Variable-diameter pipeline inspection robot

Abstract

The application belongs to the field of hydraulic engineering equipment, and particularly relates to a variable-diameter pipeline inspection robot, which comprises a variable-diameter inspection mechanism and a multi-degree-of-freedom joint mechanism, and the two opposite variable-diameter inspection mechanisms are connected through the multi-degree-of-freedom joint mechanism. The variable-diameter inspection mechanism comprises a variable-diameter traveling assembly, one end of the variable-diameter traveling assembly is connected with the multi-degree-of-freedom joint mechanism, the other end of the variable-diameter traveling assembly is connected with an inspection and collection mechanism, and a guiding and shielding mechanism is installed on the inspection and collection mechanism. The two opposite variable-diameter inspection mechanisms are connected through the multi-degree-of-freedom joint mechanism, so that the overall structure of the robot can adapt to the bending and variable diameter of the pipeline, and the passability is improved. Meanwhile, the two variable-diameter inspection mechanisms are symmetrically arranged, so that the robot has bidirectional traveling capability, can be reversed at any time without turning operation, and the two sets of inspection and collection mechanisms can collect together and verify each other, so that the accuracy and reliability of the inspection result are improved.

Description

Technical Field

[0001] This invention belongs to the field of water conservancy engineering equipment, specifically, it relates to a variable diameter pipeline inspection robot. Background Technology

[0002] Currently, in the field of water conservancy engineering, water pipelines, drainage pipelines, and culverts are key facilities for water resource allocation, flood control, drainage, and irrigation. The inspection and maintenance of their internal conditions are crucial. Pipelines in water conservancy projects are often underwater or in humid environments, making them prone to corrosion, cracks, siltation, and scale buildup, thus requiring regular inspections. Existing pipeline inspection equipment mostly uses a wheeled drive structure. While it can achieve basic movement, it often struggles to flexibly adjust its structure to adapt to changes in pipe diameter, leading to increased resistance and even blockages, resulting in poor maneuverability. Furthermore, the internal environment of water conservancy pipelines is typically harsh, with turbid water, silt, or algae deposits. The camera capture window of inspection robots is easily covered by contaminants, severely affecting image quality and inspection effectiveness. Therefore, there is an urgent need for a pipeline inspection robot that can adapt to changing pipe diameters, possesses excellent maneuverability, and can automatically clean its capture window. Summary of the Invention

[0003] The purpose of this invention is to solve the problems in the prior art and to propose a variable diameter pipeline inspection robot.

[0004] The objective of this invention is achieved through the following technical solution: The variable diameter pipeline inspection robot includes: a variable diameter inspection mechanism and a multi-degree-of-freedom coupling mechanism. The two oppositely arranged variable diameter inspection mechanisms are connected by the multi-degree-of-freedom coupling mechanism. The variable diameter inspection mechanism includes: a variable diameter travel component. One end of the variable diameter travel component is connected to the multi-degree-of-freedom coupling mechanism, and the other end of the variable diameter travel component is connected to the inspection and data collection mechanism. The inspection and data collection mechanism is equipped with a guide and shielding mechanism.

[0005] This invention, by setting up two opposing variable-diameter inspection mechanisms and connecting them using a multi-degree-of-freedom coupling mechanism, enables the robot's overall structure to adapt to the bending and diameter changes of the pipeline, improving its passability. Simultaneously, the symmetrical arrangement of the two variable-diameter inspection mechanisms gives the robot bidirectional travel capability, allowing it to reverse direction at any time without turning around. The two sets of inspection and data collection mechanisms collect data together and verify each other, improving the accuracy and reliability of the inspection results. The guide shielding mechanism effectively protects the inspection and data collection mechanisms. In the direction of travel, the front guide shielding mechanism directly blocks the impact and coverage of impurities. Because the radial dimension of the variable-diameter travel component is much larger than the rear guide shielding mechanism, impurities in the pipeline are radially diverted by the travel wheels and cylindrical body and do not accumulate in the rear guide shielding mechanism. Therefore, the rear guide shielding mechanism mainly functions as a new front end after the robot reverses direction.

[0006] Furthermore, the variable diameter traveling assembly includes: a cylindrical body, one end of which is connected to a multi-degree-of-freedom engagement mechanism, and the other end of which is connected to an inspection and data collection mechanism; a drive motor is fixed inside the cylindrical body, the output end of which is connected to a drive shaft, a first bevel gear is fixed on the drive shaft, the first bevel gear is connected to one end of three traveling wheel components inserted into the cylindrical body, one end of the three traveling wheel components located outside the cylindrical body is rotatably connected to one end of three variable diameter connecting rods, and the other end of the three variable diameter connecting rods is rotatably connected to three variable diameter electric push rods, which are evenly fixed around the outside of the cylindrical body.

[0007] Furthermore, the traveling wheel component includes: a second bevel gear perpendicularly meshing with the first bevel gear; the second bevel gear is fixed to one end of the rotating shaft inserted into the cylindrical body, the rotating shaft is sealed and rotatably connected to the cylindrical body, the outer end of the rotating shaft is provided with an axial slide rail, a variable diameter slide shaft is slidably connected within the axial slide rail, and the guide protrusion on the inner wall of the axial slide rail is slidably fitted within the guide groove on the outer wall of the variable diameter slide shaft; the outer end of the variable diameter slide shaft is fixedly connected to a third bevel gear, the third bevel gear is perpendicularly meshing with a fourth bevel gear, the fourth bevel gear is fixed to the traveling shaft, the traveling shaft is rotatably connected to the protective box, and traveling wheels are fixed on both ends of the traveling shaft extending out of the protective box; both the traveling shaft and the variable diameter slide shaft are sealed and rotatably connected to the protective box; the protective box is rotatably connected to one end of the variable diameter connecting rod. This invention, through the sliding fit between the rotating shaft and the variable diameter slide shaft, achieves continuous power transmission during the diameter change process, ensuring the driving force output of the traveling wheel during diameter adjustment.

