A robot suitable for use in large bore pipeline work

Abstract

This invention discloses a pipeline robot suitable for operation inside large-diameter pipelines, including a main support frame and multiple moving modules circumferentially mounted on the outer periphery of the main support frame. Each moving module includes a support base and a drive mounting base. The support base is fixedly connected to the main support frame, and the drive mounting base is connected to the support base via two parallel rotating connecting plates. One side of one of the rotating connecting plates is equipped with a linear drive unit, which drives the rotating connecting plate to rotate on the support base, thereby causing the drive mounting base to move relative to the support base. The two parallel rotating connecting plates form an adjustment structure between the support base and the drive mounting base, adjusting the distance between them using the parallelogram principle. The adjustment structure of the moving modules enables adaptive pipe diameter adjustment, providing a wide pipe diameter adaptation range. It can automatically adjust the clamping force according to changes in the inner diameter of the pipeline, ensuring smooth movement and high reliability.

Description

Technical Field

[0001] This invention belongs to the field of pipeline mobile robot technology, specifically relating to a robot suitable for working inside large-diameter pipelines. Background Technology

[0002] With the continuous iterative development of robotics technology, various types of pipeline robots have been widely developed and are gradually being applied to many fields such as scientific research, industrial production, and urban environmental protection operation and maintenance. They can effectively improve on-site operation efficiency, reduce the intensity of manual labor, and can smoothly enter special work spaces that are difficult for humans to reach, playing an increasingly crucial role in practical engineering applications.

[0003] Currently, there are many types of pipeline robots with different structures, which can be adapted to the actual operation needs of different working environments. As one of the most commonly used pipe types, cylindrical pipes have seen increasingly widespread research and application of robots for operation on this type of pipe.

[0004] However, existing pipeline robots are ill-suited for operating in large-diameter cylindrical pipes, with limited adaptability to different pipe diameters. Their adaptive adjustment capabilities to changes in pipe inner diameter are insufficient, failing to balance large-range pipe diameter adaptation with small-range fine-tuning. The clamping / friction force between the robot and the pipe wall is not adjustable, leading to slippage or jamming and poor motion stability. Furthermore, the robot struggles to navigate complex obstacles such as mud and water within pipes, resulting in susceptibility to obstruction and low operational reliability. Summary of the Invention

[0005] The purpose of this invention is to provide a robot suitable for working inside large-diameter pipes, so as to overcome the problem that existing pipe robots are difficult to adapt to the working scenarios of large-diameter cylindrical pipes and have a limited range of pipe diameter adaptability.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A pipeline robot suitable for working inside large-diameter pipelines includes: Supporting the main frame and multiple movable modules circumferentially mounted on the outer periphery of the supporting main frame; The mobile module includes a support base and a drive mounting base. The support base is fixedly connected to the main support frame. The drive mounting base 5 is connected to the support base through two parallel rotating connecting plates. One side of one of the rotating connecting plates is provided with a linear drive unit. The linear drive unit is used to drive the rotating connecting plate to rotate on the support base, thereby driving the drive mounting base to move relative to the support base. The two parallel rotating connecting plates form an adjustment structure between the support base and the drive mounting base, which uses the parallelogram principle to adjust the distance between the drive mounting base and the support base. The drive mounting base is equipped with a drive wheel and a drive motor for driving the drive wheel.

[0007] Preferably, the main support frame adopts a polygonal structure.

[0008] Preferably, the main support frame adopts a triangular support frame structure or a rectangular support frame structure.

[0009] Preferably, the support base and the main support frame are connected by bolts or by a sliding snap fastener; the support base is provided with a connecting lug, one end of the rotating connecting plate is rotatably connected to the connecting lug on the support base by a connecting pin, and the other end of the rotating connecting plate is rotatably connected to the drive mounting base by a connecting pin.

[0010] Preferably, the drive mounting base is provided with a mounting cavity, the drive motor is fixed in the mounting cavity of the drive mounting base, and the output end of the drive motor is connected to the drive wheel.

[0011] Preferably, the output end of the drive motor is connected to the drive wheel via a gearbox.

[0012] Preferably, the output shaft of the drive motor is directly connected to the drive wheel.

[0013] Preferably, the linear drive unit is equipped with a pressure sensor for detecting the driving pressure of the linear drive unit. The pressure sensor is connected to a controller, which is connected to the drive motor. The controller can control the start and stop of the drive motor and adjust the driving force of the linear drive unit.

[0014] Preferably, the controller is located inside the drive control box, and the drive control box is mounted on the drive mounting base.

[0015] Preferably, the linear drive unit includes a linear drive section and a linear actuator section. One end of the linear drive section is rotatably mounted on the support base. The linear drive section and the linear actuator section are linearly driven connected. One end of the linear actuator section is rotatably connected to one side of the rotating connecting plate. When the linear drive section and the linear actuator section move relative to each other, they can drive the rotating connecting plate to rotate.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects: This application provides a pipeline robot suitable for operations inside large-diameter pipelines, including a main support frame and multiple moving modules circumferentially mounted on the outer periphery of the main support frame. Each moving module includes a support base and a drive mounting base. The support base is fixedly connected to the main support frame, and the drive mounting base is connected to the support base via two parallel rotating connecting plates. One side of one of the rotating connecting plates is equipped with a linear drive unit, which drives the rotating connecting plate to rotate on the support base, thereby causing the drive mounting base to move relative to the support base. The two parallel rotating connecting plates form an adjustment structure between the support base and the drive mounting base, using the parallelogram principle to adjust the distance between them. The drive mounting base is equipped with drive wheels and a drive motor for driving the drive wheels. The adjustment structure of the moving modules enables adaptive pipe diameter adjustment, providing a wide pipe diameter adaptation range. It can automatically adjust the clamping force according to changes in the inner diameter of the pipeline, ensuring smooth movement and high reliability. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the usage state of a robot suitable for working inside large-diameter pipes according to an embodiment of the present invention.

[0018] Figure 2 This is a general schematic diagram of a pipeline robot suitable for working inside large-diameter pipelines according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the mobile module in an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the motor drive unit in an embodiment of the present invention.

[0021] Figure 5 This is a bottom view of the motor drive unit in an embodiment of the present invention.

[0022] Figure 6 This is an exploded view of the motor drive unit in an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the linear drive unit structure in an embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram of the electrical control section of a pipeline robot suitable for working inside large-diameter pipelines, according to an embodiment of the present invention.

[0025] The components are: 1. Support frame; 2. First moving module; 3. Second moving module; 4. Third moving module; 5. Drive mounting base; 6. Support base; 7. First rotating connecting plate; 8. Second rotating connecting plate; 9. Linear actuator; 10. Linear drive unit; 11. First connecting pin; 12. Second connecting pin; 13. Third connecting pin; 14. Fourth connecting pin; 15. Fifth connecting pin; 16. Sixth connecting pin; 17. Drive control box; 18. Motor drive unit outer frame; 19. Drive motor; 20. Drive wheel; 21. Shaft. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] In traditional pipeline robot applications, there are technical problems with the limited range of pipe diameter adaptability for large-diameter cylindrical pipes. Specifically, the robot's adaptive adjustment capability to changes in the pipe's inner diameter is insufficient, making it impossible to coordinate large-range pipe diameter adaptation with small-range fine-tuning. Furthermore, the clamping force and friction between the robot and the pipe's inner wall cannot be dynamically adjusted, leading to slippage or jamming during operation. In addition, the robot's passability is reduced and operational reliability is adversely affected when there are complex obstacles such as mud and water in the pipe.

[0029] For example, during the maintenance of underground sewage pipes in cities, the inner diameter of the pipe fluctuates and the inner wall is covered with wet and slippery mud. When the robot moves to a section of pipe with an enlarged inner diameter, the drive wheel spins freely because it cannot increase the contact pressure between the wheel assembly and the pipe wall. At bends where the inner diameter is reduced, the robot gets stuck and cannot continue to move forward because the adjustment mechanism cannot adapt.

[0030] If the above problems are not resolved, the continuity of pipeline robot operations under complex conditions will not be maintained, which may lead to task interruption, increase the frequency of human intervention, reduce operation and maintenance efficiency, and may cause safety hazards.

