A high-strength omnidirectional pipeline robot

Abstract

This invention relates to the field of pipeline robot technology, and in particular to a high-strength omnidirectional pipeline robot. It includes: a torso, a contact arm, and an omnidirectional wheel; one end of the contact arm is connected to the torso, and the other end is fitted with the omnidirectional wheel; the contact arm and the torso are connected by a contact spring; multiple sets of mounting cavities are equidistantly spaced along the circumferential direction on the outer periphery of the omnidirectional wheel; rollers are installed within the mounting cavities; each roller has protrusions on both sides, and a pointed portion in the middle of each protrusion, away from the roller; the tip of the pointed portion coincides with the axis of the roller; the protrusions have circumferential edges, and the pointed portion and the edge portion are connected by a raised rotating surface formed by rotation along the axis; each mounting cavity has a concave pointed portion and an inwardly concave rotating surface on both sides; the pointed portion is accommodated in the concave pointed portion, and the raised rotating surface and the inwardly concave rotating surface are in rotatable contact. By setting the connection contact portion between the roller and the omnidirectional wheel in the form of a conical protrusion, it can withstand lateral forces for a long time and avoid deformation of the connection structure when the omnidirectional wheel rotates.

Description

Technical Field

[0001] This invention relates to the field of pipeline robot technology, and in particular to a high-strength omnidirectional pipeline robot. Background Technology

[0002] Pipeline robots are devices used to inspect the inside of pipelines, such as oil pipelines, to detect corrosion, deformation, leaks, and other issues.

[0003] The inspection device moves back and forth driven by the pipeline robot. For complex curved pipelines, conventional wheeled pipeline robots are prone to motor stalling when their front wheels are obstructed when entering the pipeline.

[0004] In order to improve the passage of pipeline robots in curved pipes, existing technologies have multiple sets of rollers perpendicular to the wheel axis on the surface of the wheel, so that the pipeline robot can easily change direction in the curved pipe. However, the rollers mainly bear lateral loads that are not perpendicular to the axis, which can easily cause the roller shaft to deform and be damaged during use. Summary of the Invention

[0005] To solve the above problems, the technical solution adopted by the present invention is: a high-strength omnidirectional pipeline robot, characterized in that it comprises: Torso, abutment arms, and omnidirectional wheels; One end of the abutment arm is connected to the torso, and the other end is equipped with an omnidirectional wheel. The abutment arm and the torso are connected by an abutment spring. It also includes a drive motor, which is capable of driving the omnidirectional wheel to rotate; Multiple sets of mounting cavities are equidistantly provided on the outer periphery of the omnidirectional wheel along the circumferential direction. Rollers are installed in the mounting cavities. The plane containing the axis of the roller is perpendicular to the axis of the omnidirectional wheel, and the circumferential surface of the roller protrudes from the circumferential surface of the omnidirectional wheel. The roller has protrusions on both sides, and a pointed protrusion in the middle of the protrusions that is away from the roller. The tip of the pointed protrusion coincides with the axis of the roller. The protrusion has an edge in the circumference. The edge is connected to the side of the roller. The pointed protrusion and the edge are connected by a protruding rotating surface formed by rotating along the axis. The mounting cavity has a concave tip and an inwardly concave rotating surface on both sides. The convex tip is accommodated in the concave tip, and the convex rotating surface and the inwardly concave rotating surface are in rotational contact.

[0006] Furthermore, the raised rotating surface is formed by rotating the raised generatrix around the axis, and the raised generatrix is ​​a straight line; The centers of the two concave tips are connected to form a mounting center line. The concave rotating surface is formed by rotating the concave generatrix along the mounting center line. The concave generatrix is ​​a straight line. The concave busbar is inclined relative to the mounting centerline; The concave rotary surface has a linear abutment edge on the side near the omnidirectional wheel axis, and the linear abutment edge is in line contact with the convex rotary surface.

[0007] Furthermore, the mounting cavity has an abutment notch at one end near the omnidirectional wheel axis. The abutment notch is located between the concave rotating surfaces, and the sidewall of the abutment notch is connected to the concave rotating surface to form a linear abutment edge. The width of the abutment notch is greater than the width of the outer edge of the roller, and there is a rolling clearance between the radial surface of the roller and the bottom of the abutment notch.

[0008] Furthermore, the angle between the concave generatrix and the mounting center line is a1, and the angle between the convex generatrix and the roller axis is a2, where a1 < a2; The distance between the concave tips on both sides of the mounting cavity is D1, and the distance between the protrusions on both sides of the roller is D2, where D1 > D2.

[0009] Furthermore, the included angle between the protruding generatrix and the roller axis is a2, where: 72° < a2 < 75°.

[0010] Furthermore, the omnidirectional wheel is also provided with a lubrication assembly, which includes a lubrication cavity and a lubrication pipe; The lubrication cavity is used to contain lubricating oil; The lubrication pipe connects the lubrication cavity and the two ends of the mounting cavity near the omnidirectional wheel axis.

