Natural gas pipeline robot mechanism capable of moving in all directions

Abstract

The utility model belongs to the technical field of pipeline robots, and particularly relates to a natural gas pipeline robot mechanism capable of moving in all directions, which aims to solve the problem that a natural gas pipeline robot is poor in adaptability to complex pipelines and comprises a robot body, and a driving mechanism is arranged at the front end of the robot body. A guide mechanism is arranged at the rear end of the robot body; the driving mechanism comprises a main connecting disc fixed to the end face of the robot body, a plurality of driving supporting legs are annularly distributed on the end face, away from the robot body, of the main connecting disc, and walking assemblies used for driving the driving supporting legs to walk in the pipeline are arranged on the driving supporting legs correspondingly. The natural gas pipeline robot mechanism has the effect of moving in all directions in the pipeline so as to adapt to complex pipelines.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline robots, and more specifically, relates to a natural gas pipeline robot mechanism with omnidirectional movement. Background Art

[0002] A natural gas pipeline robot is an integrated mechanical, electrical, and instrumentation system that can autonomously travel along pipelines, carrying one or more sensors and operating mechanisms. It can perform tasks such as pipeline inspection, maintenance, and cleaning, either remotely controlled by a human operator or automatically controlled by a computer.

[0003] At present, common natural gas pipeline robots mostly use two-wheel drive or four-wheel drive. Drive wheels are installed on the chassis of this type of pipeline robot, and the robot can walk and navigate in the pipeline by rotating the drive wheels.

[0004] However, complex natural gas pipelines often consist of straight pipes, curved pipes, and branch pipes, with large variations in pipe diameter, numerous elbows, and complex internal environments. This makes pipeline robots with chassis and two-wheel drive or four-wheel drive lack sufficient flexibility and adaptability, often unable to traverse narrow branches and junctions, or flexibly navigate around obstacles. These limitations restrict the application scope of pipeline robots, making them unable to meet the needs and adapt to complex pipeline environments, and they are in urgent need of improvement. Utility Model Content

[0005] In order to improve the adaptability of the natural gas pipeline robot to complex pipelines, the utility model provides an omnidirectional natural gas pipeline robot mechanism.

[0006] The utility model provides an omnidirectional natural gas pipeline robot mechanism, which adopts the following technical solutions:

[0007] A natural gas pipeline robot mechanism with omnidirectional motion comprises a robot body, a driving mechanism is provided at the front end of the robot body, and a guiding mechanism is provided at the rear end of the robot body;

[0008] The driving mechanism includes a main connecting disc fixed to the end face of the robot body, and a plurality of active legs are distributed in a ring shape on the end face of the main connecting disc away from the robot body. The plurality of active legs are each provided with a walking component for driving the active legs to walk in the pipeline.

[0009] As a further preference, an elastic member is provided between the active supporting leg and the robot body for driving the active supporting leg to rotate in a direction away from the central axis of the robot body.

[0010] As a further preference, the elastic member includes a tension spring, one end of the tension spring in the length direction is hook-connected to the main connecting disc, and the other end of the tension spring in the length direction is connected to the outer surface of the active support leg.

[0011] As a further preferred embodiment, the walking assembly includes a Mecanum wheel and a drive motor. The Mecanum wheel is rotatably mounted on the movable end of the active leg, and the drive motor is mounted on the active leg to drive the Mecanum wheel to operate.

[0012] As a further preference, the guide mechanism includes a rear end support cover and a plurality of guide wheel groups, the rear end support cover is fixedly connected to the robot body, and the plurality of guide wheel groups are connected to the outer periphery of the rear end support cover along the circumference of the rear end support cover.

[0013] As a further preferred embodiment, the guide wheel group includes a mounting cover, a support leg and a universal wheel. The mounting cover is connected to the rear end support cover. One end of the support leg extends through the inner cavity of the rear end support cover. The other end of the support leg is used for rotational connection of the universal wheel. A spring is provided in the rear end support cover for applying a thrust to the support leg toward the universal wheel.

[0014] As a further preference, it also includes a battery pack arranged at the rear end of the robot body for supplying power to the robot body and the driving mechanism.

[0015] As a further preference, the rear end of the robot body is provided with a rear end battery cover for covering the battery pack.

[0016] In summary, the present invention has at least the following beneficial technical effects:

[0017] 1. Multiple active outriggers are stretched outward by tension springs, allowing the drive mechanism to adapt to changes in the inner diameter of the natural gas pipeline. The Mecanum wheels at the ends of the active outriggers then press against the inner wall of the pipeline, allowing the travel assembly to adapt to the pipeline's inner diameter and maintain stable movement within the pipeline.