[0031] In response, this application proposes a pipeline robot suitable for operations inside large-diameter pipelines, such as... Figures 1 to 7 As shown, the system specifically includes a main support frame 1 and multiple movable modules circumferentially mounted on the outer periphery of the main support frame 1. Each movable module includes a support base 6 and a drive mounting base 5. The support base 6 is connected to the main support frame 1, and the drive mounting base 5 is connected to the support base 6 via two parallel rotating connecting plates 7. One side of one of the rotating connecting plates 7 is equipped with a linear drive unit, which drives the rotating connecting plate 7 to rotate on the support base 6, thereby causing the drive mounting base 5 to move relative to the support base 6. The two parallel rotating connecting plates 7 form an adjustment structure between the support base 6 and the drive mounting base 5, utilizing the parallelogram principle to adjust the relationship between the drive mounting base 5 and the support base 6. The distance between the support bases 6; the drive mounting base 5 is equipped with a drive wheel 20 and a drive motor 19 for driving the drive wheel 20. This application sets multiple moving modules on the outer periphery of the support frame 1, and adjusts the distance between the drive wheel 20 in the moving module and the support base 6 by rotating the connecting plate 7. Multiple moving modules of different sizes can be used, or multiple moving modules with fixed circumferential positions can be set according to the pipe structure. This allows the pipe robot to adjust its radial dimension within a certain range according to the size or structural changes inside the pipe when it is working inside the pipe. The friction between the drive wheel and the inner wall of the pipe can also be adjusted by adjusting the linear drive unit.

[0032] The mobile module is a key component enabling the pipeline robot to move within the pipeline. Multiple mobile modules are arranged circumferentially around the outside of the main support frame 1. Through contact and actuation with the inner wall of the pipeline, the robot can move forward, backward, or turn. The support base 6 is fixedly connected to the main support frame 1, serving as the base for the mobile modules and providing mounting interfaces and support for other components.

[0033] This embodiment provides a pipeline robot suitable for working inside large-diameter pipes, used to perform tasks such as inspection, cleaning, or maintenance in pipe environments with large diameters. Its overall structure is designed to adapt to pipes of different diameters and provide stable mobility. For example, this robot can be applied to scenarios such as urban water supply networks, industrial wastewater discharge pipelines, or large ventilation ducts.

[0034] The main support frame 1, as the core load-bearing component of the robot, provides structural support for the entire robot and serves as a mounting base for other functional components. For example, the main support frame 1 can be welded from metal profiles to form a robust frame structure to withstand various loads generated by the robot during movement and operation.

[0035] Multiple moving modules are mounted circumferentially around the outer perimeter of the main support frame 1. These moving modules are key components for enabling the robot to move within the pipe. Three or more moving modules can be evenly distributed along the circumference of the main support frame 1 to ensure stable contact and uniform force distribution between the robot and the inner wall of the pipe. Each moving module works independently, but they cooperate to propel the robot forward or backward.

[0036] Each mobile module includes a support base 6 and a drive mounting base 5. The support base 6 is designed to be fixedly connected to the main support frame 1, serving as the base of the mobile module.

[0037] The drive mounting base 5 is connected to the support base 6 via two parallel rotating connecting plates 7. This connection method allows the drive mounting base 5 to move relative to the support base 6. The two rotating connecting plates 7 can be hinged to the support base 6 and the drive mounting base 5 respectively via pins, thus allowing the drive mounting base 5 to swing within a certain range.

[0038] A linear drive unit is provided on one side of one of the rotating connecting plates 7. This linear drive unit is used to drive the rotating connecting plate 7 to rotate on the support base 6. The linear drive unit can be a simple push rod mechanism, with one end fixed to the support base 6 and the other end connected to the rotating connecting plate 7. When the linear drive unit extends or retracts, it pushes or pulls the rotating connecting plate 7, causing it to rotate around the connection point with the support base 6.

[0039] The linear drive unit drives the drive mounting base 5 to move relative to the support base 6. When the rotating connecting plate 7 rotates, the drive mounting base 5 will move accordingly due to its connection with the drive mounting base 5.

[0040] Two parallel rotating connecting plates 7 form an adjustment structure between the support base 6 and the drive mounting base 5. This adjustment structure utilizes the parallelogram principle to adjust the distance between the drive mounting base 5 and the support base 6. For example, when the two rotating connecting plates 7 remain parallel to each other, the orientation of the drive mounting base 5 (e.g., the contact angle with the inner wall of the pipe) can remain unchanged when it moves relative to the support base 6, thereby ensuring stable contact between the drive wheel 20 and the inner wall of the pipe. By changing the angle of the rotating connecting plates 7, the radial distance between the drive mounting base 5 and the support base 6 can be precisely adjusted, thus accommodating pipes of different diameters.

[0041] The drive mounting base 5 is equipped with a drive wheel 20 and a drive motor 19 for driving the drive wheel 20. The drive wheel 20 is a component that directly contacts the inner wall of the pipe and generates friction to propel the robot. The drive wheel 20 can be a wheel with a high coefficient of friction on its surface or a wheel system with tracks. The drive motor 19 provides rotational power to the drive wheel 20. For example, the drive motor 19 can be a DC motor or a stepper motor, and its output shaft is connected to the drive wheel 20 through a suitable transmission mechanism (such as gears or belts) to drive the drive wheel 20 to rotate.

[0042] The following example will provide a more detailed explanation of the above technical solution: Suppose a pipeline robot needs to perform inspection work on a section of large-diameter pipeline A at location A. The inner diameter of pipeline A varies in different areas, and there may be some sediment buildup or minor obstacles inside the pipeline. Traditional pipeline robots may be unable to complete the task successfully due to poor pipe diameter adaptability or insufficient driving force.

[0043] The pipeline robot provided in this embodiment is deployed in pipeline A. First, the operator sends a command to the linear drive unit through the control system based on the initial diameter of pipeline A. After receiving the command, the linear drive unit begins to drive one of the rotating connecting plates 7 to rotate. Since the two rotating connecting plates 7 are arranged in parallel, they together form an adjustment structure based on the parallelogram principle. When the rotating connecting plate 7 rotates, the drive mounting base 5 is driven, causing it to move outward or inward relative to the support base 6. In this way, the drive wheel 20 on the drive mounting base 5 is precisely adjusted to the position of contact with the inner wall of pipeline A, and an appropriate preload is applied.

[0044] When the pipeline robot begins to move in pipeline A, drive motor 19 drives drive wheel 20 to rotate, thus propelling the robot forward. During movement, if the robot encounters an area where the pipeline's inner diameter decreases, the control system detects increased pressure from the pipeline's inner wall on drive wheel 20. At this time, the linear drive unit receives a command and fine-tunes the angle of the rotating connecting plate 7, causing drive mounting base 5 to retract towards the supporting frame 1, thereby reducing the contact pressure between drive wheel 20 and the pipeline's inner wall and preventing the robot from getting stuck. Conversely, if the robot encounters an area where the pipeline's inner diameter increases, the linear drive unit causes drive mounting base 5 to extend outward to ensure that drive wheel 20 maintains stable contact with the pipeline's inner wall, preventing the robot from slipping.

[0045] Furthermore, when the robot encounters obstacles such as silt deposits in pipe A, it requires greater driving force to overcome the resistance. At this time, the control system adjusts the output power of the drive motor 19 and simultaneously increases the clamping force between the drive wheel 20 and the inner wall of the pipe through the linear drive unit. This increased clamping force allows the drive wheel 20 to obtain greater friction, thereby providing stronger driving capability and helping the robot smoothly pass through the obstacle area.

[0046] Thus, the pipeline robot utilizes a stable structural foundation provided by the main support frame 1, with multiple circumferentially distributed mobile modules providing all-around support and drive. The support base 6 and drive mounting base 5 within each mobile module are connected by parallel rotating connecting plates 7, and their relative movement is precisely controlled by a linear drive unit. This adjustment structure, employing the parallelogram principle, allows the drive wheels 20 to adaptively adjust according to changes in the pipe's inner diameter and to adjust the clamping force against the pipe wall as needed. The drive motor 19 provides power to the drive wheels 20, ensuring the robot's movement. The entire system works collaboratively, enabling the robot to maintain stable movement and reliable operation within large-diameter pipes, even when facing changes in pipe diameter and complex obstacles.

[0047] Based on the above examples, the technical concept of this embodiment demonstrates a significant technical contribution. Compared to the limitations of existing pipeline robots in terms of pipe diameter adaptability, insufficient adaptive adjustment capability, and poor motion stability, this embodiment achieves improvements in many aspects by introducing a unique mobile module design.

[0048] Specifically, existing pipeline robots typically employ fixed dimensions or simple telescopic mechanisms, making it difficult to simultaneously adapt to a wide range of pipe diameters and perform fine-tuning within small areas. This embodiment utilizes an adjustment structure consisting of a support base 6, a drive mounting base 5, and two parallel rotating connecting plates 7, driven by a linear drive unit. This allows for precise and continuous adjustment of the distance between the drive mounting base 5 and the support base 6. This adjustment method, based on the parallelogram principle, not only ensures stable contact between the drive wheel 20 and the inner wall of the pipe but also maintains a essentially unchanged contact posture during adjustment. This ensures the robot's broad adaptability to different pipe diameters and its ability to finely adjust for minute changes in pipe diameter.