[0011] Furthermore, the omnidirectional wheel includes a fixed wheel plate and a connecting wheel plate, wherein the connecting wheel plate can be connected and fixed to the abutment arm; The fixed wheel plate and the connecting wheel plate are fixed to each other along the axial direction of the omnidirectional wheel along the mating surface. The clamping cavity is divided into two halves along the plane where the mating surface is located, and the concave tip is in contact with the mating surface. The lubrication cavity and lubrication pipe are located on one side of the mating surface of the fixed wheel plate and the connecting wheel plate.

[0012] Furthermore, the lubrication cavity is annular, and the annular center of the lubrication cavity coincides with the axis of the omnidirectional wheel; The lubrication chamber is equipped with a liquid-absorbing medium, which can absorb lubricating oil and slowly release it when the omnidirectional wheel rotates. The fixed wheel plate has an injection hole, which is connected to the lubrication cavity.

[0013] Furthermore, the mounting cavity is obliquely opened on the circumferential outer side of the omnidirectional wheel, and the opening of the mounting cavity in the radial direction of the omnidirectional wheel is biased towards the rotation direction of the omnidirectional wheel. The mounting center line and the normal of the omnidirectional wheel have an oblique angle b, 5° < b < 30°. The roller is installed in an inclined clamping cavity.

[0014] Furthermore, the included angle b satisfies: 10° < b < 15°.

[0015] Furthermore, the circumferential surface of the omnidirectional wheel is hemispherical, and the mounting cavity is arranged in two rows along the axial direction of the omnidirectional wheel; The two rows of mounting cavities are radially offset on the omnidirectional wheel.

[0016] Furthermore, the omnidirectional wheel is also provided with a load-reducing groove, and there are multiple sets of load-reducing grooves, which are formed between the two concave tips on the mounting cavity; The load-reducing groove is opened along the axial direction of the omnidirectional wheel, runs through both sides of the omnidirectional wheel, and the two sides of the load-reducing groove are arc-shaped, with the arc-shaped opening facing the middle of the two concave tips. The reducing groove can shorten the area of ​​the concave rotating surface away from the concave tip.

[0017] The beneficial effects of this invention are as follows: By setting the connection contact portion between the roller and the omnidirectional wheel in the form of a conical protrusion, the roller is subjected to force by the stronger protrusion, enabling the roller to withstand greater pressure. Furthermore, when the roller is subjected to lateral force, the protrusions on both sides of the roller abut against the mounting cavity. Compared to a shaft connection structure, the roller protrusions have greater force-bearing strength and can withstand lateral force for a long time, preventing deformation of the connection structure when the omnidirectional wheel rotates. Attached Figure Description

[0018] Figure 1 This is a structural diagram of a high-strength omnidirectional pipeline robot according to the present invention; Figure 2 This is a structural diagram of the transmission assembly in the abutment arm; Figure 3 This is a schematic diagram showing the state of a high-strength omnidirectional pipeline robot entering a bend in a pipe. Figure 4 This is a schematic diagram showing the arrangement of rollers in an omnidirectional wheel. Figure 5 This is a structural diagram of a roller; Figure 6 This is a schematic diagram showing the position of the roller in the mounting cavity; Figure 7 A schematic diagram of the mounting cavity on the omnidirectional wheel; Figure 8 This is a structural diagram of the fixed wheel plate; Figure 9 This is a structural diagram of the connecting wheel plate; Figure 10 This is a schematic diagram showing the installation of the lubrication assembly on the omnidirectional wheel; Figure 11 for Figure 10 Enlarged view of point A in the middle; Figure 12 Diagram showing the tilt setting of the card mounting cavity; Figure 13 This is a diagram of a hemispherical omnidirectional wheel structure.

[0019] Figure label: 1. Torso; 11. Drive motor; 12. Abutment arm; 13. Abutment spring; 14. Bevel gear; 15. Gear; 2. Omnidirectional wheel; 21. Mounting cavity; 211. Concave tip; 212. Concave rotating surface; 213. Concave generatrix; 22. Linear abutment edge; 23. Abutment notch; 241. Lubrication cavity; 242. Lubrication pipe; 243. Liquid suction medium; 244. Injection hole; 25. Fixed wheel plate; 26. Connecting wheel plate; 27. Contact surface; 28. Load-reducing groove; 3. Roller; 31. Protrusion; 32. Tip; 33. Generatrix; 34. Edge; 35. Protruding rotating surface; 4. Pipes. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments thereof.

[0021] Example 1: Reference Figures 1-13 This application provides a high-strength omnidirectional pipeline robot, comprising: Torso 1, abutment arm 12, and omnidirectional wheel 2; One end of the abutment arm 12 is connected to the torso 1, and the other end is equipped with an omnidirectional wheel 2. The abutment arm 12 and the torso 1 are connected by an abutment spring 13. It also includes a drive motor 11, which can drive the omnidirectional wheel 2 to rotate; Multiple sets of mounting cavities 21 are equidistantly provided on the outer periphery of the omnidirectional wheel 2 along the circumferential direction. Rollers 3 are installed in the mounting cavities 21. The plane containing the axis of the roller 3 is perpendicular to the axis of the omnidirectional wheel 2, and the circumferential surface of the roller 3 protrudes from the circumferential surface of the omnidirectional wheel 2. The roller 3 has protrusions 31 on both sides, and a protruding tip 32 in the middle of the protrusion 31 away from the roller. The tip of the protruding tip 32 coincides with the axis of the roller 3. The protrusion 31 has an edge 34 in the circumference. The edge 34 is connected to the side of the roller 3. The protruding tip 32 and the edge 34 are connected by a protruding rotating surface 35 formed by rotating along the axis. The mounting cavity 21 has a concave tip 211 and an inwardly concave rotating surface 212 on both sides. The convex tip 32 is accommodated in the concave tip 211, and the convex rotating surface 35 is rotatably in contact with the inwardly concave rotating surface 212.

