Wheel type peristaltic composite robot for operation in pipe

Abstract

The utility model belongs to the technical field of pipeline machines, and particularly relates to a wheel type peristaltic composite type in-pipe operation robot which comprises a front multi-unit-body air bag composite mechanism and a rear multi-unit-body air bag composite mechanism which are the same in structure. The front multi-unit-body air bag composite mechanism and the rear multi-unit-body air bag composite mechanism support are connected through a universal connecting assembly, and telescopic hub motor wheel combination mechanisms are installed at the two ends of the front multi-unit-body air bag composite mechanism and the two ends of the rear multi-unit-body air bag composite mechanism respectively. According to the utility model, the pipeline robot can reasonably select the movement mode according to the working environment, and when the inner wall of the pipeline is regular or the diameter is changed, the robot adopts the hub motor wheel to move; when the inner wall of the pipeline is irregular, the hub motor wheel combination shrinks, and peristaltic movement is adopted.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline robots, and in particular relates to a wheeled peristaltic composite in-pipe operating robot. Background Art

[0002] In modern industry and social life, pipelines are increasingly used in a wide range of fields, including energy transmission, water supply and drainage, chemical raw material transmission, etc. With the continuous expansion of pipeline systems and the increase in service life, pipeline maintenance, inspection and repair work are becoming more and more important.

[0003] At present, there are various common pipeline robot structures. Among them, wheeled pipeline robots are propelled by the friction between the wheels and the inner wall of the pipe, which has the advantage of faster speed, but its traction ability and adaptability are insufficient when facing complex pipe wall environments and large loads; tracked pipeline robots use tracks instead of wheels to enhance the ability to cross obstacles, but the movement speed is slow and the traction ability still needs to be improved; mobile pipeline robots rely on the fluid in the pipeline to move passively and cannot actively control the direction and speed of movement; walking pipeline robots move with the help of mechanical feet, and the speed and traction ability are relatively limited; peristaltic pipeline robots imitate the extension and retraction of earthworms, have strong traction ability and pipe wall adaptability, but move slowly.

[0004] This wheeled peristaltic composite in-pipe robot has a wide range of applications. In the petrochemical industry, it can be used to detect the corrosion of the inner wall of the pipeline and promptly discover potential leakage hazards; in the urban water supply and drainage system, it can quickly shuttle through the complex pipeline network to clear blockages or repair damaged parts; in natural gas pipelines, it can efficiently conduct regular inspections to ensure the safety and stability of energy supply; in industrial ventilation ducts, it can clean and monitor the dust and pollutants inside the pipeline; in long-distance thermal pipelines, it can quickly reach the designated location to inspect and repair the insulation layer.

[0005] In actual pipeline operations, due to the different types of pipelines, different diameters, and complex and changeable internal environments, pipeline robots with a single structure are difficult to meet diverse needs. For example, in some scenarios where it is necessary to quickly reach a designated location and perform heavy-duty operations, the speed advantage of wheeled robots cannot make up for their shortcomings in traction and adaptability, and although creeping robots have strong traction and adaptability, their speed limitations affect their operating efficiency. Utility Model Content

[0006] The utility model aims to provide a wheeled peristaltic composite in-pipe operating robot to solve the problems existing in the prior art.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a wheeled peristaltic composite in-tube working robot, comprising a front multi-unit airbag composite mechanism and a rear multi-unit airbag composite mechanism with the same structure, the front multi-unit airbag composite mechanism and the rear multi-unit airbag composite mechanism brackets are connected by a universal connection assembly, and retractable hub motor wheel combination mechanisms are respectively installed at both ends of the front multi-unit airbag composite mechanism and the rear multi-unit airbag composite mechanism.

[0008] Preferably, the front multi-unit airbag composite mechanism and the rear multi-unit airbag composite mechanism respectively include two fixed support end covers, a bladder unit, a unit support end cover, a pneumatic muscle, a unit center return spring, an integral center hose and a unit center hose. The unit support end cover is connected to the fixed support end cover via a connecting angle code, the single-unit center hose is installed inside the two fixed support end covers, the single-unit center hose is covered with the unit center return spring, and the pneumatic muscle is installed between the two fixed support end covers and surrounds the single-unit center support hose.

[0009] Preferably, the front multi-unit airbag composite structure and the rear multi-unit airbag composite structure are six sets respectively.