[0049] Furthermore, in existing technologies, the clamping force / friction between the robot and the inner wall of the pipe is often not adjustable, which can easily lead to slippage or jamming in complex environments, affecting motion stability. In this embodiment, the linear drive unit is not only used to adjust the radial position of the drive wheel 20, but also to precisely control the clamping force between the drive wheel 20 and the inner wall of the pipe. By adjusting the driving force of the linear drive unit, the clamping force can be dynamically adjusted according to the condition of the inner wall of the pipe (e.g., dry, slippery, or with obstacles), thereby effectively avoiding slippage or jamming and significantly improving the robot's motion stability and passability within the pipe. This adjustable clamping force mechanism allows the robot to obtain stronger driving ability by increasing friction when facing complex obstacle environments such as mud and water, thereby improving the reliability of operations.

[0050] In summary, the pipeline robot of this embodiment effectively solves key technical problems in the prior art, such as poor pipe diameter adaptability, insufficient adaptive adjustment capability, and poor motion stability, through its innovative mobile module adjustment structure and precise control of the linear drive unit. It provides a more efficient and reliable solution for inspection and operation in large-diameter pipelines.

[0051] In some embodiments described above, a pipeline robot suitable for operation within large-diameter pipelines is proposed, comprising a support frame 1 and multiple moving modules circumferentially mounted on the outer periphery of the support frame 1. However, in practical applications, the structural form of the support frame 1 has a crucial impact on the robot's overall stability, space utilization efficiency, and installation accuracy of each moving module within the pipeline. If the structural design of the support frame 1 is not sufficiently optimized, it may lead to instability in the robot's posture when moving in complex pipeline environments, or make the installation and adjustment of the moving modules insufficiently stable, thereby affecting the robot's operational performance and reliability.

[0052] In this regard, this application further proposes that the supporting main frame 1 adopt a polygonal structure. A polygonal structure refers to a closed shape composed of multiple line segments connected end-to-end, which can include, but is not limited to, triangles, quadrilaterals, pentagons, hexagons, and other geometric shapes. Using a polygonal structure as the supporting main frame 1 provides a robust and stable foundation for the pipeline robot. Compared to simple circular or open frames, this structural form exhibits superior structural rigidity and resistance to deformation when subjected to loads from different directions. Simultaneously, the various sides of the polygon provide a flat and easily positioned mounting interface for the circumferentially mounted moving modules, helping to ensure precise alignment and secure connection of the moving modules. In a specific implementation, the supporting main frame 1 can be assembled from multiple prefabricated straight profiles through welding, riveting, or bolting to form the required closed polygonal outline. Alternatively, an integral supporting main frame 1 with a polygonal cross-section can be directly manufactured using one-piece molding processes, such as casting, forging, or advanced additive manufacturing (3D printing) technology. These manufacturing methods can ensure the structural strength and dimensional accuracy of the main support frame 1, so as to meet the stringent requirements of the pipeline robot when operating in large-diameter pipelines.

[0053] The solution proposed in this application designs the main support frame 1 as a polygonal structure, providing multiple flat mounting surfaces with clearly defined angles. These mounting surfaces form a stable and fixed connection with the support seats 6 of multiple moving modules circumferentially mounted on the outer periphery of the main support frame 1, ensuring the installation accuracy and stability of the moving modules on the main support frame 1. Due to the high structural rigidity of the polygonal structure, it can effectively resist various external forces and internal stresses experienced by the pipeline robot during its movement, thereby maintaining the overall structural integrity and posture stability of the robot. This structural design ensures that the drive mounting seat 5 and its drive wheels 20 of each moving module maintain a stable connection with the main support frame 1 when adjusting the distance via the rotating connecting plate 7, avoiding inaccurate adjustments or unstable driving caused by deformation of the main support frame 1. Therefore, the polygonal structure of the main support frame 1 and the adjustment structure of the moving modules work together to improve the reliability and adaptability of the robot when operating inside large-diameter pipelines.

[0054] In one specific implementation, the support frame 1 can be designed as a regular octagonal structure. In this configuration, the support frame 1 consists of eight equal sides and eight equal angles, allowing for efficient use of its internal space and providing eight evenly distributed mounting areas for the circumferentially mounted mobile modules. The support base 6 of each mobile module can be securely fixed to one side of the regular octagonal support frame 1 using bolts. This connection method not only simplifies installation but also provides sufficient connection strength to ensure the stability of the mobile modules during robot operation. The regular octagonal structure gives the support frame 1 good symmetry and mechanical properties, enabling it to evenly distribute loads from all directions, thereby further enhancing the overall stability of the robot when operating within the pipeline.

[0055] Through the above technical solution, the supporting main frame 1 adopts a polygonal structure, which significantly enhances the structural rigidity and stability of the pipeline robot and effectively solves the problem of robot instability in complex pipeline environments. At the same time, the polygonal sides provide a standardized installation interface for the mobile module, improving the installation accuracy and robustness of the components, thereby enhancing the reliability and efficiency of the robot's operation in large-diameter pipelines.

[0056] In some embodiments described above, a pipeline robot suitable for operation inside large-diameter pipelines is proposed. It includes a main support frame 1 and multiple moving modules circumferentially mounted on the outer periphery of the main support frame 1. Each moving module includes a support base 6 and a drive mounting base 5. The support base 6 is fixedly connected to the main support frame 1. The drive mounting base 5 is connected to the support base 6 via two parallel rotating connecting plates 7. One side of one of the rotating connecting plates 7 is provided with a linear drive unit, which drives the rotating connecting plate 7 to rotate on the support base 6, thereby causing the drive mounting base 5 to move relative to the support base 6. The two parallel rotating connecting plates 7 form an adjustment structure between the support base 6 and the drive mounting base 5, using the parallelogram principle to adjust the distance between the drive mounting base 5 and the support base 6. The drive mounting base 5 is provided with drive wheels 20 and a drive motor 19 for driving the drive wheels 20. However, in practical applications, the structural form of the main support frame 1 has a significant impact on the robot's overall stability, load-bearing capacity, and adaptability to different pipeline environments. A generic or unoptimized support frame structure may not be sufficient to meet the requirements of robot structural strength and flexibility for operations inside large-diameter pipelines.

[0057] In this regard, this application further proposes that the main support frame 1 adopt a triangular support frame structure or a rectangular support frame structure.

[0058] Among them, the triangular support frame structure refers to a frame composed of multiple triangular units. Triangles, as the most stable structure in geometry, can effectively resist deformation caused by external loads. This structure can be achieved by connecting rods or plates through welding, riveting, or bolting to form a series of interconnected triangular units. For example, a three-dimensional frame composed of multiple regular tetrahedral or triangular prism units can be constructed. The rectangular support frame structure refers to a frame composed of multiple rectangular or square units. Its characteristics include a regular structure, ease of manufacturing and assembly, and good space utilization. This structure can be achieved by rigidly connecting rods or plates to form rectangular units. For example, a frame composed of multiple rectangular annular cross-section units connected in series along the robot's axis can be constructed.

[0059] The solution proposed in this application provides a robust and stable foundation platform for the pipeline robot by selecting a specific frame structure for the main support frame 1, namely a triangular support frame structure or a rectangular support frame structure. When the main support frame 1 adopts a triangular support frame structure, its inherent high rigidity and anti-deformation capabilities enable the entire robot structure to maintain high structural stability when subjected to the driving force from the moving modules, the supporting reaction force from the pipe wall, and the robot's own weight. This is crucial for ensuring that the moving modules can accurately adjust their distance from the pipe wall and reliably drive the robot forward, thereby reducing vibration and deformation during movement and improving the robot's motion accuracy and operational stability. When the main support frame 1 adopts a rectangular support frame structure, its regular internal space and good load-bearing capacity facilitate the circumferential installation of multiple moving modules and make the installation position and angle of the moving modules easier to standardize and precisely control. At the same time, the rectangular frame can effectively support the weight of the moving modules and their driving mechanisms and resist the impact that may be brought by the complex environment inside the pipe, ensuring the overall structural strength and functional integration of the robot. Regardless of the structure adopted, the problems of insufficient structural strength and poor stability that may exist in the general support frame 1 are solved, ensuring the reliability and safety of the robot when operating in large-diameter pipes, enabling the mobile module to perform its functions more effectively, thereby achieving stable movement and precise operation of the robot.