[0008] Furthermore, the traveling wheel component also includes: a pressure sensor, an elastic buffer, and a mounting plate; the pressure sensor is located on the side of the protective housing near the cylindrical body, and the pressure-bearing end of the pressure sensor is flexibly coupled to the mounting plate through the elastic buffer; the mounting plate is rotatably connected to one end of the diameter-changing connecting rod. This invention uses a pressure sensor to monitor the contact pressure between the traveling wheel and the inner wall of the pipe in real time, and works with the elastic buffer to achieve flexible contact, avoiding rigid impact damage to the pipe or equipment, while also providing feedback for diameter adjustment.

[0009] Furthermore, the inspection and data acquisition mechanism includes: a panoramic camera module, a positioning bracket, a cylindrical transparent housing, and end caps on the housing. The cylindrical transparent housing has sealed connections at both ends to the cylindrical body and the end caps, respectively. The panoramic camera module is fixed to one end of the positioning bracket inserted into the cylindrical transparent housing, while the other end of the positioning bracket is fixedly connected to the inner wall of the cylindrical body. The cylindrical transparent housing provides a sealed shooting environment for the panoramic camera module, preventing fluid interference and ensuring the clarity of the acquired images.

[0010] Furthermore, a cylindrical transparent cover is sealed and fixedly connected to the end of the cylindrical body away from the multi-degree-of-freedom engagement mechanism. An internal gear ring is coaxially rotatably connected to the inner wall of the cylindrical transparent cover. A planetary gear is meshed with the inner side of the internal gear ring. The planetary gear is rotatably connected to a bearing bracket on the inner wall of the cylindrical body via a wheel axle. The planetary gear meshes with a central gear fixed on the drive shaft. Utilizing the power of the drive shaft, the internal gear ring is driven to rotate within the cylindrical transparent cover through the transmission of the central gear, planetary gear, and internal gear ring, providing a power source for subsequent cleaning actions. The structure is compact and has high transmission efficiency.

[0011] Furthermore, the inspection and data collection mechanism also includes: an arc-shaped sliding plate fixed to the side of the internal gear ring; the outer arc surface of the arc-shaped sliding plate slides in contact with the inner side of the cylindrical transparent protective cover; a rotating connecting plate is fixedly connected to the end of the arc-shaped sliding plate away from the internal gear ring; a transmission shaft is fixedly connected to the rotating connecting plate; the transmission shaft is coaxially arranged with the drive shaft; the transmission shaft is rotatably and sealed to the end cover of the protective cover; the end of the transmission shaft extending outside the cylindrical transparent protective cover is fixedly connected to the protective cover cleaning assembly. This solution drives the arc-shaped sliding plate and the rotating connecting plate to rotate through the internal gear ring, thereby driving the transmission shaft and transmitting internal power to the external protective cover cleaning assembly, achieving effective power output.

[0012] Furthermore, the protective cover cleaning assembly includes: a cross-shaped base plate fixed to a drive shaft; an arc-shaped scraper fixed to each of the two opposite ends of the cross-shaped base plate; the two arc-shaped scrapers slidingly engage with each other at both ends of the outer surface of the cylindrical transparent protective cover; and a roller shaft rotatably connected to the other two opposite ends of the cross-shaped base plate, with a cleaning roller brush fixed on the roller shaft rolling against the outer surface of the cylindrical transparent protective cover. This solution uses the arc-shaped scrapers to remove stubborn stains from the surface of the cylindrical transparent protective cover, while the cleaning roller brush performs fine scrubbing. The combination of these two methods achieves comprehensive cleaning of the protective cover surface, ensuring a clear camera field of view.

[0013] Furthermore, the protective cover cleaning assembly also includes a friction ring fixed to the outer side of the protective cover end cap, with the outer ring surface of the friction ring frictionally connected to a friction wheel fixed on the roller shaft. Through the cooperation of the friction ring and the friction wheel, the roller shaft is driven to rotate by friction when the cross-shaped seat plate revolves, thereby driving the cleaning brush to roll, eliminating the need for an additional drive source and simplifying the structure.

[0014] Furthermore, the guiding and protective mechanism includes: a conical guiding shield, the middle of the inner side of which is fixedly connected to one end of a buffer slide shaft; the other end of the buffer slide shaft is slidably fitted into a buffer groove at the outer end of a transmission shaft; an anti-detachment slider on the side of the buffer slide shaft is slidably fitted into an anti-detachment groove on the side of the transmission shaft, and the anti-detachment groove is connected to the buffer groove; a buffer spring body is provided between the transmission shaft and the inner side of the buffer groove. The conical guiding shield provides a shielding and protective function, preventing hard objects or impurities inside the pipe from damaging the cylindrical transparent shield, and reducing vibration damage to the internal structure when hard objects impact it; the cooperation between the buffer slide shaft and the buffer spring body gives the guiding and protective mechanism axial buffering capability, allowing it to elastically avoid obstacles and further protect the internal structure.

[0015] Furthermore, the multi-degree-of-freedom connection mechanism includes: a double-ball-end connecting rod with ball ends; two connecting seats, each with a socket that mates with the ball ends, and the two connecting seats are connected to the approach ends of the two variable-diameter traveling components one by one; wherein, the connecting seat includes a base and a locking cover, the base and the locking cover are spliced ​​to form an envelope cavity surrounding the ball ends, and the diameter of the through hole of the locking cover is smaller than the maximum diameter of the ball ends, so as to constrain the axial displacement of the ball ends while realizing omnidirectional rotation of the ball ends; a wear-resistant bushing is provided between the ball ends and the envelope cavity, and the wear-resistant bushing is fixed in the base by interference fit; a compensating spring is provided in the base, and the compensating spring applies a preload force to the ball ends in the direction of the locking cover. Through the ball-end engagement of the double-ball-end connecting rod and the socket of the connecting seat, a multi-degree-of-freedom connection between the two variable-diameter inspection mechanisms is realized, enabling the robot to bend flexibly to adapt to pipe bends; the setting of the compensating spring and the wear-resistant bushing ensures the stability and durability of the connection, and avoids control failure caused by loose connection.