[0018] 2. The setting of multiple Mecanum wheels enables the robot to move flexibly in all directions within the natural gas pipeline.

[0019] 3. The spring drives the guide wheels to elastically press against the inner wall of the pipeline, making it easier for multiple guide wheels to adapt to changes in the inner wall environment of the natural gas pipeline, so that the robot body can be stably suspended at multiple points in the natural gas pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0021] Figure 2 It is a structural diagram of the driving mechanism;

[0022] Figure 3 It is a structural diagram of the active outrigger.

[0023] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0024] 1. Robot body; 2. Driving mechanism; 21. Main connecting disc; 22. Active support leg; 23. Main connecting rod; 24. Walking assembly; 241. Mecanum wheel; 242. Driving motor; 243. First bevel gear; 244. Second bevel gear; 25. Elastic member; 3. Guide mechanism; 31. Rear end support cover; 32. Guide wheel assembly; 321. Mounting cover; 322. Big head rod; 323. Small head rod; 324. Universal wheel; 33. Spring; 4. Rear end battery cover. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0026] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0028] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0029] The following is combined with Figure 1-3 The utility model is described in further detail.

[0030] The embodiment of the present application discloses a natural gas pipeline robot mechanism with omnidirectional movement.

[0031] Reference Figure 1 The omnidirectional natural gas pipeline robot mechanism includes a robot body 1, a driving mechanism 2 is provided at the front end of the robot body 1, and a guide mechanism 3 is provided at the rear end; the driving mechanism 2 is used to drive the robot body 1 to perform omnidirectional movement in the pipeline to flexibly adapt to the complex shape of the pipeline; the guide mechanism 3 is used to support the robot body 1, so as to stably support the robot body 1 in the air in the natural gas pipeline with the cooperation of the driving mechanism 2.

[0032] Specifically, refer to Figure 1 and Figure 2 The drive mechanism 2 includes a main connecting disc 21 and multiple active legs 22. The main connecting disc 21 is fixed to one end of the robot body 1 and has a through hole, allowing the detection module in the robot body 1 to perform pipeline inspection through the through hole. The multiple active legs 22 are connected to the end of the main connecting disc 21 away from the robot body 1 in a circular arrangement. One end of each active leg 22 is rotatably connected to the robot body 1 via a main connecting rod 23. Each active leg 22 is equipped with a walking assembly 24 for driving the active leg 22 to move within the pipeline.

[0033] Furthermore, in this embodiment, elastic members 25 are disposed between the active legs 22 and the robot body 1. These elastic members 25 can drive the active legs 22 to swing, causing the multiple active legs 22 to extend outward, allowing the drive mechanism 2 to adapt to changes in the inner diameter of the natural gas pipeline. In this embodiment, four active legs 22 are used; in other embodiments, three, five, or other active legs 22 may be used.

[0034] Further, refer to Figure 2The walking assembly 24 includes a Mecanum wheel 241 and a drive motor 242. The Mecanum wheel 241 is rotatably mounted on the movable end of the active leg 22 and is coaxially fixedly connected to a first bevel gear 243. The drive motor 242 is mounted on the circumference of the active leg 22. A second bevel gear 244 is coaxially fixed to the drive end of the drive motor 242, and the second bevel gear 244 meshes with the first bevel gear 243. During use, the drive motor 242 drives the second bevel gear 244 to rotate forward and reverse, and then the second bevel gear 244 drives the Mecanum wheels 241 to rotate through the first bevel gear 243, so that the multiple Mecanum wheels 241 drive the robot body 1 to move omnidirectionally within the pipeline.

[0035] Furthermore, the elastic member 25 can be a tension spring, an elastic rope, or a spring. In this embodiment, the elastic member 25 is preferably a tension spring. Specifically, one end of the tension spring is hooked and connected to the connecting rod on the main connecting disc 21, and the other end of the tension spring is connected to the fixed plate on the outer surface of the active leg 22. Through the elastic force of multiple tension springs, the multiple active legs 22 are connected to the robot body 1 in an open state, so that the active ends of the multiple active legs 22 are separated from each other, so that the Mecanum wheels 241 at the ends of the active legs 22 are closely attached to the inner wall of the pipe, which helps the walking assembly 24 adapt to the inner diameter of the pipe and also facilitates the walking assembly 24 to move stably within the pipe.