[0022] In the prior art, when the rollers 3 on the omnidirectional wheel 2 are installed using structures such as thin shafts and needle rollers, the connection strength is insufficient and they are easily damaged.

[0023] The torso 1 of the omnidirectional pipeline robot is used to connect the abutment arms 12, which are distributed at the front, back, and all around the torso 1. The abutment arms 12 include at least four sets: two sets at the front and two sets at the back. Two sets of abutment arms 12 at the same position are directly opposite each other. After the omnidirectional wheels 2 on the abutment arms 12 abut against the pipe wall, the torso 1 is suspended in the middle of the pipe, facilitating the pipeline robot's passage through the pipe. In some embodiments, three or four sets of abutment arms 12 at the same position may also be provided, arranged in a ring around the torso 1. Abutment spring 13 is fixedly connected between the abutment arms 12 and the torso 1. The abutment spring 13 pulls the abutment arms 12 outward, causing the omnidirectional wheels 2 to abut against the pipe wall.

[0024] The drive motor 11 is used to drive the omnidirectional wheel 2 to rotate. In some embodiments, the drive motor 11 is directly fixedly connected to the abutment arm 12. The output shaft of the drive motor 11 is poweredly connected to the omnidirectional wheel 2, driving the omnidirectional wheel 2 on the abutment arm 12 to rotate.

[0025] The drive motor 11 can also be mounted on the torso 1, and a transmission assembly such as [missing information] can be mounted on the abutment arm 12. Figure 2 The multiple sets of gears 15 arranged along the length of the abutment arm 12 can be driven by shaft or belt. The output shaft of the drive motor 11 is connected to the transmission assembly by bevel gears 14. One set of drive motors 11 connects to the transmission assemblies on the front two sets of abutment arms 12, and another set of drive motors 11 connects to the transmission assemblies on the rear two sets of abutment arms 12, simultaneously driving the omnidirectional wheels on both the front and rear abutment arms to rotate. Alternatively, a single through-shaft motor that can output rotational power from both ends can be used to simultaneously drive the omnidirectional wheels 2 at both ends to rotate.

[0026] Multiple sets of rollers 3 are set around the circumference of the omnidirectional wheel 2 through the mounting cavity. The axis of the rollers 3 is perpendicular to the axis of the omnidirectional wheel 2, so that the rollers 3 can rotate relative to the omnidirectional wheel 2. In addition to its own rotation, the omnidirectional wheel 2 can also move laterally along the axial direction of the omnidirectional wheel 2 through the rotation of the rollers 3.

[0027] The plane containing the axis of roller 3 is perpendicular to the axis of omnidirectional wheel 2, ensuring that the axis of roller 3 is always perpendicular to the axis of omnidirectional wheel in space, thus guaranteeing that the roller is perpendicular to the axis of omnidirectional wheel.

[0028] As the omnidirectional wheel 2 rotates axially, the lateral force on the roller 3 prevents it from rotating, thus maintaining sufficient friction between the omnidirectional wheel 2 and the pipe wall to allow the pipe robot to move within the pipe 4. Figure 3As shown, after entering the bend, the curvature of pipe 4 changes. If conventional wheels are used, it is difficult to change the direction of travel, and the wheels are prone to getting stuck at the bend, causing the motor to stall and potentially burning out the motor or drive circuit. By using omnidirectional wheels 2, the rollers 3 rotate along the axis of rollers 3 when entering the bend, automatically adapting to the curved shape, allowing the pipe robot to quickly pass through the bend.

[0029] The circumferential surface of roller 3 protrudes beyond the circumferential surface of omnidirectional wheel 2, so that omnidirectional wheel 2 contacts the inner wall of the pipe through the outer circumferential surface of roller 3.

[0030] In some embodiments, a set of omnidirectional wheels 2 are provided on each side of the abutment arm 12 to ensure that the abutment arm 12 can stably abut against the inside of the pipe and prevent the pipe robot from tipping over in the pipe. The surface of the roller 3 also protrudes from the side of the omnidirectional wheel 2 away from the abutment arm 12.

[0031] The two sides of the mounting cavity 21 are recessed spaces similar in shape to the protrusion 31, formed by the concave tip 211 and the concave rotating surface 212. After the roller 3 is inserted into the mounting cavity 21, it can be restricted to only rotate.