[0016] The present invention has the following beneficial effects: This invention discloses a variable-diameter pipe inspection robot. A variable-diameter electric push rod drives a variable-diameter connecting rod, adjusting the radial extension length of the traveling wheel component. This allows the robot to adapt to pipes of different diameters, ensuring reliable contact between the traveling wheel and the pipe's inner wall, thus improving adaptability and driving force. A multi-degree-of-freedom coupling mechanism connects the front and rear sets of variable-diameter inspection mechanisms, utilizing the cooperation of a ball joint and a socket to achieve multi-degree-of-freedom bending, significantly improving the robot's ability to pass through complex pipe bends. Simultaneously, the symmetrical arrangement of the two sets of variable-diameter inspection mechanisms enables the robot to travel in both directions, allowing for reversal without turning around. The two inspection and data collection mechanisms jointly collect and mutually verify data, improving the accuracy and reliability of the inspection results. A drive motor drives the internal gear ring to rotate. The gear ring drives the arc-shaped sliding plate and transmission shaft to rotate, which in turn drives the arc-shaped scraper and cleaning roller in the protective cover cleaning component to revolve around the fixed cylindrical transparent protective cover. This achieves automatic cleaning of the camera window, effectively solving the problem of dirt in the pipeline obstructing the lens and ensuring the clarity and reliability of the inspection data collection. The conical guide shield design of the guide shield mechanism effectively shields and protects the front inspection data collection mechanism, preventing hard objects or impurities in the pipeline from damaging the cylindrical transparent protective cover. It can also reduce the vibration damage to the internal structure when hard objects hit. In the direction of travel, the front guide shield mechanism directly blocks the impact of impurities, and the rear guide shield mechanism is protected from the accumulation of impurities due to the radial diversion effect of the variable diameter travel component, thus improving the overall durability of the robot.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] Figure 1 This is a first-view schematic diagram of the variable-diameter pipeline inspection robot of the present invention; Figure 2 This is a second-view schematic diagram of the variable-diameter pipeline inspection robot of the present invention; Figure 3 This is a schematic diagram of the multi-degree-of-freedom joining mechanism of the present invention; Figure 4 This is a schematic diagram of the variable diameter inspection mechanism, inspection data collection mechanism, and guidance and shielding mechanism of the present invention; Figure 5 This is a cross-sectional view of the variable diameter inspection mechanism, inspection data collection mechanism, and guide shielding mechanism of the present invention. Figure 6 This is a cross-sectional view of the variable-diameter travel assembly of the present invention; Figure 7This is a partial schematic diagram of the variable-diameter travel assembly of the present invention; Figure 8 This is a schematic diagram of the inspection and data collection mechanism of the present invention; Figure 9 This is a cross-sectional view of the inspection and data collection mechanism of the present invention; Figure 10 This is a schematic diagram of the guide shielding mechanism of the present invention.

[0020] Icons: 100-Variable diameter inspection mechanism; 200-Multi-degree-of-freedom engagement mechanism; 1-Variable diameter travel assembly; 101-Cylindrical body; 102-Drive motor; 103-Drive shaft; 104-First bevel gear; 105-Variable diameter connecting rod; 106-Variable diameter electric push rod; 107-Second bevel gear; 108-Variable diameter sliding shaft; 109-Third bevel gear; 110-Fourth bevel gear; 111-Traveling shaft; 112-Protective box; 113-Traveling wheel; 114-Center gear; 115-Rotating shaft; 2-Inspection and data collection mechanism; 201-Panoramic data collection camera mechanism; 202-Positioning bracket; 203-Cylindrical transparent protective cover; 204-End cap of protective cover; 205-Internal gear ring; 206-Planetary gear; 207-Arc-shaped sliding plate; 208-Rotating connecting plate; 209-Transmission shaft; 210-Cross-shaped seat plate; 211-Arc-shaped scraper; 212-Roller shaft; 213-Cleaning roller brush; 214-Friction ring; 215-Friction wheel; 3-Guiding and protective mechanism; 301-Conical guide and protective cover; 302-Buffer sliding shaft; 303-Buffer spring body. Detailed Implementation

[0021] The following description and accompanying drawings fully illustrate specific embodiments described herein to enable those skilled in the art to practice them. Some portions and features of certain embodiments may be included in or replace portions and features of other embodiments. The scope of the embodiments herein includes the entire scope of the claims and all available equivalents thereof. Without conflict, embodiments and features described herein may be combined with each other.

[0022] Example 1: like Figure 1 and Figure 2 As shown, the variable diameter pipeline inspection robot includes: a variable diameter inspection mechanism 100 and a multi-degree-of-freedom connection mechanism 200. The two oppositely arranged variable diameter inspection mechanisms 100 are connected by the multi-degree-of-freedom connection mechanism 200. The variable diameter inspection mechanism 100 includes: a variable diameter travel component 1. One end of the variable diameter travel component 1 is connected to the multi-degree-of-freedom connection mechanism 200, and the other end of the variable diameter travel component 1 is connected to the inspection and collection mechanism 2. The inspection and collection mechanism 2 is equipped with a guide and shielding mechanism 3.