[0060] The following is a concrete example: the main support frame 1 can be formed by precision welding or high-strength bolts connecting high-strength lightweight alloy members (such as aerospace aluminum alloy or titanium alloy). For example, if a triangular support frame structure is used, a space truss structure composed of multiple interconnected triangular prism units can be constructed. Each prism unit can have a pre-reserved installation interface at its vertex for fixing the support base 6. If a rectangular support frame structure is used, a frame composed of multiple rectangular annular section profiles connected by welding or mechanical connectors can be constructed. These rectangular annular units are arranged along the robot's axis, forming an integral structure with a regular internal space. The support base 6 can be fixed to the outer surface of these rectangular annular units.

[0061] Through the above technical solutions, the main support frame 1 adopts a triangular support frame structure or a rectangular support frame structure, which significantly improves the structural integrity and stability of the pipeline robot. The triangular support frame structure effectively enhances the torsional and bending resistance of the main support frame 1, enabling the robot to maintain the stability and rigidity of its overall structure when moving in complex pipeline environments, reducing motion errors caused by deformation, thereby improving the robot's operational accuracy and reliability. The rectangular support frame structure provides excellent load-bearing capacity and a regular internal space, facilitating the precise installation of mobile modules and the rational layout of internal components, ensuring the overall structural strength and functional integration of the robot, thus improving the robot's operating efficiency and maintenance convenience. Both structures can effectively support multiple circumferentially installed mobile modules, ensuring that the drive wheels 20 can stably contact the inner wall of the pipeline and provide reliable driving force, enabling the pipeline robot to achieve smooth and efficient movement and operation within large-diameter pipelines.

[0062] In some embodiments described above in this application, a pipeline robot is proposed, in which the mobile module is fixedly connected to the main support frame 1 via a support base 6, and the movement of the mounting base 5 is driven by a rotating connecting plate 7. However, in practical applications, the connection method between the support base 6 and the main support frame 1, as well as the rotational connection method of the rotating connecting plate 7, have a significant impact on the robot's assembly efficiency, maintenance convenience, and stability and reliability in complex pipeline environments.

[0063] In this regard, this application further proposes that the support base 6 and the main support frame 1 are connected by bolts or by a sliding groove buckle connection; the support base 6 is provided with a connecting ear, one end of the rotating connecting plate 7 is rotatably connected to the connecting ear on the support base 6 by a connecting pin, and the other end of the rotating connecting plate 7 is rotatably connected to the drive mounting base 5 by a connecting pin.

[0064] Corresponding bolt holes are pre-drilled on the support base 6 and the main support frame 1. Bolts are passed through these holes and tightened with nuts to achieve a secure connection between the two. Alternatively, the main support frame 1 has threaded holes, and the support base 6 has through holes. Bolts are passed through the through holes of the support base 6 and then directly screwed into the threaded holes of the main support frame 1. The sliding groove snap-fit ​​connection is a connection method that achieves quick positioning and locking through the geometric fit between components. This connection method provides quick and convenient connection and disassembly while ensuring a certain connection strength and positioning accuracy. For example, the main support frame 1 can be provided with dovetail grooves or T-grooves, and the support base 6 can be provided with matching dovetail or T-shaped snap-fits, achieving a snap-fit ​​connection through relative sliding. Alternatively, the main support frame 1 can be provided with guide grooves, and the support base 6 can be provided with blocks that can slide along the grooves, and fixed at specific positions by elastic snap-fits or locking mechanisms. A connecting lug is a perforated protrusion extending from the main structure, specifically designed for hinged or rotatable connections with other components, providing a defined, stable connection point with a specific axis of rotation for the rotating connecting plate 7. The connecting lug can be integrally formed as part of the support base 6 through casting, forging, or integral machining; or it can be a separate component, fixed to the support base 6 by welding, bolting, or other methods. A connecting pin is a cylindrical or tapered pin used to hinge two or more components together, allowing relative rotation of the components about the pin's axis. The connecting pin can pass through a hole at one end of the rotating connecting plate 7 and a hole in the connecting lug on the support base 6, and be axially fixed by a cotter pin, retaining ring, or threaded end cap; alternatively, one end of the connecting pin can be fixed to the connecting lug on the support base 6, and the other end can pass through a hole in the rotating connecting plate 7, achieving low-friction rotation through bearings or bushings.

[0065] The proposed solution employs bolted or sliding snap-fit ​​connections, resulting in a more robust and reliable connection between the support base 6 and the main support frame 1. This effectively prevents loosening of the connection due to vibration or impact during the operation of the pipeline robot, thereby improving the overall operational stability of the robot. Simultaneously, both connection methods are detachable, greatly simplifying the installation, disassembly, and maintenance of the mobile module, reducing maintenance costs and time. By providing connecting ears on the support base 6 and utilizing connecting pins to achieve a rotational connection between the rotating connecting plate 7, the support base 6, and the drive mounting base 5, the rotation axis of the parallelogram adjustment mechanism is clearly defined and precisely positioned. This structural design effectively reduces the clearance and friction of the rotating pairs, allowing the drive mounting base 5 to move smoothly and respond sensitively during adjustment, thus ensuring that the drive wheel 20 can reliably contact the inner wall of the pipe, improving the robot's adaptability and driving efficiency when operating in pipes of different diameters. These optimized connection methods enable the pipeline robot to not only possess stronger structural reliability and maintenance convenience when operating in large-diameter pipes, but also achieve more precise and stable motion control of its mobile module's adjustment mechanism.

[0066] The following is a specific example. In one implementation, the side of the main support frame 1 can be pre-welded or integrally formed with a mounting boss featuring threaded holes, and the corresponding position of the support base 6 has a through hole. During assembly, the support base 6 is aligned with the mounting boss, and then a high-strength bolt is passed through the through hole and screwed into the threaded hole to achieve a secure connection. Alternatively, the outer periphery of the main support frame 1 can be integrally formed or welded with multiple T-shaped grooves extending axially. The bottom of the support base 6 is designed with a T-shaped locking block that mates with the T-shaped groove. During assembly, the T-shaped locking block of the support base 6 is aligned with the T-shaped groove of the main support frame 1, and after sliding into place along the groove direction, it is finally fixed by a lateral locking screw or a spring pin to prevent accidental detachment. Furthermore, the side of the support base 6 can be integrally cast or welded to a pair of parallel connecting ears, each with a high-precision pin hole. One end of the rotating connecting plate 7 has a hole coaxial with the pin hole of the connecting ear. During assembly, the rotating connecting plate 7 is placed between the connecting ears of the support base 6, and then a precision-machined connecting pin is inserted. The two ends of the connecting pin are axially limited by snap rings or threaded cover plates, ensuring that the rotating connecting plate 7 can rotate freely around the connecting pin. The corresponding position of the drive mounting base 5 is also designed with mounting holes that mate with the other end of the rotating connecting plate 7. Similarly, by inserting the connecting pin and axially fixing it, a rotating connection between the rotating connecting plate 7 and the drive mounting base 5 is achieved.

[0067] Through the above technical solutions, the connection between the support base 6 and the main support frame 1 is more stable and easier to maintain, effectively improving the structural reliability and assembly efficiency of the pipeline robot. Meanwhile, the rotational connection between the rotating connecting plate 7 and the support base 6, as well as the drive mounting base 5, is achieved through connecting ears and connecting pins, ensuring the motion accuracy and stability of the parallelogram adjustment mechanism. This makes the adjustment process of the drive mounting base 5 smoother and more reliable, thereby improving the adaptability and operational efficiency of the pipeline robot in complex pipeline environments.

[0068] In other embodiments, this application proposes a pipeline robot suitable for operations inside large-diameter pipelines, comprising a main support frame 1 and multiple moving modules circumferentially mounted on the outer periphery of the main support frame 1. Each moving module includes a support base 6 and a drive mounting base 5. The support base 6 is fixedly connected to the main support frame 1. The drive mounting base 5 is connected to the support base 6 via two parallel rotating connecting plates 7. One side of one of the rotating connecting plates 7 is provided with a linear drive unit, which drives the rotating connecting plate 7 to rotate on the support base 6, thereby causing the drive mounting base 5 to move relative to the support base 6. The two parallel rotating connecting plates 7 form an adjustment structure between the support base 6 and the drive mounting base 5, using the parallelogram principle to adjust the distance between the drive mounting base 5 and the support base 6. The drive mounting base 5 is provided with a drive wheel 20 and a drive motor 19 for driving the drive wheel 20.