[0032] The protrusions 31 on both sides of the roller 3 are composed of a pointed tip 32 and a raised rotating surface 35. The edge 34 directly contacts the side of the roller 3, giving the protrusions 31 a sufficient diameter to withstand large impact and lateral forces. The rotation center of the raised rotating surface 35 is the rotation center of the roller 3. When the roller 3 rotates, a rotating pair is formed by the contact between the raised rotating surface 35 and the mounting cavity 21, ensuring that the roller 3 is always at the same height on the outermost plane of the omnidirectional wheel 2 when rotating, without any ups and downs.

[0033] Both the roller 3 and the mounting cavity 21 use rotating contact surfaces to allow the roller 3 to rotate smoothly in the mounting cavity 21. The generatrix of the rotating surface can be a straight line forming a conical protrusion 31, or a curve.

[0034] The mounting cavity 21 has concave tips 211 and concave rotating surfaces 212 on both sides, which respectively cooperate with the convex tips 32 and convex rotating surfaces 35 on both sides of the roller 3. While confining the roller 3 within the mounting cavity 21, it also provides a contact basis for the rotation of the roller 3. When the omnidirectional wheel 2 rotates, the roller 3 contacts the surface of the pipe. The roller 3 always bears lateral force. The concave rotating surfaces 212 at both ends contact with the convex rotating surfaces 35, limiting the further swing of the axis of the roller 3 relative to the omnidirectional wheel 2, so that the omnidirectional wheel 2 can rotate and advance within the pipe.

[0035] The use of this shaftless roller 3 with tapered protrusions 31 not only increases the effective cross-section at the root of the roller 3, but also better reduces the stress concentration at the connection between the roller 3 and the omnidirectional wheel 2, thereby improving the impact resistance and bending resistance of the roller 3.

[0036] Even when the pipeline robot gets stuck in an opening on the side wall of the pipeline, the raised roller 3 can form a supporting contact with the edge of the opening. The shaftless roller 3 can provide stronger anti-deflection strength to cross the opening of the pipeline and free the pipeline robot.

[0037] Example 2: Reference Figure 5 , Figure 6 Furthermore, the raised rotating surface 35 is formed by rotating the raised generatrix 33 around the axis, and the raised generatrix 33 is a straight line; The centers of the two concave tips 211 are connected to form a clamping centerline. The concave rotating surface 212 is formed by rotating the concave generatrix 213 along the clamping centerline. The concave generatrix 213 is a straight line. The concave busbar 213 is inclined relative to the mounting center line.

[0038] The concave rotary surface 212 has a linear abutment edge 22 on the side near the axis of the omnidirectional wheel 2, and the linear abutment edge 22 is in line contact with the raised rotary surface 35.

[0039] Both the raised rotating surface 35 and the concave rotating surface 212 use straight lines as the generatrix of rotation, making both the raised rotating surface 35 and the concave rotating surface 212 conical protrusions and depressions.

[0040] The linear contact edge 22 is used to form a line contact with the raised rotating surface 35. When the roller 3 rotates, it confines the roller 3 on the linear contact edge 22 and keeps the roller 3 rotating stably around its axis. The linear contact method can reduce the friction when the roller 3 rotates, making it easier for the pipe robot to change direction when entering the bend.

[0041] The linear contact edge abuts against the raised rotating surface 35. The linear contact edge is set as an arc shape that contacts the raised rotating surface 35. The center of the arc coincides with the mounting center line. When the roller 3 rotates, a circular area on the raised rotating surface 35 is always in rotational contact with the linear contact edge, and the contact area is small.

[0042] Specifically, the linear contact edge can be set as a protruding structure on the concave rotary surface 212 near the central axis of the omnidirectional wheel 2. Or, as... Figure 11 The edge formed by the intersection of the concave rotating surface 212 with other planes.

[0043] Example 3: Reference Figure 6, Figure 7 Furthermore, the mounting cavity 21 has an abutment notch 23 at one end near the axis of the omnidirectional wheel 2. The abutment notch 23 is located between the concave rotating surfaces 212. The sidewall of the abutment notch 23 is connected to the concave rotating surface 212 to form a linear abutment edge 22. The width of the abutment notch 23 is greater than the width of the outer edge of the roller 3, and there is a rolling gap between the radial surface of the roller 3 and the bottom of the abutment notch 23.

[0044] The side of the abutting notch 23 is connected to the concave rotating surface 212. Due to the different angles of the two surfaces, the contact point presents an angular edge, that is, a linear contact structure.

[0045] Since the width of the outer edge of the roller 3 is smaller than the width of the abutment notch 23, the outer edge of the roller 3 can be directly installed into the abutment notch 23. Furthermore, the depth of the abutment notch 23 from the axis of the omnidirectional wheel 2 is greater than the radial distance from the contact position of the roller 3 with the linear abutment edge 22 to the outermost edge of the roller 3, thus forming a rolling gap. This prevents the roller 3 from contacting the bottom of the abutment notch 23 when rotating, thereby avoiding interference with the rotation of the roller 3.

[0046] After the roller 3 rotates along the side wall of the pipe and attaches impurities, it can still smoothly rotate through the abutment notch 23, avoiding the dirt stuck in the mounting cavity 21 and hindering the rotation of the roller 3.