[0023] The working principle and technical effects of the above scheme are as follows: In this embodiment, the variable-diameter inspection mechanism 100 serves as the core functional module of the robot. Two mechanisms are arranged opposite each other, forming the robot's front and rear travel units, respectively. This dual-unit layout significantly increases the robot's axial stability within the pipe, preventing tipping or deflection during travel. More importantly, the symmetrical arrangement of the two mechanisms 100 enables the robot to travel in both directions, allowing it to reverse direction at any time during inspection without turning around, greatly improving its maneuverability in narrow pipes. Simultaneously, the two sets of inspection acquisition mechanisms 2 jointly acquire image information from inside the pipe, mutually verifying each other and effectively avoiding omissions or misjudgments that might occur with a single acquisition source, thus improving the accuracy and reliability of the inspection results. The two variable-diameter inspection mechanisms 100 are connected by a multi-degree-of-freedom coupling mechanism 200. This multi-degree-of-freedom coupling mechanism 200 is not a rigid fixed connection but allows for relative angular deflection or torsion between the two mechanisms 100. In pipeline inspection operations, especially when navigating bends or S-shaped bends, rigidly connected robots often experience jamming due to their large length. This embodiment introduces a multi-degree-of-freedom coupling mechanism 200, enabling the front and rear traveling units to adaptively adjust their relative angles according to the pipe's curvature, thereby greatly improving the robot's ability to navigate complex pipelines.

[0024] The variable-diameter inspection mechanism 100 contains three sub-mechanisms with clearly defined functional levels. The variable-diameter travel component 1 serves as the power and support foundation, providing the traction force required for the robot's movement within the pipe and possessing the ability to adapt to different pipe diameters. The inspection and acquisition mechanism 2 performs core inspection tasks such as image acquisition and environmental monitoring within the pipe. The guide shielding mechanism 3, installed on the inspection and acquisition mechanism 2, acts as a shield to prevent damage to the cylindrical transparent shield 203 from hard objects or impurities within the pipe, and can reduce vibration damage to the internal structure when hard objects impact it. In the direction of travel, the front guide shielding mechanism 3 directly blocks the impact and coverage of impurities within the pipe, effectively protecting the inspection and acquisition mechanism 2. However, because the radial dimension of the variable-diameter travel component 1 is much larger than that of the guide shielding mechanism 3, impurities within the pipe are radially diverted when passing the travel wheel 113 and the cylindrical body 101, preventing them from accumulating within the rear guide shielding mechanism 3. Therefore, the rear guide shielding mechanism 3 primarily functions as a new front end after the robot changes direction. This embodiment solves the problem that existing pipeline robots are difficult to adapt to changes in pipe diameter and have poor passability through the above structural design, and realizes efficient inspection of variable diameter pipelines.

[0025] Example 2: This embodiment, based on Embodiment 1, provides a detailed description of the specific structure of the variable diameter traveling assembly 1 and its variable diameter transmission principle. For example... Figure 4 , Figure 5 and Figure 6 As shown, the variable-diameter travel assembly 1 includes a cylindrical body 101, which forms the skeleton support of the entire variable-diameter inspection mechanism 100. One end of the cylindrical body 101 is connected to the multi-degree-of-freedom engagement mechanism 200, and the other end is connected to the inspection and collection mechanism 2. Inside the cylindrical body 101, a drive motor 102 is fixedly installed, which serves as the core power source, and its output end is connected to a drive shaft 103. A first bevel gear 104 is fixed on the drive shaft 103, and the first bevel gear 104 is connected to one end of the three travel wheel components inserted into the cylindrical body 101. The ends of the three travel wheel components located outside the cylindrical body 101 are rotatably connected to one end of the three variable-diameter connecting rods 105, and the other ends of the three variable-diameter connecting rods 105 are rotatably connected to three variable-diameter electric push rods 106. In order to achieve uniform force distribution, the three variable-diameter electric push rods 106 are evenly fixed around the outside of the cylindrical body 101.

[0026] Specifically, after the drive motor 102 starts, the power is transmitted sequentially to the three traveling wheel components via the drive shaft 103 and the first bevel gear 104. This embodiment uses a bevel gear transmission structure, utilizing the transmission characteristics of their intersecting axes to convert the axial rotation output by the drive motor 102 into the radial rotation required by the traveling wheel components. This spatial reversing transmission structure is compact and very suitable for the limited installation space inside the cylindrical body 101. It should be understood that although this embodiment preferably uses a bevel gear set for transmission, in other embodiments, a universal coupling or a flexible transmission shaft can also be used to achieve a similar spatial power reversing function, as long as the stable transmission of power can be guaranteed. The variable diameter electric push rod 106 serves as the actuator for the variable diameter action. Its telescopic movement is converted into the radial telescopic movement of the traveling wheel components through the variable diameter connecting rod 105, thereby changing the radial extension length of the traveling wheel 113 relative to the axis of the cylindrical body 101 to adapt to the inner wall of pipes with different diameters.

[0027] Furthermore, such as Figure 6 and Figure 7As shown, the specific transmission structure of the traveling wheel component is displayed in more detail. This component includes a second bevel gear 107 that meshes perpendicularly with the first bevel gear 104. The second bevel gear 107 is fixed to one end of the rotating shaft 115 inserted into the cylindrical body 101. The rotating shaft 115 is rotatably and sealingly connected to the cylindrical body 101 to ensure the sealing of the interior of the cylindrical body 101. An axial slide is provided at the outer end of the rotating shaft 115, and a variable diameter slide shaft 108 is slidably connected within the axial slide. To prevent the variable diameter slide shaft 108 from circumferentially deflecting or disengaging during sliding, the guide protrusions on the inner wall of the axial slide slide slide into the guide grooves on the outer wall of the variable diameter slide shaft 108. A third bevel gear 109 is fixedly connected to the outer end of the variable diameter slide shaft 108, and the third bevel gear 109 meshes perpendicularly with a fourth bevel gear 110, which is fixed to the traveling shaft 111. The travel shaft 111 is rotatably connected to the protective box 112, and travel wheels 113 are fixed on both ends of the shaft that extend out of the protective box 112. At the same time, the travel shaft 111 and the variable diameter sliding shaft 108 are rotatably connected to the protective box 112 in a sealed manner, and the protective box 112 is rotatably connected to one end of the variable diameter connecting rod 105.