[0069] In some embodiments of this application, the pipeline robot moves within the pipeline by driving the drive wheel 20 via the drive motor 19 on the mobile module. However, in actual large-diameter pipeline operating environments, there are adverse factors such as dust, humidity, corrosive gases, and potential mechanical collisions. If the drive motor 19 is directly exposed or simply installed outside the drive mounting base 5, its working stability, service life, and overall protection may be affected, and it may also occupy additional external space, affecting the compactness of the module.

[0070] In this regard, this application further proposes that the drive mounting base 5 is provided with a mounting cavity, the drive motor 19 is fixed in the mounting cavity of the drive mounting base 5, and the output end of the drive motor 19 is drivenly connected to the drive wheel 20.

[0071] The mounting cavity refers to a groove, hole, or enclosed space with a specific shape and size formed inside or on the surface of the drive mounting base 5. The main function of this mounting cavity is to provide a protected, integrated mounting location for internal components. It can be achieved in various ways, such as by integrally molding the drive mounting base 5 during casting or machining to form an internal cavity; or by designing the drive mounting base 5 as an assembly of multiple parts, some of which form a closed cavity. Fixing the drive motor 19 within the mounting cavity ensures that the drive motor 19 maintains a stable working state during the operation of the pipeline robot, especially in complex or vibrating environments, preventing displacement or damage due to external impacts or its own vibration. Fixing methods may include, but are not limited to: fastening the mounting flange or bracket of the drive motor 19 to the inner wall of the mounting cavity with bolts; or using snap-fit, compression fitting, or potting methods to ensure a tight connection between the drive motor 19 and the mounting cavity. The drive connection means that the rotational power generated by the drive motor 19 can be effectively transmitted to the drive wheel 20, causing it to rotate and propel the pipeline robot. This drive connection can be implemented in various ways. For example, the output shaft of the drive motor 19 can be directly connected to the axis of the drive wheel 20 through a coupling; or the speed and torque of the drive motor 19 can be transmitted to the drive wheel 20 through a gear transmission mechanism, such as a pair of spur gears, helical gears or worm gears; or it can be achieved through belt drive or chain drive.

[0072] The proposed solution creates a mounting cavity on the drive mounting base 5 and fixes the drive motor 19 within this cavity, while ensuring that the output end of the drive motor 19 is connected to the drive wheel 20, thus forming a highly integrated and protected drive unit. This structural design allows the drive motor 19 to be effectively enclosed within the drive mounting base 5, preventing it from being directly exposed to the harsh environment inside the pipe, such as dust, moisture, corrosive substances, or potential mechanical impacts. By securely fixing the drive motor 19 within the mounting cavity, its operational stability and vibration resistance are significantly improved, reducing the risk of failure due to external factors. Furthermore, this integrated mounting method makes the drive connection between the drive motor 19 and the drive wheel 20 more compact and direct, reducing energy loss and mechanical backlash in the transmission path, and improving transmission efficiency and response speed. Overall, this solution optimizes the protection, integration, and reliability of the drive unit while maintaining the adjustment function of the mobile module, enabling the pipeline robot to operate more stably and efficiently when working inside large-diameter pipes.

[0073] In one specific implementation, the drive mounting base 5 can be designed as a housing structure with an internal groove, which serves as the mounting cavity. The drive motor 19 can be a brushless DC motor with a standard mounting flange on its housing. After the drive motor 19 is placed into the mounting cavity, bolts can be passed through the mounting flange holes of the drive motor 19 and screwed into the pre-drilled threaded holes on the inner wall of the mounting cavity, thereby firmly fixing the drive motor 19 within the mounting cavity. The output shaft of the drive motor 19 can extend out to one side of the mounting cavity and be directly connected to the central shaft of the drive wheel 20 via a keyed or splined connection, or through a small gear meshing with a large gear on the drive wheel 20 to achieve a drive connection.

[0074] Through the above technical solution, the drive motor 19 is integrated and fixed within the mounting cavity of the drive mounting base 5, achieving a drive connection between it and the drive wheel 20. This effectively solves the problems of the drive motor 19 being easily damaged and having poor stability in harsh pipeline environments. This design significantly enhances the protection level of the drive motor 19, protecting it from the direct effects of dust, moisture, corrosive media, and mechanical impacts, thereby extending the service life of the drive motor 19 and reducing maintenance frequency. Simultaneously, the internal fixing method improves the operational stability of the drive motor 19 and reduces the impact of vibration on the entire mobile module. Furthermore, this compact integrated layout optimizes the space utilization of the drive mounting base 5, making the entire mobile module structure more compact, which is beneficial for the pipeline robot's maneuverability in confined spaces and improves overall reliability and operational efficiency.

[0075] In some of the embodiments described above in this application, the output end of the drive motor 19 is connected to the drive wheel 20. However, in practical applications, when the pipeline robot operates in a large-diameter pipeline, it may need to adapt to different operating conditions. For example, it may need to move at high speed in a flat pipeline, while it may need to have greater torque when encountering obstacles or climbing slopes. A single drive connection method may not be able to balance efficiency and adaptability.

[0076] In this regard, this application further proposes that the output end of the drive motor 19 is connected to the drive wheel 20 through a gearbox, or that the output shaft of the drive motor 19 is directly connected to the drive wheel 20.

[0077] In the aforementioned pipeline robot, the connection between the output end of the drive motor 19 and the drive wheel 20 is crucial to its motion performance. When a gearbox is used, the power generated by the drive motor 19 is first converted into speed and torque by the gearbox before being transmitted to the drive wheel 20. This method allows the drive wheel 20 to flexibly adjust its output speed and torque according to actual operational needs, such as pipeline slope, internal obstacles, or required movement speed. For example, when high torque is needed to overcome resistance or climb slopes, the gearbox can provide a speed reduction and torque increase effect; while when rapid movement is required, it can provide a higher speed. This adjustable power output mechanism enables the pipeline robot to adapt to the complex working environment inside large-diameter pipelines more efficiently and stably. On the other hand, when the output shaft of the drive motor 19 is directly connected to the drive wheel 20, the power transmission path is shortest, energy loss is minimal, and the structure is more compact and simple. This direct connection method is suitable for scenarios with high transmission efficiency requirements, where the output characteristics of the drive motor 19 itself can meet most working conditions. By providing the option of these two connection methods, the solution of this application enables pipeline robots to optimize their power transmission system according to specific application scenarios and performance requirements, thereby improving overall operating efficiency and environmental adaptability.

[0078] In one specific implementation, the output end of the drive motor 19 can be connected to a planetary gear reducer, the output shaft of which is then connected to the drive wheel 20 via a coupling. Planetary gear reducers have advantages such as small size, a wide transmission ratio range, and high efficiency, and can provide multiple speed and torque selections for the drive wheel 20. In another implementation, the output shaft of the drive motor 19 can be directly fixedly connected to the central shaft of the drive wheel 20 via a flange, or the output shaft of the drive motor 19 can directly serve as the shaft of the drive wheel 20, with the drive wheel 20 engaging with the motor shaft via a keyway.

[0079] Through the above technical solutions, the pipeline robot can flexibly select the connection method between the drive motor 19 and the drive wheel 20 according to different operational requirements within large-diameter pipelines. When using a gearbox connection, the output speed and torque of the drive wheel 20 can be adjusted, providing sufficient power and control precision when facing slopes, obstacles, or requiring delicate operations; while for rapid inspection or long-distance movement, efficiency can be improved by adjusting the transmission ratio. Using a direct connection simplifies the transmission structure, improves transmission efficiency, and reduces energy loss, making it suitable for scenarios with high transmission efficiency requirements or relatively stable operating conditions. This selectable power transmission scheme significantly improves the pipeline robot's adaptability to complex operating environments, optimizes its motion performance and energy utilization efficiency, thereby enhancing the overall operational flexibility and reliability.

[0080] In some embodiments described above in this application, the pipeline robot drives the rotating connecting plate 7 via a linear drive unit, thereby adjusting the distance between the drive mounting base 5 and the support base 6. However, if the structure of the linear drive unit is not clearly defined or its drive method lacks refined design, the adjustment accuracy and stability of the drive mounting base 5 may be insufficient, affecting the pipeline robot's ability to adapt to pipelines of different diameters.

[0081] In this regard, this application further proposes a linear drive unit including a linear drive unit 10 and a linear actuator unit 9. One end of the linear drive unit 10 is rotatably mounted on the support base 6. The linear drive unit 10 and the linear actuator unit 9 are linearly driven connected. One end of the linear actuator unit 9 is rotatably connected to one side of the rotating connecting plate 7. When the linear drive unit 10 and the linear actuator unit 9 move relative to each other, they can drive the rotating connecting plate 7 to rotate.