[0036] Further, refer to Figure 1 and Figure 3 The guide mechanism 3 includes a rear end support cover 31 and a plurality of guide wheel groups 32. The rear end support cover 31 is cylindrical and is connected to one end of the robot body 1 away from the main connecting disc 21. The plurality of guide wheel groups 32 are evenly distributed on the outer periphery of the rear end support cover 31 along the circumference of the rear end support cover 31.

[0037] Specifically, to connect the guide wheel assembly 32 to the rear support cover 31, the guide wheel assembly 32 includes a mounting cover 321, a support leg, and a universal wheel 324. The mounting cover 321 is bolted to the outer surface of the rear support cover 31. The support leg includes a large rod 322 and a small rod 323. Both the mounting cover 321 and the rear support cover 31 have through-holes for the support leg to pass through. The diameter of the through-holes is equal to the diameter of the small rod 323 and smaller than the diameter of the large rod 322. The arrangement of the through-holes allows the support leg to slide through the surface of the mounting cover 321 and prevents it from detaching from the mounting cover 321. The universal wheel 324 is rotatably mounted on the end of the support leg away from the rear support cover 31.

[0038] Reference Figure 1 and Figure 3In order to facilitate the guide wheel group 32 to adapt to the changes in the inner wall environment of the natural gas pipeline, a spring 33 is provided inside the rear end support cover 31. One end of the spring 33 is connected to the rear end support cover 31, and the other end is connected to the end of the big head rod 322. The elastic direction of the spring 33 is consistent with the length direction of the big head rod 322.

[0039] Further, refer to Figure 1 The end of the rear support cover 31 away from the driving mechanism 2 is connected to the rear battery cover 4, and a battery pack for supplying power to the robot body 1 and the driving mechanism 2 is provided in the rear battery cover 4.

[0040] The above are all preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A natural gas pipeline robot mechanism with omnidirectional motion, characterized in that: The robot comprises a robot body (1), wherein a driving mechanism (2) is provided at the front end of the robot body (1), and a guiding mechanism (3) is provided at the rear end of the robot body (1); The driving mechanism (2) comprises a main connecting disc (21) fixed to the end face of the robot body (1); a plurality of active legs (22) are distributed in a ring shape on one end face of the main connecting disc (21) away from the robot body (1); and each of the plurality of active legs (22) is provided with a walking assembly (24) for driving the active legs (22) to walk in the pipeline.

2. The omnidirectional natural gas pipeline robot mechanism according to claim 1, characterized in that: An elastic member (25) is provided between the active support leg (22) and the robot body (1) for driving the active support leg (22) to rotate in a direction away from the central axis of the robot body (1).

3. The omnidirectional natural gas pipeline robot mechanism according to claim 2, characterized in that: The elastic member (25) comprises a tension spring, one end of the tension spring in the length direction is hooked and connected to the main connecting disc (21), and the other end of the tension spring in the length direction is connected to the outer surface of the active support leg (22).

4. The omnidirectional natural gas pipeline robot mechanism according to claim 2, characterized in that: The walking assembly (24) includes a Mecanum wheel (241) and a drive motor (242). The Mecanum wheel (241) is rotatably mounted on the active end of the active leg (22). The drive motor (242) is mounted on the active leg (22) to drive the Mecanum wheel (241) to operate.

5. The omnidirectional natural gas pipeline robot mechanism according to claim 1, characterized in that: The guide mechanism (3) comprises a rear end support cover (31) and a plurality of guide wheel groups (32); the rear end support cover (31) is fixedly connected to the robot body (1); and the plurality of guide wheel groups (32) are connected to the outer periphery of the rear end support cover (31) along the circumference of the rear end support cover (31).

6. The omnidirectional natural gas pipeline robot mechanism according to claim 5, characterized in that: The guide wheel assembly (32) includes a mounting cover (321), a support leg, and a universal wheel (324). The mounting cover (321) is connected to the rear end support cover (31). One end of the support leg extends through the inner cavity of the rear end support cover (31), and the other end of the support leg is used for rotationally connecting to the universal wheel (324). A spring (33) is provided in the rear end support cover (31) for applying a thrust force to the support leg toward the universal wheel (324).

7. The omnidirectional natural gas pipeline robot mechanism according to claim 1, characterized in that: It also includes a battery pack arranged at the rear end of the robot body (1) for supplying power to the robot body (1) and the drive mechanism (2).

8. The omnidirectional natural gas pipeline robot mechanism according to claim 7, characterized in that: The rear end of the robot body (1) is provided with a rear end battery cover (4) for covering the battery pack.

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