[0028] During the process of the variable-diameter electric actuator 106 driving the protective box 112 to move radially to change the radial extension length of the travel wheel 113, relative axial sliding occurs between the rotating shaft 115 and the variable-diameter sliding shaft 108. Due to the cooperation of the guide protrusion and the guide groove, the variable-diameter sliding shaft 108 can still rotate synchronously with the rotating shaft 115 while moving axially. Even if the radial position of the travel wheel 113 changes, the power can still be continuously and stably transmitted from the rotating shaft 115 to the travel shaft 111, ensuring that the robot will not experience power interruption or disengagement during the diameter change process, greatly improving the reliability of travel.

[0029] In addition, to achieve flexible contact between the travel wheel 113 and the inner wall of the pipe, the travel wheel component also includes a pressure sensor, an elastic buffer, and a mounting plate. The pressure sensor is located on the side of the protective housing 112 near the cylindrical body 101, and the pressure-bearing end of the pressure sensor is flexibly coupled to the mounting plate through the elastic buffer. The mounting plate is rotatably connected to one end of the variable diameter connecting rod 105.

[0030] Specifically, when the traveling wheel 113 abuts against the inner wall of the pipe, the reaction force from the inner wall is transmitted to the mounting plate through the protective box 112. The mounting plate then transmits this force to the pressure sensor through an elastic buffer. The elastic buffer (such as a spring or rubber pad) absorbs rigid impacts during travel, preventing hard collisions caused by localized protrusions in the pipe wall or vibrations from the robot's movement, thus protecting the mechanical structure. Simultaneously, the pressure sensor monitors the contact pressure in real time and feeds the pressure signal back to the control system. The control system adjusts the extension and retraction of the variable-diameter electric push rod 106 based on this feedback signal, forming a closed-loop control to ensure that the traveling wheel 113 maintains appropriate positive pressure against the pipe wall: when the pressure is too high, the push rod retracts; when the pressure is too low, the push rod extends. This design ensures sufficient traction while preventing damage to the inner wall of the pipe or robot jamming due to excessive pressure, achieving intelligent adaptive contact.

[0031] Example 3: This embodiment is a detailed description of the specific structure and self-cleaning function of the inspection and data collection mechanism 2, based on embodiment 1 or 2. For example... Figure 8 and Figure 9 As shown, the inspection and data acquisition mechanism 2 includes a panoramic camera mechanism 201, a positioning bracket 202, a cylindrical transparent cover 203, and a cover end cap 204. The two ends of the cylindrical transparent cover 203 are respectively sealed and fixedly connected to the cylindrical body 101 and the cover end cap 204, thereby forming a sealed camera chamber inside. The panoramic camera mechanism 201 is fixed to one end of the positioning bracket 202 inserted into the cylindrical transparent cover 203, and the other end of the positioning bracket 202 is fixedly connected to the inner wall of the cylindrical body 101.

[0032] In this invention, the panoramic acquisition camera mechanism 201 serves as the core of visual perception, used to acquire image information inside the pipe. The cylindrical transparent cover 203 not only provides a waterproof and dirt-proof isolation environment for the panoramic acquisition camera mechanism 201, but also acts as a light-transmitting medium to ensure image quality. The cylindrical transparent cover 203 is made of impact-resistant transparent engineering plastic, such as polycarbonate, and its cylindrical shape effectively reduces image distortion and facilitates the subsequent application of the cover cleaning components.

[0033] Furthermore, to achieve automatic cleaning, a cylindrical transparent cover 203 is sealed and fixed to the end of the cylindrical body 101 away from the multi-degree-of-freedom engagement mechanism 200. An internal gear ring 205 is coaxially rotatably connected to the inner wall of the cylindrical transparent cover 203. A planetary gear 206 is meshed with the inner side of the internal gear ring 205. The planetary gear 206 is rotatably connected to a bearing bracket on the inner wall of the cylindrical body 101 via a wheel and axle. The planetary gear 206 meshes with a central gear 114 fixed to the drive shaft 103.

[0034] This embodiment cleverly reuses the power source of the drive motor 102. When the drive motor 102 drives the drive shaft 103 to rotate, the central gear 114 fixed on the drive shaft 103 rotates accordingly, thereby driving the planetary gear 206 to rotate. Since the planetary gear 206 meshes with the internal gear ring 205, and the internal gear ring 205 is rotatably connected to the inner wall of the fixed cylindrical transparent cover 203, the revolution of the planetary gear 206 will drive the internal gear ring 205 to rotate around the axis, while the cylindrical transparent cover 203 remains stationary. This planetary gear transmission mechanism has a compact structure, does not require an additional cover drive motor, and can achieve continuous rotation of the internal gear ring using only the propulsion power source, providing a power source for subsequent cleaning actions.

[0035] To convert the rotational power of the internal gear ring into cleaning power, the inspection and collection mechanism 2 also includes an arc-shaped sliding plate 207 fixed to the side of the internal gear ring 205. The outer arc surface of the arc-shaped sliding plate 207 slides in cooperation with the inner side of the cylindrical transparent cover 203, providing support and guidance. A rotating connecting plate 208 is fixedly connected to the end of the arc-shaped sliding plate 207 away from the internal gear ring 205. A transmission shaft 209 is fixedly connected to the rotating connecting plate 208, and the transmission shaft 209 is coaxially arranged with the drive shaft 103. The transmission shaft 209 is rotatably and sealed to the end cover 204 of the cover, and a cover cleaning component is fixedly connected to the end of the transmission shaft 209 that extends out of the cylindrical transparent cover 203.

[0036] Specifically, when the internal gear ring 205 rotates, it drives the arc-shaped sliding plate 207 and the rotating connecting plate 208 to rotate synchronously, thereby driving the transmission shaft 209 to rotate. The transmission shaft 209 transmits the rotational power located inside the cylindrical transparent cover 203 to the cover cleaning assembly outside the cylindrical transparent cover 203, realizing cross-chamber power output. Since the transmission shaft 209 and the cover end cap 204 are connected by a sealed rotational connection, the sealing performance during the power output process is guaranteed.