[0082] The linear drive unit 10 refers to a component capable of generating linear motion or force, and its function is to provide driving force so that the linear actuator 9 moves in a linear direction. As one possible implementation, the linear drive unit 10 can be a lead screw, converting rotary motion into linear motion; or, the linear drive unit 10 can be the cylinder body of a hydraulic cylinder or pneumatic cylinder, generating thrust through fluid pressure. The linear actuator 9 refers to a component capable of moving in a linear direction and transmitting force under the action of the linear drive unit 10, and its function is to transmit the linear motion or force generated by the linear drive unit 10 to the rotating connecting plate 7. As one possible implementation, the linear actuator 9 can be a nut that mates with the lead screw; or, the linear actuator 9 can be the piston rod of a hydraulic cylinder or pneumatic cylinder, extending and retracting with changes in pressure within the cylinder. The linear drive connection refers to the connection method between the linear drive unit 10 and the linear actuator 9 that enables the transmission of linear motion. This connection ensures that the action of the linear drive unit 10 can be effectively converted into the linear displacement of the linear actuator 9. For example, a linear drive connection is achieved between the lead screw and the nut through threaded engagement; or, a linear drive connection is achieved between the cylinder body and the piston rod of the hydraulic cylinder through a sealed fit. One end of the linear drive unit 10 is rotatably mounted on the support base 6, meaning there is a rotatable connection point between the linear drive unit 10 and the support base 6, allowing the linear drive unit 10 to adapt to the motion trajectory during drive, avoiding additional stress or jamming. For example, one end of the linear drive unit 10 can be rotatably connected to the connecting lug on the support base 6 via a pin; or, a ball joint connection can be used to provide greater freedom. One end of the linear actuator 9 is rotatably connected to one side of the rotating connecting plate 7, indicating that there is also a rotatable connection between the output end of the linear actuator 9 and the rotating connecting plate 7, allowing the linear motion of the linear actuator 9 to be effectively converted into the rotation of the rotating connecting plate 7, while allowing for a certain angular change between the two. For example, one end of the linear actuator 9 can be rotatably connected to the connecting hole on the rotating connecting plate 7 via a pin; or, a universal joint connection can be used to accommodate more complex angular changes. When relative linear motion occurs between the linear drive unit 10 and the linear actuator 9, the linear motion generates a torque due to the rotational connection between the linear actuator 9 and the rotating connecting plate 7. This torque acts on the rotating connecting plate 7, causing it to rotate around its connection point with the support base 6. This rotation, in turn, changes the distance between the drive mounting base 5 and the support base 6, enabling the pipeline robot to adaptively adjust the inner diameter of the pipeline.

[0083] This application's solution concretizes the linear drive unit into a combination of a linear drive section 10 and a linear actuator 9, and clarifies their connection relationship, thereby achieving precise adjustment of the distance between the drive mounting base 5 and the support base 6. Specifically, one end of the linear drive section 10 is rotatably connected to the support base 6, providing a stable fulcrum for the entire drive mechanism. The linear drive section 10 and the linear actuator 9 are connected via a linear drive, ensuring that the linear motion generated by the linear drive section 10 can be efficiently and accurately transmitted to the linear actuator 9. When the linear drive section 10 and the linear actuator 9 move relative to each other, the linear actuator 9 generates a linear displacement. Since the other end of the linear actuator 9 is rotatably connected to one side of the rotating connecting plate 7, the linear displacement of the linear actuator 9 is converted into a pushing and pulling action on the rotating connecting plate 7. This pushing and pulling action causes the rotating connecting plate 7 to rotate around its connection point with the support base 6. Since the drive mounting base 5 is connected to the support base 6 via two parallel rotating connecting plates 7 and adjusted using the parallelogram principle, the rotation of the rotating connecting plates 7 directly drives the drive mounting base 5 to move radially relative to the support base 6, thereby achieving contact or separation between the drive wheel 20 and the inner wall of the pipe, and adjusting the contact pressure. This structural design makes the adjustment process more stable and controllable, avoiding inaccurate adjustment or jamming problems caused by unclear drive unit structure.

[0084] The following is a specific example. The linear drive unit 10 can be specifically an electric lead screw, one end of which is rotatably connected to a connecting lug on the support base 6 via a pin. The linear actuator 9 can be specifically a nut that mates with the electric lead screw, with a connecting rod externally connected to the nut. The other end of the connecting rod is rotatably connected to one side of the rotating connecting plate 7 via a pin. When the motor of the electric lead screw drives the lead screw to rotate, the nut (i.e., the linear actuator 9) moves linearly along the lead screw (i.e., the linear drive unit 10). The linear movement of the nut is transmitted to the rotating connecting plate 7 via the connecting rod, causing the rotating connecting plate 7 to rotate about its connection point with the support base 6. This rotation, in turn, changes the radial distance between the drive mounting base 5 and the support base 6, thereby adjusting the contact state between the drive wheel 20 and the inner wall of the pipe.

[0085] Through the above technical solution, the linear drive unit is refined into a linear drive section 10 and a linear actuator section 9, and their connection method and motion relationship are clearly defined, making the radial adjustment process of the drive mounting base 5 by the pipeline robot more precise and stable. This clearly defined drive structure avoids possible jamming or uneven force during the adjustment process, improving the reliability and service life of the adjustment mechanism. In addition, through the relative motion of the linear drive section 10 and the linear actuator section 9, smooth driving of the rotating connecting plate 7 can be achieved, thereby ensuring that the drive mounting base 5 can accurately adapt to pipelines of different diameters, improving the operational adaptability and efficiency of the pipeline robot in complex pipeline environments.

[0086] In some embodiments described above in this application, a pipeline robot suitable for operation inside large-diameter pipes is proposed. Its movement module adjusts the distance between the drive mounting base 5 and the support base 6 via a linear drive unit, thereby causing the drive wheel 20 to contact the inner wall of the pipe. However, in actual operation, if the driving force of the linear drive unit cannot be precisely controlled, the pressure of the drive wheel 20 on the inner wall of the pipe may be too high or too low, thus affecting the robot's stable movement and potentially causing unnecessary wear to the inner wall of the pipe.

[0087] In this regard, this application further proposes that the linear drive unit is equipped with a pressure sensor for detecting the driving pressure of the linear drive unit, the pressure sensor is connected to a controller, and the controller is connected to the drive motor 19; the controller can control the start and stop of the drive motor 19 and adjust the driving force of the linear drive unit.

[0088] The pressure sensor is a device that senses pressure and converts it into an electrical signal. Its function is to monitor the force or pressure generated by the linear drive unit during operation in real time, thus providing accurate feedback data for subsequent control. This pressure sensor can be of various types, such as piezoresistive, piezoelectric, strain gauge, or capacitive sensors, selected according to actual application requirements and accuracy specifications. Detecting the driving pressure of the linear drive unit refers to obtaining the magnitude of the force exerted by the linear drive unit on the drive mounting base 5 or the inner wall of the pipe through the pressure sensor. This detection result is a key parameter for evaluating the contact state between the drive wheel 20 and the inner wall of the pipe, helping to ensure the robot operates stably with appropriate pressure. The detection method can be to directly measure the output force of the linear drive unit, or to measure the deformation or reaction force of the drive mounting base 5 after being subjected to force. The connection between the pressure sensor and the controller is designed to transmit pressure data. This connection can be a physical wired connection, such as connecting the analog or digital signal output terminal of the pressure sensor to the input port of the controller via a wire; or a wireless connection, such as data transmission via wireless communication modules such as Bluetooth, Wi-Fi, or Zigbee. The purpose of the connection is to ensure that the controller can receive the drive pressure data detected by the pressure sensor in real time. The connection between the controller and the drive motor 19 is designed to enable the controller to command and control the drive motor 19. This connection is usually achieved via a cable, and the controller controls the start, stop, speed, and direction of rotation of the drive motor 19 by outputting control signals (such as PWM signals, digital switch signals, or analog voltage signals). This connection is fundamental to realizing robot motion control and drive force adjustment. The controller's ability to control the start and stop of the drive motor 19 means that the controller achieves precise control of the drive motor 19's operating state by sending start or stop commands to the drive motor 19. This is usually achieved by controlling the power supply circuit or drive circuit of the drive motor 19, for example, by cutting off or connecting the power supply through relays, MOSFET switches, or motor driver chips. Adjusting the drive force of the linear drive unit means that the controller changes the drive force generated by adjusting the output power or stroke of the linear drive unit based on the pressure data fed back by the pressure sensor. For example, if the linear drive unit is an electric actuator, the controller can change the actuator's thrust by adjusting its supply voltage or current; if it is a hydraulic or pneumatic cylinder, the controller can change its driving force by adjusting the valve opening or the pump's output pressure. This adjustment is key to achieving a constant or adjustable contact pressure between the drive wheel 20 and the inner wall of the pipe.