[0010] Preferably, the retractable hub motor wheel assembly mechanism comprises a gas spring, a hub motor wheel, a retractable fixing frame and a hub connecting frame, the hub motor wheel is mounted on the front end of the hub connecting frame, the gas spring is fixed to the fixed support end cover through the retractable fixing frame, the movable end of the gas spring is hinged to the front end of the hub connecting frame, and the rear end of the hub connecting frame is hinged to the retractable fixing frame.

[0011] Preferably, the retractable hub motor wheel assembly mechanism is in six sets, evenly distributed around the fixed support end cover.

[0012] Preferably, the universal connection assembly includes a connecting end, a braided mesh tube, a center spring and a stainless steel cable tie, the two ends of the center spring are respectively connected to the two connecting ends, the braided mesh tube is sleeved on the outside of the center spring and fixed to the connecting end by a stainless steel cable tie.

[0013] The beneficial effects of the utility model are: it is adaptable to multiple types of pipelines, and has good operating speed and adaptability. Compared with pipeline robots with a single structure, the pipeline robot can adapt to more complex pipe environments. When the inner wall of the pipeline is relatively regular or has a variable diameter, the pipeline robot uses a hub motor wheel to advance, so that the robot has a faster operating speed and ensures work efficiency; when the inner wall of the pipeline is irregular, the hub motor wheel of the pipeline robot shrinks and adopts a peristaltic propulsion, so that the robot not only has a larger traction capacity, but also has a stronger pipeline passing ability.

[0014] It can generate strong support ability and output greater traction ability. The multi-unit airbag composite mechanism of the pipeline robot is connected to six leather bags at the same time. The six leather bags support the pipe wall at the same time, providing strong static friction and playing a good role in locking the inner wall of the pipe; at the same time, it provides greater dragging ability. Therefore, the pipeline robot can provide greater traction ability.

[0015] Stable operation, safer and more reliable. Compared with conventional peristaltic pipeline robots, this pipeline robot adopts a multi-unit structure combination. When a unit fails, the remaining units can work normally. At the same time, when the airbag part of the retractable hub motor wheel combination and the multi-unit airbag composite mechanism fails, the wheel can continue to work, and the operation of the pipeline robot is safer, more reliable and guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2.a This is a schematic diagram of the structure of the multi-unit airbag composite mechanism and the retractable hub motor wheel combination mechanism of the utility model;

[0018] Figure 2.b It is a three-dimensional diagram of the appearance of the fixed support end cover;

[0019] Figure 3.a This is a three-dimensional diagram of the universal connection assembly mechanism structure of the utility model;

[0020] Figure 3.b It is a cross-sectional view of the universal connection assembly mechanism of the utility model;

[0021] Figure 4.a This is a three-dimensional diagram of the telescopic hub motor wheel combination mechanism of the utility model in the extended state;

[0022] Figure 4.b This is a three-dimensional diagram of the retractable hub motor wheel combination mechanism of the utility model in a retracted state;

[0023] Figure 5.a It is a motion flow state diagram of the utility model in the wheeled state;

[0024] Figure 5.b This is a state diagram of the peristaltic motion process of the utility model in the airbag state;

[0025] Legend: 1. Multi-unit wheel bag composite mechanism; 1.1. Fixed support end cover; 1.1.1. Connection angle code fixing hole; 1.1.2. Center through hole; 1.1.3. Retractable wheel hub motor wheel combination mechanism fixing frame hole; 1.2. Stainless steel cable tie; 1.3. Unit air bag; 1.3.1. Pneumatic muscle; 1.3.2. Unit center return spring; 1.3.3. Monomer center hose; 1.3.4. Fluid passage hole; 1.3.5. Unit support end cover; 1.4. Connection angle code; 2. Universal connection assembly; 2.1. Braided mesh pipe; 2.1.1. Center spring; 2.2. Universal connection assembly stainless steel cable tie; 3. Integral center hose; 4. Retractable wheel hub motor wheel combination mechanism; 4.1. Gas spring; 4.2. Hub motor wheel; 4.3. Retractable body fixing frame; 4.4. Hub connection frame. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0028] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fixed connection" and "fixed connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0029] The specific implementation of the utility model is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0030] A wheeled peristaltic composite in-pipe working robot, the structural schematic diagram of which is shown in FIG. Figure 1 As shown, it comprises: two groups of multi-unit airbag composite mechanisms 1, a universal connection assembly 2 and four groups of retractable wheel hub motor wheel combination mechanisms 4. The two groups of multi-unit airbag composite mechanisms 1 are respectively located at the two ends of the robot's motion direction, and the retractable wheel hub motor wheel combination mechanisms 4 are respectively located at the two ends of each group of multi-unit airbag composite mechanisms, and the two external ends of the universal connection assembly 2 are connected to the two groups of multi-unit airbag composite mechanisms 1 and the external ends of the retractable wheel hub motor wheel combination mechanisms 4 through a connector with two rotational degrees of freedom along the axial direction of the pipeline.