[0047] Example 4: Reference Figure 5 , Figure 6 Furthermore, the angle between the concave generatrix 213 and the mounting center line is a1, and the angle between the convex generatrix 33 and the axis of the roller 3 is a2, where a1 < a2; The distance between the concave tips 211 on both sides of the mounting cavity 21 is D1, and the distance between the protrusions 31 on both sides of the roller 3 is D2, where D1 > D2.

[0048] The angle a1 between the concave generatrix 213 and the mounting center line is smaller than the angle a2 between the convex generatrix 33 and the axis of the roller 3. This makes the angle between the two opposing concave generatrix 213 larger than the angle between the two opposing convex generatrix 33. After the roller 3 is pushed in the direction of the axis of the omnidirectional wheel 2, only the linear abutment edge 22 contacts and rotates on the side closer to the omnidirectional wheel 2. With the axis of the roller 3 as the boundary, the convex rotating surface 35 on the side closer to the axis of the omnidirectional wheel 2 only contacts the linear abutment edge 22. Due to the different angles of the two generatrixes, there is an angular gap between the convex rotating surface 35 and the concave rotating surface 212, so that it will not come into contact with the rest of the concave rotating surface 212.

[0049] Similarly, with the axis of roller 3 as the boundary, the raised rotating surface 35 on the side away from the axis of omnidirectional wheel 2 is closest to the outermost edge of the concave rotating surface 212. When the roller 3 is subjected to lateral force, the raised rotating surface 35 only contacts the outermost edge of the concave rotating surface 212 in the lateral rotation contact direction, so as to jointly restrict the lateral rotation of the roller 3 and reduce the contact area so that the roller 3 can rotate smoothly along the axis of roller 3.

[0050] The distance between the concave tips 211 on both sides of the mounting cavity 21 is D1, which is greater than the distance between the protrusions 31 on both sides of the roller 3, D2. This provides rotation space for the roller 3 to rotate laterally and abut against the edge of the protruding rotating surface 35, allowing the protrusions 31 to swing slightly laterally in the mounting cavity 21.

[0051] Example 5: Reference Figure 5 Furthermore, the angle between the raised generatrix 33 and the axis of the roller 3 is a2, where 72° < a2 < 75°.

[0052] The smaller the included angle α2, the thicker the thickness between the raised rotating surfaces 35 on both sides, and the stronger the ability of the roller 3 to withstand lateral forces. However, the thicker the roller 3, the wider the required mounting cavity 21, resulting in fewer mounting cavities 21 that can be opened in the circumference of the omnidirectional wheel 2, and a greater profile deformation formed by the roller 3 on the surface of the omnidirectional wheel 2. This also increases the frictional force between the roller 3 and the mounting cavity 21.

[0053] The larger the included angle α2, the thinner the thickness between the raised rotating surfaces 35 on both sides, and the weaker the restraining ability of the mounting cavity 21 on the roller 3. As the abutting force increases, the roller 3 is more likely to detach from the mounting cavity 21, or be squeezed into the abutting notch 23, causing the roller 3 to jam and become difficult to rotate.

[0054] Setting the included angle a2 between 72° and 75° ensures stable rotation of the roller 3 within the mounting cavity while preventing excessive friction when the roller 3 contacts the pipe wall. More rollers 3 can also be placed on the surface of the omnidirectional wheel 2, making the contour formed on its surface nearly circular.

[0055] like Figure 12 As shown, in one embodiment, the diameter of roller 3 is set to 20 mm, the diameter of omnidirectional wheel 2 is 70 mm, 15 rollers 3 are evenly arranged in the circumference, and the included angle a2 is set to 75°.

[0056] Example 6: Reference Figures 7-11 Furthermore, the omnidirectional wheel 2 is also provided with a lubrication assembly, which includes a lubrication cavity 241 and a lubrication pipe 242; Lubrication chamber 241 is used to contain lubricating oil; The lubrication pipe 242 connects the lubrication chamber and the clamping chamber 21 on both sides near one end of the axis of the omnidirectional wheel 2.

[0057] The lubrication assembly provides lubricating oil to the circumferential mounting cavity 21 of the omnidirectional wheel 2. Since the omnidirectional wheel 2 has multiple sets of lubrication cavities circumferentially, directly adding lubricating oil between each roller 3 and the lubrication cavity would be insufficient. Figure 1 As shown, in one embodiment, an omnidirectional pipeline robot has 8 omnidirectional wheels 2, and each omnidirectional wheel 2 has 15 rollers 3. In an omnidirectional pipeline robot, more than 100 lubrication points need to be lubricated one by one, which is not only time-consuming and laborious, but also makes it difficult to ensure that the amount and position of the oil are kept constant.

[0058] By using the lubrication chamber 241 and lubrication pipe 242, lubricating oil only needs to be added to the lubrication chamber 241, without having to add lubricating oil to each lubrication chamber individually. It can also accurately add lubricating oil to the end of the mounting cavity 21 near the axis of the omnidirectional wheel 2, allowing the lubricating oil to flow into the contact area between the roller 3 and the mounting cavity 21.

[0059] Lubrication channels 242 are provided on both sides of the mounting cavity 21, so that lubricating fluid can flow into both sides of the roller 3 and the contact part of the lubrication cavity 241 for lubrication.