[0089] This application's solution, by introducing pressure sensors and a controller, achieves intelligent management of the driving force of the linear drive unit and the operating status of the drive motor 19 in the pipeline robot's mobile module. Specifically, when the pipeline robot operates inside the pipeline, the linear drive unit drives the rotating connecting plate 7, which in turn moves the drive mounting base 5, causing the drive wheel 20 to contact the inner wall of the pipeline. At this time, the pressure sensor installed on the linear drive unit detects the driving pressure generated by the linear drive unit in real time and transmits this pressure data to the controller. After receiving the pressure data, the controller analyzes and judges it according to the preset control strategy or target pressure value. If the detected pressure deviates from the target value, the controller will immediately issue a command to adjust the driving force of the linear drive unit, for example, by adjusting the power supply parameters or control signals of the linear drive unit, so that its output force reaches the desired level, thereby ensuring that the drive wheel 20 is in close contact with the inner wall of the pipeline with appropriate pressure. At the same time, the controller can also precisely control the start and stop of the drive motor 19 according to the operation requirements and pressure feedback, for example, pausing the operation of the drive motor 19 when the pressure is too high, or starting the drive motor 19 to increase the contact force when the pressure is insufficient. This closed-loop control mechanism ensures that the contact pressure between the drive wheel 20 and the inner wall of the pipe is always kept within the optimal range, avoiding pipe wear or robot jamming due to excessive pressure, as well as slippage or unstable movement due to insufficient pressure, thereby significantly improving the stability and reliability of the robot operating in large-diameter pipes.

[0090] The following is a specific example. As a concrete implementation, the linear drive unit can be an electric actuator, which integrates a displacement sensor and a force sensor. The pressure sensor can be a piezoresistive force sensor, directly mounted on the output end of the electric actuator, used to measure the thrust of the actuator on the rotating connecting plate 7. The controller can be an embedded microcontroller, such as an STM32 series microcontroller based on the ARM architecture, which integrates an ADC (analog-to-digital converter) interface to receive the analog signal from the pressure sensor, and a PWM (pulse width modulation) output interface to control the drive circuit of the electric actuator and the driver of the drive motor 19. The controller internally presets a target drive pressure range and runs a PID (proportional-integral-derivative) control algorithm. When the pressure sensor detects that the actual drive pressure is lower than the target range, the controller increases the PWM duty cycle of the electric actuator, increasing its output force; when the pressure is higher than the target range, it decreases the PWM duty cycle, reducing the output force. Simultaneously, the controller also controls the power relay of the drive motor 19 through the digital output port to realize the start and stop of the drive motor 19. For example, when the robot needs to stop moving or adjust its posture, the controller can instruct the drive motor 19 to stop rotating and, if necessary, adjust the driving force of the linear drive unit to maintain the robot's posture.

[0091] Through the above technical solution, the pipeline robot can monitor the driving pressure of the linear drive unit in real time and precisely adjust the driving force and control the opening and closing of the drive motor 19 based on the feedback information. This effectively solves the problems of unstable movement, pipeline wear, or robot jamming caused by inaccurate driving force control in traditional pipeline robots. By maintaining the optimal contact pressure between the drive wheel 20 and the inner wall of the pipeline, the robot can operate more smoothly and reliably in large-diameter pipelines, significantly improving work efficiency and safety, while reducing potential damage to the inner wall of the pipeline.

[0092] In some embodiments described above, a pipeline robot suitable for operation inside large-diameter pipelines is proposed. It includes a main support frame 1 and multiple moving modules circumferentially mounted on the outer periphery of the main support frame 1. Each moving module includes a support base 6 and a drive mounting base 5. The support base 6 is fixedly connected to the main support frame 1. The drive mounting base 5 is connected to the support base 6 via two parallel rotating connecting plates 7. One side of one of the rotating connecting plates 7 is equipped with a linear drive unit, which drives the rotating connecting plate 7 to rotate on the support base 6, thereby causing the drive mounting base 5 to move relative to the support base 6. The two parallel rotating connecting plates 7 form an adjustment structure between the support base 6 and the drive mounting base 5, using the parallelogram principle to adjust the distance between the drive mounting base 5 and the support base 6. The drive mounting base 5 is equipped with a drive wheel 20 and a drive motor 19 for driving the drive wheel 20. The linear drive unit is equipped with a pressure sensor for detecting the driving pressure of the linear drive unit. The pressure sensor is connected to a controller, which is connected to the drive motor 19. The controller can control the start and stop of the drive motor and adjust the driving force of the linear drive unit. However, in practical applications, how to effectively protect the controller and ensure its stable operation in harsh pipeline environments, while optimizing the overall structural layout, is a problem that needs to be solved.

[0093] In this regard, this application further proposes that the controller is set inside the drive control box 17, and the drive control box 17 is mounted on the drive mounting base 5.

[0094] The controller is the core electronic component responsible for receiving sensor signals, executing control logic, and sending instructions to actuators (such as drive motor 19 and linear drive units). It typically includes a microprocessor, memory, input / output interfaces, and a power management module, enabling precise control of the robot's motion and posture. The controller can take various forms; for example, it can be an embedded system built on a microcontroller or digital signal processor (DSP) for real-time control; or it can be a programmable logic controller (PLC) with high reliability and anti-interference capabilities, suitable for industrial control environments. The drive control box 17 is a dedicated protective enclosure for housing and protecting sensitive electronic components such as the controller. This control box is designed to provide a physical barrier against dust, moisture, corrosive media, and mechanical shocks and vibrations that may be present inside the pipe. The drive control box 17 can be made of high-strength aluminum alloy, stainless steel, or engineering plastics and is typically designed with a sealed structure to achieve a specific protection level (such as IP65 or IP67). "Mounted on drive mounting base 5" means that the drive control box 17 is mechanically fixed to the outside or inside of the drive mounting base 5. This connection can be achieved by bolting, snap-fitting, or welding to ensure that the drive control box 17 remains stable during robot movement and moves together with the drive mounting base 5.

[0095] The proposed solution integrates the controller into the drive control box 17, which is then directly mounted on the drive mounting base 5, forming a highly integrated and protected drive control unit. During robot operation, the main support frame 1 serves as the primary structure, with multiple moving modules arranged circumferentially. Each moving module adjusts the distance between the drive mounting base 5 and the support base 6 via a linear drive unit, causing the drive wheel 20 to contact the inner wall of the pipe and generate driving force. The controller receives drive pressure information from the pressure sensor and, according to a preset control strategy, precisely adjusts the start / stop and speed of the drive motor 19, as well as the driving force of the linear drive unit, to achieve stable robot movement along the pipe and appropriate clamping force on the inner wall. By directly mounting the controller and its protective housing—the drive control box 17—on the drive mounting base 5, the physical distance between the controller and the controlled drive motor 19 and linear drive unit is minimized. This helps shorten the signal transmission path, reduce the risk of signal attenuation and electromagnetic interference, thereby improving the real-time performance and accuracy of control. Meanwhile, the drive control box 17 provides necessary environmental protection for the controller, shielding it from the harsh environment inside the pipeline and ensuring the long-term stable operation of the control system. This compact and integrated design makes the entire drive control system more reliable and efficient, and simplifies the overall wiring and maintenance of the robot.

[0096] The following is a specific example. As a concrete implementation, the controller can be an industrial-grade embedded controller, such as an STM32 series microcontroller based on the ARM architecture, which has strong processing power and abundant interface resources. The controller is encapsulated in a drive control box 17 made of high-strength aluminum alloy. This drive control box 17 uses an O-ring seal design, achieving an IP67 protection rating, effectively preventing dust and water intrusion. The drive control box 17 is securely fixed to the side wall of the drive mounting base 5 using four M5 stainless steel bolts. The bolt holes are precision-machined to ensure installation stability and reliability. The connection cables between the controller and the drive motor 19 and the linear drive unit are shielded cables, led out through a waterproof connector on the drive control box 17, further enhancing the system's anti-interference capability and environmental adaptability.

[0097] By incorporating the controller within the drive control box 17 and mounting it on the drive mounting base 5, the control system of the pipeline robot is provided with robust physical protection, effectively resisting the harsh environment (such as dust, moisture, vibration, and impact) within large-diameter pipelines. This integrated layout significantly shortens the signal transmission path between the controller and the drive actuators (drive motor 19 and linear drive unit), thereby reducing the possibility of signal attenuation and electromagnetic interference, and improving the response speed and accuracy of the control system. Furthermore, this design simplifies the robot's internal wiring, making the overall structure more compact and modular, facilitating robot assembly, maintenance, and troubleshooting, thus enhancing the reliability and efficiency of the pipeline robot in complex operating environments.