[0031] In this embodiment, Figure 1 As shown, the multi-unit airbag composite mechanism 1 includes: two fixed support end covers 1.1, six leather bag units 1.3, twelve unit support end covers 1.3.5, thirty-six unit root pneumatic muscles 1.3.1, six unit center return springs 1.3.2, an integral center hose 3, a unit center hose 1.3.3 and unit end straps 1.2; Figure 2.a As shown, the unit body supporting end cover is provided with a fluid passage 1.3.4 inside, and the fluid passage 1.3.4 is connected to the external control device; Figure 2.b As shown, the fixed support end cover (1.1) is provided with six groups of retractable hub motor wheel fixing frame holes 1.1.3, connecting angle fixing holes 1.1.1 and central through hole 1.1.2 connected to the external atmosphere; the two ends of the unit airbag 1.3 are connected to the connecting angle fixing holes 1.1.1 of the fixed support end cover by connecting angles 1.4; the unit body is a bladder suit, six pneumatic muscles 1.3.1, a central hose 1.3.3 and a unit body central reset spring 1.3.2; the unit body bladder suit is connected to the unit body by connecting angles 1.4. The stainless steel rolled strip is fixed to the unit support end cover 1.3.5, the center hose 1.3.3 and the unit center return spring 1.3.2 are located in the center of the unit bladder, and both ends are fixedly connected to the unit support end cover. Six pneumatic muscles 1.3.1 are located inside the unit bladder, i.e. around the center hose 1.3.3 and the unit center return spring 1.3.2, and are arranged at intervals of 60°. Both ends of each pneumatic muscle are fixedly connected to the fluid passage hole 1.3.4, and both ends of the unit are fastened to the fixed support end 1.1 cover.

[0032] In this embodiment, the pneumatic muscle is an existing structure, and its principle will not be repeated. For example: Chinese patents disclose: flexible foot and ankle rehabilitation training device, application number: 2023200636115; hybrid pneumatic tendon muscle group PID control system, application number: 202410247005.8; a wire-driven flexible tactile bionic finger based on artificial muscle, application number: 202310830506.4.

[0033] like Figure 2.a and Figure 4.a , 4.b As shown, the retractable hub motor wheel assembly mechanism 4 comprises: six hub motor wheels (4.2), six gas springs (4.1), six hub connecting frames 4.4, and six sets of fixing frames 4.3; the six gas springs 4.1 are fixed at intervals of 60° through a fixed support end cover 1.1; the six hub connecting frames 4.4, the six sets of fixing frames 4.3 and the six gas springs 4.1 form six sets of telescopic bodies, and the ends of the fixing rods of the gas springs 4.1 are fixedly connected to the retractable hub motor wheel fixing frames 4.3 outside the fixed support end cover 1.1; the telescopic direction of the gas springs 4.1 is the plane where the fixed support end cover is located, so as to realize the opening and contraction of the telescopic hub motor wheel assembly.

[0034] The multi-unit airbag composite mechanism 1 and the retractable hub motor wheel combination mechanism 4 can not only make the unit airbag 1.3 fit with the inner wall of the pipeline by controlling the pressurized fluid, thereby realizing the support and detachment of the multi-unit airbag composite mechanism 1 from the pipeline, but also can make the robot move forward in wheels in the pipeline by controlling the active rotation of the hub motor wheel of the retractable hub motor wheel combination mechanism 4.

[0035] In this embodiment, Figure 1 and Figure 2.a , 2.b As shown, the universal connection assembly 2 comprises: a braided mesh tube 2.1, a stainless steel tie 2.2 and a central spring 2.1.1. The robot can move forward in a pneumatic state by utilizing the reset function of the central spring 2.1.1.