[0060] Example 7: Reference Figures 7-10 Furthermore, the omnidirectional wheel 2 includes a fixed wheel plate 25 and a connecting wheel plate 26, the connecting wheel plate 26 being able to be connected and fixed to the abutment arm 12; The fixed wheel plate 25 and the connecting wheel plate 26 are fixed to each other along the mating surface 27 in the axial direction of the omnidirectional wheel 2. The mounting cavity 21 is divided into two halves along the plane where the mating surface 27 is located, and the concave tip 211 is in contact with the mating surface 27, so that the mounting cavity 21 is evenly divided into two halves at the concave tip 211. The lubrication cavity 241 and the lubrication pipe 242 are located on the mating surface 27 of the fixed wheel plate 25 and the connecting wheel plate 26.

[0061] The omnidirectional wheel 2 is configured as a two-half structure. The mounting cavity 21, the lubrication cavity 241, and the lubrication pipe 242 are all evenly opened on one side of the mating surface 27 of the fixed wheel plate 25 and the connecting wheel plate 26. When the roller 3 is inserted into the mounting cavity 21, the mating surface 27 can be opened directly, the roller 3 can be inserted into it, and then the mating surface 27 can be closed to confine the roller 3 in the mounting cavity 21.

[0062] Lubrication pipe 242 is also set at the mating surface 27. After the lubricant flows out from the lubrication pipe 242, it will flow along the gap of the mating surface 27 on the side wall of the mounting cavity 21. The lubricating oil is directed to the entire mounting cavity 21 to lubricate the roller 3 and the mounting cavity 21, thus preventing the lubricating oil from flowing disorderly on the surface of the mounting cavity 21.

[0063] like Figure 7 As shown, the fixed wheel plate 25 and the connecting wheel plate 26 are fixedly connected by bolts and nuts.

[0064] In some embodiments, a sealing gasket is provided on the mating surface 27 of the fixed wheel plate 25 and the connecting wheel plate 26 to seal the lubrication cavity and lubrication pipe 242 and prevent lubricating oil leakage.

[0065] When adopting such Figure 13 When the double-layer roller 3 is shown, two sets of fixed wheel plates 25 and one set of connecting wheel plates 26 can be set, and each of the two mating surfaces 27 of the three wheel plates is provided with a row of mounting cavities 21.

[0066] Example 8: Reference Figure 8 , Figure 10 Furthermore, the lubrication cavity is annular, and the center of the annular lubrication cavity coincides with the axis of the omnidirectional wheel 2; The lubrication chamber is equipped with a liquid-absorbing medium 243, which can absorb lubricating oil and slowly release it when the omnidirectional wheel 2 rotates. The fixed wheel plate 25 has an injection hole 244, which is connected to the lubrication cavity.

[0067] The lubrication chamber is designed as an annular structure and can be connected to all the mounting chambers 21 by the lubrication pipe 242. The center of the annular lubrication chamber coincides with the axis of the omnidirectional wheel 2, so that the path from the lubrication chamber to each mounting chamber 21 is the same and the lubrication condition of each mounting chamber 21 is the same.

[0068] The absorbent medium 243 is used to absorb lubricating oil and release it slowly, preventing the lubricating oil from flowing out quickly through the multiple lubrication pipes 242 after it has been added. Specifically, the absorbent medium 243 can be made of sponge or cotton material, and after the lubricating oil is added, the lubricating oil slowly flows into the lubrication pipes 242 as the omnidirectional wheel 2 rotates.

[0069] The injection hole 244 is used to inject lubricating oil into the lubrication cavity. It is located on one side of the fixed wheel plate 25 to avoid interference from the abutment arm 12 and to make it easier to add lubricating oil.

[0070] Example 9: Reference Figure 12Furthermore, the mounting cavity 21 is obliquely opened on the circumferential outer side of the omnidirectional wheel 2, and the opening of the mounting cavity 21 in the radial direction of the omnidirectional wheel 2 is biased towards the rotation direction of the omnidirectional wheel 2. The mounting center line and the normal of the omnidirectional wheel 2 have an oblique angle b, 5° < b < 30°. The roller 3 is installed in the inclined clamping cavity 21.

[0071] The mounting cavity 21 is inclined around the omnidirectional wheel 2, and the rotation direction of the omnidirectional wheel 2 is the same as the rotation direction of the omnidirectional wheel 2 when the pipeline robot moves forward. Figure 12 As shown, when the omnidirectional wheel 2 rotates counterclockwise, the pipe robot moves to the left as shown in the diagram, and the opening of the mounting cavity 21 deflects in the direction of rotation. If the omnidirectional wheel 2 rotates clockwise, the pipe robot moves to the right as shown in the diagram, and the opening direction of the mounting cavity 21 changes accordingly.