[0037] Regarding the specific structure of the protective cover cleaning component, such as Figure 8 and Figure 9 As shown, it includes a cross-shaped base plate 210 fixed to a transmission shaft 209. An arc-shaped scraper 211 is fixed to each of the two opposite ends of the cross-shaped base plate 210, and the two arc-shaped scrapers 211 slide relative to each other at both ends of the outer surface of the cylindrical transparent cover 203. A roller shaft 212 is rotatably connected to the other two opposite ends of the cross-shaped base plate 210, and a cleaning roller brush 213 fixed on the roller shaft 212 rolls against the outer surface of the cylindrical transparent cover 203.

[0038] Driven by the transmission shaft 209, the cross-shaped seat plate 210 revolves around the axis of the cylindrical transparent cover 203. Since the cylindrical transparent cover 203 remains stationary, the arc-shaped scraper 211 slides close to the surface of the cylindrical transparent cover 203, effectively scraping away stubborn dirt or sticky debris. Simultaneously, the cleaning roller brush 213 follows the revolution, scrubbing the surface of the cylindrical transparent cover 203. This scraping and brushing cleaning method of the present invention utilizes the relative movement between the cover cleaning assembly and the fixed cylindrical transparent cover 203 to achieve effective cleaning, capable of handling complex and polluted environments within pipelines, ensuring that the panoramic acquisition camera mechanism 201 always has a clear field of view. Furthermore, to improve cleaning efficiency, the cover cleaning assembly also includes a friction ring 214 fixed to the outer side of the cover end cap 204, the outer ring surface of which is frictionally connected to a friction wheel 215 fixed on the roller shaft 212. The friction ring 214 is fixed stationary on the end cap 204 of the protective cover, while the friction wheel 215 revolves with the cross-shaped seat plate 210. When the friction wheel 215 moves along the outer ring surface of the friction ring 214, it rotates on its own axis due to friction. This rotation drives the roller shaft 212 and the cleaning brush 213 to rotate, allowing the cleaning brush 213 to cover the entire surface of the cylindrical transparent protective cover 203 while simultaneously performing a more thorough rolling scrub of specific areas using its own rotation. This structure, which allows the brush to rotate without an additional motor, greatly simplifies the mechanical structure and improves the system's reliability.

[0039] In addition, such as Figure 10 As shown, the guide shielding mechanism 3 includes a conical guide shield 301. The middle of the inner side of the conical guide shield 301 is fixedly connected to one end of a buffer slide shaft 302, and the other end of the buffer slide shaft 302 is slidably fitted into a buffer groove at the outer end of the transmission shaft 209. An anti-detachment slider on the side of the buffer slide shaft 302 is slidably fitted into an anti-detachment groove on the side of the transmission shaft 209, and the anti-detachment groove communicates with the buffer groove. A buffer spring body 303 is provided between the transmission shaft 209 and the inner side of the buffer groove.

[0040] The conical guide shield 301 is located at the front of the robot. Its conical structure can shield the cylindrical transparent shield 203, preventing hard objects or impurities inside the pipe from directly impacting and damaging the cylindrical transparent shield 203. At the same time, when impacted by hard objects, the conical structure can disperse the impact force along the conical surface, reducing vibration damage to the internal structure. When the robot encounters an axial obstacle, the conical guide shield 301, under force, pushes the buffer slide shaft 302 to slide into the buffer groove, compressing the buffer spring body 303. The buffer spring body 303 undergoes elastic deformation, absorbing the impact energy, thereby preventing rigid impact damage to the rear inspection and acquisition mechanism 2. The cooperation between the anti-detachment slider and the anti-detachment groove limits the stroke of the buffer slide shaft 302, preventing it from detaching under severe impact and ensuring the structural stability of the mechanism.

[0041] Example 4: This embodiment provides a detailed description of the specific structure of the multi-degree-of-freedom coupling mechanism 200, based on Embodiment 1. For example... Figure 3 As shown, the multi-degree-of-freedom coupling mechanism 200 includes a double-ball-end connecting rod, with ball ends at both ends. The multi-degree-of-freedom coupling mechanism 200 also includes two coupling seats, each with a ball socket that mates with a ball end, and each coupling seat is connected to the approach end of one of the two variable-diameter traveling components 1. Each coupling seat includes a base and a locking cover, which are joined to form an envelope cavity surrounding the ball end. The diameter of the through hole in the locking cover is smaller than the maximum diameter of the ball end, thus constraining the axial displacement of the ball end while allowing omnidirectional rotation. A wear-resistant bushing is provided between the ball end and the envelope cavity, and the wear-resistant bushing is fixed within the base by an interference fit. A compensating spring is provided within the base, applying a preload force to the ball end towards the locking cover. The double-ball-end connecting rod in this invention serves as the core component connecting the two variable-diameter inspection mechanisms 100, and its ball end structure allows the coupling seats connected to it to deflect at multiple angles. This design simulates the movement of biological joints, allowing the robot's front and rear bodies to adaptively twist or bend relative to each other when navigating pipe bends or S-shaped sections, thus greatly reducing the risk of jamming. The coupling adopts a split base and locking cap structure for easy assembly. During installation, the ball head is inserted into the base, and then the locking cap is used to fasten it, forming a complete ball-and-socket structure. It should be understood that the geometric constraint that the diameter of the locking cap's through-hole is smaller than the maximum diameter of the ball head is crucial. This design cleverly utilizes the geometric characteristics of the ball head: the ball head can freely rotate in multiple degrees of freedom within the envelope cavity to meet the robot's posture adjustment needs; at the same time, due to the narrowing effect of the locking cap's through-hole, the ball head cannot axially disengage from the envelope cavity, thus ensuring the reliability of the connection. This structure achieves both the flexibility of multi-degree-of-freedom movement and the stability of the connection, avoiding the problems of traditional rigid connections being prone to breakage or jamming in complex pipelines.

