising any one of claims 1-4 further comprises a power supply system, an internal detection system, and a control system. The power supply system is electrically connected to the power unit and the control system to provide power to the robot. The internal detection system includes various pipeline internal detection devices mounted on the robot to collect information on the pipeline condition from inside the pipeline. The control system automatically controls the parameters of the robot when it works in complex pipelines and the actions of the internal detection devices.

6. The micro-pipeline robot according to claim 5, characterized in that, The power supply system is an independent power supply unit (2) containing a portable rechargeable battery. Each power supply unit (2) is a separate section and is rotatably connected to the micro-pipe robot walking unit (1). It is dragged by the micro-pipe robot walking unit (1). The portable rechargeable battery is placed in the battery compartment (21).

7. The micro-pipeline robot according to claim 6, characterized in that, It may contain one module or multiple modules connected in sequence, with the modules being rotatably connected. Each module contains one section of the micro-pipe robot walking unit (1) and one section of the power supply unit (2), with the micro-pipe robot walking unit (1) in front and the power supply unit (2) behind; or each module may contain two sections of the micro-pipe robot walking unit (1) and one section of the power supply unit (2), with the power supply unit (2) located between the two micro-pipe robot walking units (1).

8. The micro-pipeline robot according to claim 7, characterized in that, The power supply unit (2) is connected to the micro pipeline robot walking unit (1) via a universal coupling (3), and adjacent modules are also connected via the universal coupling (3).

Images