[0098] In a specific embodiment of the present invention, such as Figure 1 , Figure 2 As shown, the main support frame 1 adopts a polygonal structure, specifically a triangular or rectangular structure; this application uses a triangle as an example for description.

[0099] like Figure 2 As shown, the main support frame 1 adopts a triangular support frame structure. A first movable module 1, a second movable module 2, and a third movable module 3 are fixedly installed on the outer side of the main support frame 1. The first movable module 1, the second movable module 2, and the third movable module 3 have identical structures. Taking one of the movable modules as an example, the three movable modules are fixed to the main support frame 1 by bolts, screws, or slots. The movable modules are as follows: Figure 3 As shown: The mobile module includes a support base 6 and a drive mounting base 5, and the drive mounting base 5 is provided with the following... Figure 6 The motor drive unit shown has a support base 6 with a... Figure 7The linear drive unit shown includes a support base 6 and a drive mounting base 5 connected by two parallel first rotating connecting plates 7 and second rotating connecting plates 8. One end of the first rotating connecting plate 7 is rotatably connected to the support base 6 via a first connecting pin 11, and the other end of the first rotating connecting plate 7 is rotatably connected to the drive mounting base 5 via a second connecting pin 12. One end of the second rotating connecting plate 8 is rotatably connected to the support base 6 via a third connecting pin 13, and the other end of the second rotating connecting plate 8 is rotatably connected to the drive mounting base 5 via a fourth connecting pin 14. The linear drive unit includes a linear drive section 10 and a linear actuator section 9. One end of the linear actuator section 9 is rotatably connected to one side of the second rotating connecting plate 8 via a fifth connecting pin 15, and one end of the drive section 10 is rotatably connected to the support base 6 via a sixth connecting pin 16.

[0100] It should be noted that the first rotating connecting plate 7 and the second rotating connecting plate 8 are arranged in parallel, with the following geometric constraints: The wheelbase between the first connecting pin 11 and the second connecting pin 12 is equal to the wheelbase between the third connecting pin 13 and the fourth connecting pin 14, thereby ensuring that the first rotating connecting plate 7 and the second rotating connecting plate 8 are parallel and have the same length; the first rotating connecting plate 7, the second rotating connecting plate 8, the drive mounting base 5 and the support base 6 form a parallelogram structure.

[0101] like Figure 7 The linear drive unit shown has a linear drive section 10 and a linear actuator section 9 that move relative to each other. This relative movement drives the parallelogram structure, thereby adjusting the distance between the drive mounting base 5 and the support base 6. In practice, a linear actuator can be configured for the linear drive unit according to the actual situation. By adjusting the linear movement between the linear drive section 10 and the linear actuator section 9, the distance between the motor drive unit and the triangular support frame is adjusted, thus adjusting the diameter of the outer contour of the pipe robot, allowing the pipe robot to adapt to cylindrical pipes with different inner diameters. Furthermore, by adjusting the linear movement of the linear drive unit, the pressure between the drive wheel and the inner wall of the pipe can be increased or decreased, thereby increasing or decreasing the friction between the drive wheel and the inner wall.

[0102] like Figure 4 The illustrated motor drive unit includes a drive wheel 20 and a drive motor 19 for driving the drive wheel 20. The drive motor 19 is controlled by a controller and is housed within a drive control box 17. A motor drive unit outer frame 18 can be mounted on the drive mounting base 5. The drive control box 17 is fixed to the lower end of the motor drive unit outer frame 18. Figure 5 As shown.

[0103] The outer frame 18 of the motor drive unit is used to mount the drive motor 19 and the drive wheel 20. The drive wheel 20 can be mounted on the outer frame 18 of the motor drive unit via a shaft 21. Figure 4 and Figure 6 As shown. The drive motor 19 drives the drive wheel to rotate via the shaft 21. In a specific implementation, the controller inside the drive control box 17 is used to control the rotation of the drive motor, which in turn drives the drive wheel 20 to rotate. In a specific implementation, the drive motor can generally be a DC motor.

[0104] The drive control box 17 provides both power supply and motion control command interface for the linear drive unit.

[0105] like Figure 8 The diagram shown is a schematic of the electrical control section of the controller within the drive control box 17. The direct communication target of the pipeline robot is the controller. The drive control box 17 contains a power supply unit for drive functions, which supplies power to the drive motors and linear drive units, and can send control commands to them and read their status from the drive motors and linear drive units. The controller receives, processes, and forwards control commands from the pipeline robot controller, while simultaneously providing feedback on the status of the linear drive units and drive motors.

[0106] In practice, the actual application of pipeline robots is as follows: First, based on the internal dimensions of the pipe, select a suitable support frame 1, and then install multiple moving modules onto the support frame 1. Next, place the pipe robot inside the pipe. By adjusting the linear motion of the linear drive unit, adjust the parallelogram structure in the moving modules to ensure the drive wheels are in close contact with the inner wall of the pipe. The rotation of the drive wheels moves the pipe robot within the pipe. When the pipe robot moves linearly within the pipe, ensure that the drive wheels in the three moving modules rotate at the same speed.

[0107] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0108] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this invention or its equivalents are included in this invention.

Claims

1. A pipeline robot suitable for operation inside large-diameter pipelines, characterized in that, include: Supporting main frame (1) and multiple movable modules circumferentially installed on the outer periphery of the supporting main frame (1); The mobile module includes a support base (6) and a drive mounting base (5). The support base (6) is fixedly connected to the main support frame (1). The drive mounting base (5) is connected to the support base (6) through two parallel rotating connecting plates. One of the rotating connecting plates is provided with a linear drive unit on one side. The linear drive unit is used to drive the rotating connecting plate (7) to rotate on the support base (6), thereby driving the drive mounting base (5) to move relative to the support base (6). The two parallel rotating connecting plates (7) form an adjustment structure between the support base (6) and the drive mounting base (5). The distance between the drive mounting base (5) and the support base (6) is adjusted by using the parallelogram principle. The drive mounting base (5) is provided with a drive wheel (20) and a drive motor (19) for driving the drive wheel (20).

2. The pipeline robot suitable for operation inside large-diameter pipelines according to claim 1, characterized in that, The main support frame (1) adopts a polygonal structure.

3. The pipeline robot suitable for operation inside large-diameter pipelines according to claim 1, characterized in that, The main support frame (1) adopts a triangular support frame structure or a rectangular support frame structure.

4. The pipeline robot suitable for operation inside large-diameter pipelines according to claim 1, characterized in that, The support base (6) and the main support frame 1 are connected by bolts or by a sliding groove buckle; the support base (6) is provided with a connecting ear, one end of the rotating connecting plate (7) is rotatably connected to the connecting ear on the support base (6) by a connecting pin, and the other end of the rotating connecting plate (7) is rotatably connected to the drive mounting base (5) by a connecting pin.

5. The pipeline robot suitable for operation inside large-diameter pipelines according to claim 1, characterized in that, The drive mounting base (5) is provided with a mounting cavity, and the drive motor (19) is fixed in the mounting cavity of the drive mounting base (5). The output end of the drive motor (19) is connected to the drive wheel (20).

6. The pipeline robot suitable for operation inside large-diameter pipelines according to claim 5, characterized in that, The output end of the drive motor (19) is connected to the drive wheel (20) via a gearbox.

7. A pipeline robot suitable for operation inside large-diameter pipelines according to claim 5, characterized in that, The output shaft of the drive motor (19) is directly connected to the drive wheel (20).

8. The pipeline robot suitable for operation inside large-diameter pipelines according to claim 1, characterized in that, The linear drive unit is equipped with a pressure sensor for detecting the driving pressure of the linear drive unit. The pressure sensor is connected to a controller, which is connected to the drive motor (19). The controller can control the start and stop of the drive motor and adjust the driving force of the linear drive unit.

9. A pipeline robot suitable for operation inside large-diameter pipelines according to claim 1, characterized in that, The controller is located inside the drive control box (17), which is mounted on the drive mounting base (5).

10. A pipeline robot suitable for operation inside large-diameter pipelines according to claim 1, characterized in that, The linear drive unit includes a linear drive section (10) and a linear actuator section (9). One end of the linear drive section (10) is rotatably mounted on the support base (6). The linear drive section (10) and the linear actuator section (9) are linearly driven connected. One end of the linear actuator section (9) is rotatably connected to one side of the rotating connecting plate (7). When the linear drive section (10) and the linear actuator section (9) move relative to each other, they can drive the rotating connecting plate (7) to rotate.

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