[0042] Furthermore, considering that the friction between the ball head and the socket is sliding friction, long-term frequent rotational wear will lead to an increase in the fit clearance, which may cause loosening of the connection or even control failure. Therefore, this embodiment provides a wear-resistant bushing between the ball head and the envelope cavity. The wear-resistant bushing is typically made of wear-resistant and friction-reducing materials (such as copper-based alloys or engineering plastics) and is fixed in the base with an interference fit, effectively reducing the risk of the ball head directly wearing against the base and extending the service life of the mechanism. More importantly, the compensating spring installed in the base always applies a preload force to the ball head in the direction of the locking cover. When the wear-resistant bushing or the ball head experiences slight wear, the compensating spring automatically pushes the ball head against the locking cover, eliminating the axial clearance caused by wear. This automatic compensation mechanism ensures that the ball head maintains a stable fit during omnidirectional rotation, preventing a decrease in robot posture control accuracy due to loosening of the connection, and significantly improving the reliability of the robot in long-term inspection operations.

[0043] Example 5: This embodiment describes in detail the operation process of a variable-diameter pipeline inspection robot in a specific application scenario. The working conditions are set as follows: The water conveyance pipeline environment of the water conservancy project includes a variable-diameter section where the pipe diameter gradually decreases from D1 (e.g., 600mm) to D2 (e.g., 400mm), and a bend with a small radius of curvature is immediately following the variable-diameter section. The pipeline contains flowing turbid water as well as deposited silt and algae.

[0044] At the start of the operation, the robot is positioned within a straight pipe section with a diameter of D1. At this time, the variable-diameter electric push rod 106 is in an extended state, supporting the traveling wheel component via the variable-diameter connecting rod 105, ensuring that the traveling wheel 113 maintains close contact with the inner wall of the pipe. Pressure sensors monitor the positive pressure of the traveling wheel 113 against the pipe wall in real time, and elastic buffers absorb vibrations during travel, ensuring that the contact pressure remains stable within the preset optimal traction range.

[0045] As the robot moves to the diameter-changing section, the pipe diameter gradually decreases. The traveling wheel 113 is subjected to inward compression from the pipe wall, and the pressure sensor detects that the contact pressure exceeds a preset threshold. After receiving the pressure signal, the control system controls the diameter-changing electric push rod 106 to retract, pulling the diameter-changing connecting rod 105 to move, thereby driving the protective box 112 and the traveling wheel 113 to move closer to the axis of the cylindrical body 101, reducing the radial extension length of the traveling wheel 113 to adapt to the reduced pipe diameter D2. During this process, relative axial sliding occurs between the rotating shaft 115 and the diameter-changing sliding shaft 108, and the guide convex ridge slides in the guide groove, ensuring that while adjusting the diameter, power can still be stably transmitted to the traveling shaft 111 in sequence through the second bevel gear 107, the rotating shaft 115, the diameter-changing sliding shaft 108, the third bevel gear 109, and the fourth bevel gear 110, driving the traveling wheel 113 to rotate continuously, avoiding power interruption or disengagement caused by the diameter-changing action.

[0046] Subsequently, the robot enters the bend. The front diameter-changing inspection mechanism 100 enters the bend first, while the rear diameter-changing inspection mechanism 100 remains in the straight pipe section, resulting in a significant angular deviation between the two. At this point, the multi-degree-of-freedom coupling mechanism 200 comes into play: the ball joints at both ends of the double ball joint linkage undergo multi-degree-of-freedom relative rotation within the ball sockets of the coupling seat. The envelope cavity formed by the base and the locking cover allows the ball joints to deflect in all directions, enabling the front and rear diameter-changing inspection mechanisms 100 to adaptively adjust their relative angles, simulating joint movement and smoothly navigating the bend. Simultaneously, the compensating spring continuously applies preload to the ball joints, eliminating gaps caused by wear or vibration and ensuring connection stability during the bend.

[0047] Throughout the entire process of travel and cornering, the inspection and data collection mechanism 2 remains operational. The drive motor 102 drives the drive shaft 103 to rotate, which, through the meshing of the central gear 114 and the planetary gear 206, causes the internal gear ring 205 to rotate around its axis, while the cylindrical transparent cover 203 remains stationary. The rotation of the internal gear ring 205, via the arc-shaped sliding plate 207 and the transmission shaft 209, activates the external cover cleaning components: the cross-shaped seat plate 210, fixed on the transmission shaft 209, revolves around the axis of the cylindrical transparent cover 203, and the arc-shaped scraper 211 scrapes away stubborn stains against the fixed surface of the cylindrical transparent cover 203; simultaneously, the friction wheel 215 rolls along the stationary friction ring 214, using friction to drive the roller shaft 212 to rotate, thus driving the cleaning roller brush 213 to perform rolling and brushing of the surface of the cylindrical transparent cover 203. This dynamic cleaning mechanism effectively removes murky water, silt, and algae from the cylindrical transparent cover 203, ensuring that the panoramic acquisition camera 201 can obtain clear images of the inside of the pipe through the clean cover, thus achieving high-quality inspection even in harsh environments. As can be seen from the above application scenario, the variable-diameter pipe inspection robot provided in this embodiment achieves adaptive adjustment to different pipe diameters through the variable-diameter travel component 1, flexibly navigates complex bends through the multi-degree-of-freedom engagement mechanism 200, and ensures the clarity of the inspection field of view through the self-cleaning function of the inspection acquisition mechanism 2. The collaborative work of these mechanisms significantly improves the efficiency and reliability of pipe inspection.

[0048] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the scope of protection of the claims.

[0049] This invention is not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this invention is limited only by the appended claims.