[0072] In this embodiment, the orientation of the opening of the mounting cavity 21 that is biased toward the rotation direction of the omnidirectional wheel 2 means that, taking the normal line passing through the mounting cavity 21 on the outer peripheral surface of the omnidirectional wheel 2 as the boundary, the orientation of the opening of the mounting cavity 21 and the rotation direction of the omnidirectional wheel 2 both point to the same side of the normal line, which is the bias direction. Figure 12 The opening direction of the mounting cavity 21 marked in the figure and the rotation direction of the omnidirectional wheel 2 both point to the right of the normal, that is, the opening direction of the mounting is towards the rotation direction of the omnidirectional wheel 2.

[0073] When the roller 3 is inserted into the clamping cavity 21, it is also tilted, and the tilting direction of the clamping cavity 21 is biased towards the rotation direction of the omnidirectional wheel 2. When the roller 3 contacts the contact surface, the force direction of the roller 3 tends to be towards the opening direction of the clamping cavity 21, which reduces the lateral force on the roller 3 in the clamping cavity 21 when it contacts the pipe wall, reduces the friction force on the roller 3 when it passes through the bend, and makes the roller 3 easier to rotate.

[0074] The smaller the tilt angle b, the greater the lateral force interference experienced by roller 3 during the rotation of omnidirectional wheel 2, and the weaker the rotational ability when turning. Conversely, the larger the tilt angle b, the lower the lateral force interference caused by rotation. However, as the tilt angle gradually increases, the reverse deflection force exerted on roller 3 by the gravity of the pipeline robot also gradually increases, causing the frictional force caused by the reverse deflection force on roller 3 to gradually increase as well.

[0075] Setting the tilt angle b to 5°-30° can avoid the frictional interference caused by the deflection force and the reverse deflection force on the rotation of roller 3, and reduce the frictional force of roller 3 rotating in the pipe.

[0076] Example 10: Furthermore, the included angle b satisfies: 10° < b < 15°.

[0077] The preferred tilt angle b is 10°-15°, so that the roller 3 achieves the best balance between the deflection force and the reverse deflection force, allowing the roller 3 to rotate more smoothly.

[0078] Example 11: Reference Figure 13 Furthermore, the circumferential surface of the omnidirectional wheel 2 is hemispherical, and the mounting cavity 21 is arranged in two rows along the axial direction of the omnidirectional wheel 2; The two rows of mounting cavities 21 are radially offset on the omnidirectional wheel 2.

[0079] When the omnidirectional wheel 2 rotates, a set of rollers 3 comes into contact with the pipe surface. In the curved section of the pipe, unstable contact and jumping problems are likely to occur.

[0080] The axial surface of the omnidirectional wheel 2 is hemispherical, and the surfaces of the two rows of rollers 3 mounted on it are also hemispherical. Two rows of rollers 3 on one omnidirectional wheel 2 contact the pipe sidewall. The two rows of mounting cavities 21 are radially offset from the omnidirectional wheel 2, and the rollers 3 are also offset. This gives the outer surface of the omnidirectional wheel 2 a continuous curvature, allowing for a more compliant contact with the pipe wall under curved inner wall conditions, improving the contact stability of the rollers 3, and reducing abrupt contact changes caused by posture variations.

[0081] Example 12: Reference Figure 10 , Figure 11 Furthermore, the omnidirectional wheel 2 is also provided with a load-reducing groove 28. There are multiple sets of load-reducing grooves 28, which are located between the two concave tips 211 on the mounting cavity 21. The load-reducing groove 28 is opened along the axial direction of the omnidirectional wheel 2, passing through both sides of the omnidirectional wheel 2, and the two sides of the load-reducing groove 28 are arc-shaped, with the arc-shaped opening facing the middle of the two concave tips 211. The reducing groove 28 can shorten the area of ​​the concave rotating surface 212 on the side away from the concave tip 211.

[0082] The concave rotating surface 212 of the mounting cavity 21 extends from the concave tips 211 on both sides to the middle of the mounting cavity 21. The negative pressure groove 28 opened in the middle of the two concave tips 211 can reduce the area on one side of the concave tip 211. The negative pressure groove 28 opened along the axial direction of the omnidirectional wheel 2 has an arc shape on both sides, which cuts out more of the concave rotating surface 212 in the middle of the radial direction of the omnidirectional wheel 2, reducing the friction interference of this non-contact part on the roller 3.

[0083] The negative pressure groove 28 opened in the middle of the mounting cavity 21 can also increase the thickness of the concave rotary surface 212 and the edge of the omnidirectional wheel 2, and prevent the edge of the concave rotary surface 212 from having a thin edge that is easily damaged.

[0084] In the description of the embodiments of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "center," "top," "bottom," "top," "bottom," "inner," "outer," "inner side," and "outer side," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. "Inner side" refers to the interior or enclosed area or space. "Outer perimeter" refers to the area surrounding a specific component or specific area.

[0085] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "assembly" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0086] In the description of embodiments of the present invention, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0087] 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.