[0036] like Figure 5.a As shown, the wheeled forward working process of the utility model is: when the hub motor wheel 1.5.2 of the robot is powered, the multi-unit wheel bag composite mechanism 1 is in a relaxed state without high-pressure fluid flowing in, and the robot is in a wheeled forward process in an electric state;

[0037] like Figure 5.b As shown, the creeping forward working process of the utility model is as follows: when the multi-unit air wheel bag composite mechanism 1 of the robot has no high-pressure fluid flowing in and the always-retractable wheel hub motor wheel composite mechanism 4 is in contraction, the robot is in a stationary state;

[0038] 1. High-pressure fluid flows into the unit airbag 1.3 of the front multi-unit airbag composite mechanism 1, and the airbag expands. When the expansion is in place, the pneumatic muscle 1.3.1 of the unit airbag 1.3 contracts, pulling the rear multi-unit airbag composite mechanism 1 forward, and the front multi-unit airbag composite mechanism contacts and locks with the inner wall of the pipe;

[0039] 2. The front multi-unit airbag composite mechanism 1 remains in an expanded state, and the pneumatic muscle 1.3.1 of the rear multi-unit airbag composite mechanism 1 is inflated by high-pressure fluid, and the pneumatic muscle contracts. The unit airbag 1.3 of the rear multi-unit airbag composite mechanism 1 starts to inflate after the pneumatic muscle contracts, so that the rear multi-unit airbag composite mechanism contacts and locks with the inner wall of the pipe;

[0040] 3. When the second action is completed, the unit airbags and pneumatic muscles of the front multi-unit airbag composite mechanism 1 return to their initial state, and the central spring 2.1.1 in the universal connection assembly 2 plays a role, pushing the front multi-unit airbag composite mechanism 1 forward; at the same time, the rear multi-unit airbag composite mechanism remains in an expanded state;

[0041] Fourth, when action three is completed, the unit airbags and pneumatic muscles of the rear multi-unit airbag composite mechanism 1 return to their initial state. At the same time, high-pressure fluid flows into the unit airbag 1.3 of the front multi-unit airbag composite mechanism 1, and the airbag expands again. When it expands to the right position, the pneumatic muscles 1.3.1 of the unit airbag 1.3 contract, pulling the rear multi-unit airbag composite mechanism 1 forward, and the front multi-unit airbag composite mechanism contacts and locks with the inner wall of the pipe;

[0042] By completing the above steps one, two, three and four in a cycle, the pipeline robot can achieve continuous advancement in a peristaltic manner under the airbag state.

[0043] It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model, and these improvements and modifications should also be regarded as the protection scope of the utility model.

Claims

1. A wheeled peristaltic composite in-pipe working robot, characterized in that: It comprises a front multi-unit airbag composite mechanism and a rear multi-unit airbag composite mechanism with the same structure. The front multi-unit airbag composite mechanism and the rear multi-unit airbag composite mechanism brackets are connected by a universal connection component. Retractable hub motor wheel combination mechanisms are respectively installed at both ends of the front multi-unit airbag composite mechanism and the rear multi-unit airbag composite mechanism.

2. The wheeled peristaltic composite in-pipe working robot according to claim 1, characterized in that: The front multi-unit airbag composite structure and the rear multi-unit airbag composite structure respectively include two fixed support end covers, a bladder unit, a unit support end cover, a pneumatic muscle, a unit center return spring, an integral center hose and a unit center hose. The unit support end cover is connected to the fixed support end cover via a connecting angle code, the unit center hose is installed inside the two fixed support end covers, the unit center hose is covered with the unit center return spring, and the pneumatic muscle is installed between the two fixed support end covers and surrounds the single unit center support hose.

3. The wheeled peristaltic composite in-pipe working robot according to claim 2, characterized in that: The front multi-unit airbag composite mechanism and the rear multi-unit airbag composite mechanism are six sets respectively.

4. The wheeled peristaltic composite in-pipe working robot according to claim 2, characterized in that: The retractable hub motor wheel assembly mechanism comprises a gas spring, a hub motor wheel, a retractable fixing frame and a hub connecting frame, the hub motor wheel is mounted on the front end of the hub connecting frame, the gas spring is fixed to the fixed support end cover through the retractable fixing frame, the movable end of the gas spring is hinged to the front end of the hub connecting frame, and the rear end of the hub connecting frame is hinged to the retractable fixing frame.

5. The wheeled peristaltic composite in-pipe working robot according to claim 4, characterized in that: The retractable hub motor wheel assembly mechanism comprises six sets, which are evenly distributed around the fixed support end cover.

6. The wheeled peristaltic composite in-pipe working robot according to claim 1, characterized in that: The universal connection assembly includes a connection end, a braided mesh tube, a center spring and a stainless steel tie. The two ends of the center spring are respectively connected to the two connection ends. The braided mesh tube is sleeved on the outside of the center spring and fixed to the connection end by a stainless steel tie.

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