Claims

1. A variable-diameter pipeline inspection robot, characterized in that, include: The variable diameter inspection mechanism and the multi-degree-of-freedom coupling mechanism are connected by the two oppositely arranged variable diameter inspection mechanisms. The variable diameter inspection mechanism includes: a variable diameter traveling component, one end of which is connected to a multi-degree-of-freedom engagement mechanism, and the other end of which is connected to an inspection and data collection mechanism. A guide and shielding mechanism is installed on the inspection and data collection mechanism.

2. The variable-diameter pipeline inspection robot according to claim 1, characterized in that, The variable diameter traveling assembly includes: a cylindrical body, one end of which is connected to a multi-degree-of-freedom engagement mechanism, and the other end of which is connected to an inspection and data collection mechanism; a drive motor is fixed inside the cylindrical body, the output end of which is connected to a drive shaft, a first bevel gear is fixed on the drive shaft, the first bevel gear is connected to one end of three traveling wheel components inserted into the cylindrical body, one end of the three traveling wheel components located outside the cylindrical body is rotatably connected to one end of three variable diameter connecting rods, and the other end of the three variable diameter connecting rods is rotatably connected to three variable diameter electric push rods, which are evenly fixed around the outside of the cylindrical body.

3. The variable-diameter pipeline inspection robot according to claim 2, characterized in that, The traveling wheel assembly includes: a second bevel gear that meshes perpendicularly with the first bevel gear; the second bevel gear is fixed to one end of a rotating shaft inserted into the cylindrical body, the rotating shaft is rotatably and sealed to the cylindrical body, the outer end of the rotating shaft is provided with an axial slide rail, a variable diameter slide shaft is slidably connected in the axial slide rail, and the guide protrusion on the inner wall of the axial slide rail is slidably fitted in the guide groove on the outer wall of the variable diameter slide shaft; the outer end of the variable diameter slide shaft is fixedly connected to a third bevel gear, the third bevel gear meshes perpendicularly with a fourth bevel gear, the fourth bevel gear is fixed to the traveling shaft, the traveling shaft is rotatably connected to the protective box, and traveling wheels are fixed on both ends of the traveling shaft that extend out of the protective box; both the traveling shaft and the variable diameter slide shaft are rotatably and sealed to the protective box; the protective box is rotatably connected to one end of the variable diameter connecting rod.

4. The variable-diameter pipeline inspection robot according to claim 3, characterized in that, The traveling wheel assembly also includes: a pressure sensor, an elastic buffer, and a mounting plate; the pressure sensor is located on the side of the protective box near the cylindrical body, and the pressure-bearing end of the pressure sensor is flexibly coupled to the mounting plate through the elastic buffer; the mounting plate is rotatably connected to one end of the variable diameter connecting rod.

5. The variable-diameter pipeline inspection robot according to claim 2, characterized in that, The inspection and data collection mechanism includes: a panoramic camera mechanism, a positioning bracket, a cylindrical transparent cover, and a cover end cap; the two ends of the cylindrical transparent cover are respectively sealed and connected to the cylindrical body and the cover end cap; the panoramic camera mechanism is fixed at one end of the positioning bracket inserted into the cylindrical transparent cover, and the other end of the positioning bracket is fixedly connected to the inner wall of the cylindrical body.

6. The variable-diameter pipeline inspection robot according to claim 5, characterized in that, A cylindrical transparent cover is sealed and fixed at one end of the cylindrical body away from the multi-degree-of-freedom engagement mechanism. An internal gear ring is coaxially rotatably connected to the inner wall of the cylindrical transparent cover. Planetary gears are meshed on the inner side of the internal gear ring. The planetary gears are rotatably connected to the bearing bracket on the inner wall of the cylindrical body through a wheel axle. The planetary gears mesh with the central gear fixed on the drive shaft.

7. The variable-diameter pipeline inspection robot according to claim 6, characterized in that, The inspection and collection mechanism also includes: an arc-shaped sliding plate fixed to the side of the internal gear ring, the outer arc surface of the arc-shaped sliding plate slidingly engaging with the inner side of the cylindrical transparent protective cover, a rotating connecting plate fixedly connected to the end of the arc-shaped sliding plate away from the internal gear ring, a transmission shaft fixedly connected to the rotating connecting plate, the transmission shaft being coaxially arranged with the drive shaft; the transmission shaft being sealed and rotatably connected to the end cover of the protective cover, and a protective cover cleaning component fixedly connected to the end of the transmission shaft extending out of the cylindrical transparent protective cover.

8. The variable-diameter pipeline inspection robot according to claim 7, characterized in that, The protective cover cleaning assembly includes: a cross-shaped base plate fixed on the drive shaft, an arc-shaped scraper fixed to each of the two opposite ends of the cross-shaped base plate, and the two arc-shaped scrapers slidingly engaging with each other at both ends of the outer side of the cylindrical transparent protective cover; and a roller shaft rotatably connected to the other two opposite ends of the cross-shaped base plate, with a cleaning roller brush fixed on the roller shaft rolling and engaging with the outer side of the cylindrical transparent protective cover.

9. The variable-diameter pipeline inspection robot according to claim 8, characterized in that, The protective cover cleaning assembly also includes a friction ring fixed to the outer side of the protective cover end cap, with the outer ring surface of the friction ring being frictionally connected to a friction wheel fixed on the roller shaft.

10. The variable-diameter pipeline inspection robot according to claim 7, characterized in that, The guiding shielding mechanism includes: a conical guiding shield, the middle of the inner side of the conical guiding shield is fixedly connected to one end of the buffer slide shaft, the other end of the buffer slide shaft is slidably fitted in the buffer slide groove at the outer end of the transmission shaft, the anti-detachment slider on the side of the buffer slide shaft is slidably fitted in the anti-detachment slide groove on the side of the transmission shaft, and the anti-detachment slide groove is connected to the buffer slide groove; a buffer spring body is provided between the transmission shaft and the inner side of the buffer slide groove.

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