Claims

1. A high-strength omnidirectional pipeline robot, characterized in that, include: Torso, abutment arms, and omnidirectional wheels; One end of the abutment arm is connected to the torso, and the other end is equipped with an omnidirectional wheel. The abutment arm and the torso are connected by an abutment spring. It also includes a drive motor, which is capable of driving the omnidirectional wheel to rotate; Multiple sets of mounting cavities are equidistantly provided on the outer periphery of the omnidirectional wheel along the circumferential direction. Rollers are installed in the mounting cavities. The plane containing the axis of the roller is perpendicular to the axis of the omnidirectional wheel, and the circumferential surface of the roller protrudes from the circumferential surface of the omnidirectional wheel. The roller has protrusions on both sides, and a pointed protrusion in the middle of the protrusions that is away from the roller. The tip of the pointed protrusion coincides with the axis of the roller. The protrusion has an edge in the circumference. The edge is connected to the side of the roller. The pointed protrusion and the edge are connected by a protruding rotating surface formed by rotating along the axis. The mounting cavity has a concave tip and an inwardly concave rotating surface on both sides. The convex tip is accommodated in the concave tip, and the convex rotating surface and the inwardly concave rotating surface can be rotatably contacted.

2. The high-strength omnidirectional pipeline robot according to claim 1, characterized in that: The raised rotating surface is formed by rotating the raised generatrix around an axis, and the raised generatrix is ​​a straight line; The centers of the two concave tips are connected to form a mounting center line. The concave rotating surface is formed by rotating the concave generatrix along the mounting center line. The concave generatrix is ​​a straight line. The concave busbar is inclined relative to the mounting centerline; The concave rotary surface has a linear abutment edge on the side near the omnidirectional wheel axis, and the linear abutment edge is in line contact with the convex rotary surface.

3. The high-strength omnidirectional pipeline robot according to claim 2, characterized in that: The mounting cavity has an abutment notch at one end near the omnidirectional wheel axis. The abutment notch is located between the concave rotating surfaces. The sidewall of the abutment notch is connected to the concave rotating surface to form a linear abutment edge. The width of the abutment notch is greater than the width of the outer edge of the roller, and there is a rolling clearance between the radial surface of the roller and the bottom of the abutment notch.

4. The high-strength omnidirectional pipeline robot according to claim 2, characterized in that: The angle between the concave generatrix and the mounting center line is a1, and the angle between the convex generatrix and the roller axis is a2, where a1 < a2; The distance between the concave tips on both sides of the mounting cavity is D1, and the distance between the protrusions on both sides of the roller is D2, where D1 > D2.

5. The high-strength omnidirectional pipeline robot according to claim 2, characterized in that: The included angle between the raised generatrix and the roller axis is a2, where 72° < a2 < 75°.

6. The high-strength omnidirectional pipeline robot according to claim 1, characterized in that: The omnidirectional wheel is also provided with a lubrication assembly, which includes a lubrication chamber and a lubrication pipe; The lubrication cavity is used to contain lubricating oil; The lubrication pipe connects the lubrication cavity and the two ends of the mounting cavity near the omnidirectional wheel axis.

7. The high-strength omnidirectional pipeline robot according to claim 6, characterized in that: The omnidirectional wheel includes a fixed wheel plate and a connecting wheel plate, and the connecting wheel plate can be connected and fixed to the abutment arm; The fixed wheel plate and the connecting wheel plate are fixed to each other along the axial direction of the omnidirectional wheel along the mating surface. The clamping cavity is divided into two halves along the plane where the mating surface is located, and the concave tip is in contact with the mating surface. The lubrication cavity and lubrication pipe are located on one side of the mating surface of the fixed wheel plate and the connecting wheel plate.

8. The high-strength omnidirectional pipeline robot according to claim 6 or 7, characterized in that: The lubrication cavity is annular, and the center of the annular lubrication cavity coincides with the axis of the omnidirectional wheel; The lubrication chamber is equipped with a liquid-absorbing medium, which can absorb lubricating oil and slowly release it when the omnidirectional wheel rotates. The fixed wheel plate has an injection hole, which is connected to the lubrication cavity.

9. The high-strength omnidirectional pipeline robot according to claim 2, characterized in that: The mounting cavity is inclinedly opened on the circumferential outer side of the omnidirectional wheel, and the opening of the mounting cavity in the radial direction of the omnidirectional wheel is biased towards the rotation direction of the omnidirectional wheel. The mounting center line and the normal of the omnidirectional wheel have an inclined angle b, 5° < b < 30°. The roller is installed in an inclined clamping cavity.

10. The high-strength omnidirectional pipeline robot according to claim 9, characterized in that: The included angle b satisfies: 10° < b < 15°.

11. The high-strength omnidirectional pipeline robot according to claim 1, characterized in that: The circumferential surface of the omnidirectional wheel is hemispherical, and the mounting cavity is arranged in two rows along the axial direction of the omnidirectional wheel; The two rows of mounting cavities are radially offset on the omnidirectional wheel.

12. The high-strength omnidirectional pipeline robot according to claim 1, characterized in that: The omnidirectional wheel is also provided with a load-reducing groove, and there are multiple sets of the load-reducing groove, which are located between the two concave tips on the mounting cavity. The load-reducing groove is opened along the axial direction of the omnidirectional wheel, runs through both sides of the omnidirectional wheel, and the two sides of the load-reducing groove are arc-shaped, with the arc-shaped opening facing the middle of the two concave tips. The reducing groove can shorten the area of ​​the concave rotating surface away from the concave tip.

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